Mitsubishi Electric A1SD75P1-S3 User manual

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Mitsubishi Programmable Logic Controller
A1SD75P1-S3/P2-S3/P3-S3,AD75P1-S3/P2-S3/P3-S3 Positioning Module User,s Manual
User,s Manual
MODEL
MODEL
CODE
A1SD75/AD75S3-U-E
13J871
IB(NA)-66716-F(0305)MEE
A1SD75P1-S3/P2-S3/P3-S3
AD75P1-S3/P2-S3/P3-S3 A1SD75P1-S3/P2-S3/P3-S3 AD75P1-S3/P2-S3/P3-S3
User,s Manual
U
Specifications subject to change without notice.
When exported from Japan, this manual does not require application to the
Ministry of Economy, Trade and Industry for service transaction permission.
HEAD OFFICE : 1-8-12, OFFICE TOWER Z 14F HARUMI CHUO-KU 104-6212,JAPAN
NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN
Positioning Module Positioning Module
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A - 1
SAFETY INSTRUCTIONS
(Always read these instructions before using this equipment.)
Before using this product, please read this manual and the relevant manuals introduced in this manual
carefully and pay full attention to safety to handle the product correctly.
The instructions given in this manual are concerned with this product. For the safety instructions of the
programmable logic controller system, please read the CPU module User's Manual.
In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".
!DANGER
CAUTION
!
Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight personal injury or physical damage.
Note that the !CAUTION level may lead to a serious consequence according to the circumstances.
Always follow the instructions of both levels because they are important to personal safety.
Please save this manual to make it accessible when required and always forward it to the end user.
[Design Instructions]
!DANGER
Provide a safety circuit outside the programmable logic controller so that the entire system will
operate safely even when an external power supply error or PLC fault occurs.
Failure to observe this could lead to accidents for incorrect outputs or malfunctioning.
(1) Configure an emergency stop circuit and interlock circuit such as a positioning upper
limit/lower limit to prevent mechanical damage outside the PLC.
(2) The machine zero point return operation is controlled by the zero point return direction and
zero point return speed data. Deceleration starts when the near-point dog turns ON. Thus,
if the zero point return direction is incorrectly set, deceleration will not start and the
machine will continue to travel. Configure an interlock circuit to prevent mechanical
damage outside the PLC.
(3) When the module detects an error, normally deceleration stop or sudden stop will take
place according to the parameter stop group settings. Set the parameters to the positioning
system specifications.
Make sure that the zero point return parameter and positioning data are within the
parameter setting values.
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A - 2
[Design Instructions]
!CAUTION
Do not bundle or adjacently lay the control wire or communication cable with the main circuit or
power wire.
Separate these by 100mm or more.
Failure to observe this could lead to malfunctioning caused by noise.
[Mounting Instructions]
!CAUTION
Use the PLC within the general specifications environment given in this manual.
Using the PLC outside the general specification range environment could lead to electric
shocks, fires, malfunctioning, product damage or deterioration.
Always securely insert the module latches at the bottom of the module into the fixing holes on
the base unit. (Always screw the AnS Series module onto the base unit with the specified
torque.)
Improper mounting of the module could lead to malfunctioning, faults or dropping.
Securely connect the external device connection connector and peripheral device connection
connector into the module connector until a click is heard.
Improper connection could lead to a connection fault, and to incorrect inputs and outputs.
When not connecting the drive unit, always install a cover on the connector section.
Failure to observe this could lead to malfunctioning.
[Wiring Instructions]
!DANGER
Always confirm the terminal layout before connecting the wires to the module.
Make sure that foreign matter such as cutting chips and wire scraps does not enter the module.
Failure to observe this could lead to fires, faults or malfunctioning.
[Startup/Maintenance Instructions]
!DANGER
Always turn all phases of the power supply OFF externally before cleaning or tightening the
screws.
Failure to turn all phases OFF could lead to electric shocks.
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A - 3
[Startup/Maintenance Instructions]
!CAUTION
Never disassemble or modify the module.
Failure to observe this could lead to trouble, malfunctioning, injuries or fires.
Always turn all phases of the power supply OFF externally before installing or removing the
module.
Failure to turn all phases OFF could lead to module trouble or malfunctioning.
Before starting test operation, set the parameter speed limit value to the slowest value, and
make sure that operation can be stopped immediately if a hazardous state occurs.
Always make sure to touch the grounded metal to discharge the electricity charged in the body,
etc., before touching the module.
Failure to do so may cause a failure or malfunctions of the module.
[Precautions for use]
!CAUTION
Note that when the reference axis speed is designated for interpolation operation, the speed of
the partner axis (2nd axis) may be larger than the set speed (larger than the speed limit value).
[Disposal Instructions]
!CAUTION
When disposing of the product, handle it as industrial waste.
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A - 4
REVISIONS * The manual number is given on the bottom left of the back cover.
Print Date * Manual Number Revision
Feb., 1997 IB (NA) 66716-A Initial print
July, 1997 IB (NA) 66716-B Complete review
Nov., 1997 IB (NA) 66716-C Additional functions
Section 4.2.7 (Initializing the parameters), Section 4.3.3 (5)
(Near pass mode for continuous path control in interpolation
control)
Partial revisions and additions
Section 3.2.2 (Table), Section 4.2.1 (2), Section 4.2.9, Fig.
4.10, Section 4.4.2, Section 4.7.2, Section 4.13, Chapter 5,
Section 5.2.2 (3), Table 6.1, Section 18.1, Section 18.2,
Appendix 5.4
Chapter addition
Chapter 1
Oct., 1999 IB (NA) 66716-D Complete review
Sep., 2002 IB (NA) 66716-E Complete review
May, 2003 IB (NA) 66716-F Complete review
Japanese Manual Version SH-3608-H
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.
Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which
may occur as a result of using the contents noted in this manual.
1997 MITSUBISHI ELECTRIC CORPORATION
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A - 5
INTRODUCTION
Thank you for purchasing the Mitsubishi general-purpose programmable logic controller MELSEC-A Series.
Always read through this manual, and fully comprehend the functions and performance of the A Series PLC
before starting use to ensure correct usage of this product.
CONTENTS
SAFETY INSTRUCTIONS...............................................................................................................................A-1
REVISIONS......................................................................................................................................................A-4
INTRODUCTION..............................................................................................................................................A-5
CONTENTS......................................................................................................................................................A-5
About Manuals ...............................................................................................................................................A-12
Conformation to the EMC Directive and Low Voltage Instruction................................................................A-12
Using This Manual (1)....................................................................................................................................A-13
Using This Manual (2)....................................................................................................................................A-14
Using This Manual (3)....................................................................................................................................A-15
Generic Terms and Abbreviations.................................................................................................................A-16
Enclosed Parts ...............................................................................................................................................A-17
SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING
1. PRODUCT OUTLINE 1-1 to 1-18
1.1 Positioning control......................................................................................................................................1-2
1.1.1 Features of AD75................................................................................................................................1-2
1.1.2 Purpose and applications of positioning control.................................................................................1-4
1.1.3 Mechanism of positioning control .......................................................................................................1-6
1.1.4 Outline design of positioning system..................................................................................................1-8
1.1.5 Communicating signals between AD75 and each module..............................................................1-10
1.2 Flow of system operation.........................................................................................................................1-12
1.2.1 Flow of all processes.........................................................................................................................1-12
1.2.2 Outline of starting..............................................................................................................................1-14
1.2.3 Outline of stopping ............................................................................................................................1-16
1.2.4 Outline for restarting..........................................................................................................................1-17
2. SYSTEM CONFIGURATION 2-1 to 2-8
2.1 General image of system...........................................................................................................................2-2
2.2 List of configuration devices ......................................................................................................................2-4
2.3 Applicable system......................................................................................................................................2-5
2.4 Precautions for configuring system ...........................................................................................................2-6
3. SPECIFICATIONS AND FUNCTIONS 3-1 to 3-22
3.1 General specifications................................................................................................................................3-2
3.2 Performance specifications........................................................................................................................3-3
3.3 List of functions ..........................................................................................................................................3-4
3.3.1 AD75 control functions........................................................................................................................3-4
3.3.2 AD75 main functions...........................................................................................................................3-6
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A - 6
3.3.3 AD75 auxiliary functions and common functions...............................................................................3-8
3.3.4 Combination of AD75 main functions and auxiliary functions .........................................................3-10
3.4 Specifications of input/output signals with PLC CPU ............................................................................3-12
3.4.1 List of input/output signals with PLC CPU........................................................................................3-12
3.4.2 Details of input signals (AD75 PLC CPU) ...................................................................................3-13
3.4.3 Details of output signals (PLC CPU AD75) .................................................................................3-14
3.5 Specifications of input/output interfaces with external devices ..............................................................3-15
3.5.1 Electrical specifications of input/output signals................................................................................3-15
3.5.2 Signal layout for external device connection connector...................................................................3-17
3.5.3 List of input/output signal details.......................................................................................................3-18
3.5.4 Input/output interface internal circuit.................................................................................................3-20
4. INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT 4-1 to 4-24
4.1 Outline of installation, wiring and maintenance.........................................................................................4-2
4.1.1 Installation, wiring and maintenance procedures...............................................................................4-2
4.1.2 Names of each part.............................................................................................................................4-3
4.1.3 Handling precautions ..........................................................................................................................4-5
4.2 Installation ..................................................................................................................................................4-7
4.2.1 Precautions for installation..................................................................................................................4-7
4.3 Wiring..........................................................................................................................................................4-8
4.3.1 Precautions for wiring..........................................................................................................................4-8
4.3.2 Wiring the external device connection connector pins.....................................................................4-13
4.3.3 Connecting the connector.................................................................................................................4-17
4.4 Confirming the installation and wiring......................................................................................................4-18
4.4.1 Items to confirm when installation and wiring are completed..........................................................4-18
4.4.2 Single module test.............................................................................................................................4-19
4.5 Maintenance.............................................................................................................................................4-23
4.5.1 Precautions for maintenance............................................................................................................4-23
4.5.2 Disposal instructions .........................................................................................................................4-23
5. DATA USED FOR POSITIONING CONTROL (List of buffer memory addresses) 5-1 to 5-122
5.1 Types of data..............................................................................................................................................5-2
5.1.1 Parameters and data required for control...........................................................................................5-2
5.1.2 Setting items for positioning parameters............................................................................................5-4
5.1.3 Setting items for zero point return parameters...................................................................................5-6
5.1.4 Setting items for positioning data........................................................................................................5-7
5.1.5 Setting items for start block data ........................................................................................................5-9
5.1.6 Setting items for condition data ........................................................................................................5-10
5.1.7 Types and roles of monitor data.......................................................................................................5-11
5.1.8 Types and roles of control data ........................................................................................................5-14
5.2 List of parameters ....................................................................................................................................5-18
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A - 7
5.2.1 Basic parameters 1 ...........................................................................................................................5-18
5.2.2 Basic parameters 2 ...........................................................................................................................5-24
5.2.3 Detailed parameters 1.......................................................................................................................5-28
5.2.4 Detailed parameters 2.......................................................................................................................5-36
5.2.5 Zero point return basic parameters ..................................................................................................5-45
5.2.6 Zero point return detailed parameters..............................................................................................5-52
5.3 List of positioning data .............................................................................................................................5-56
5.4 List of start block data..............................................................................................................................5-71
5.5 List of condition data................................................................................................................................5-75
5.6 List of monitor data...................................................................................................................................5-80
5.6.1 System monitor data.........................................................................................................................5-80
5.6.2 Axis monitor data...............................................................................................................................5-90
5.7 List of control data..................................................................................................................................5-104
5.7.1 System control data ........................................................................................................................5-104
5.7.2 Axis control data..............................................................................................................................5-110
6. SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 6-1 to 6-38
6.1 Precautions for creating program..............................................................................................................6-2
6.2 List of devices used....................................................................................................................................6-4
6.3 Creating a program....................................................................................................................................6-8
6.3.1 General configuration of program.......................................................................................................6-8
6.3.2 Positioning control operation program................................................................................................6-9
6.4 Positioning program examples................................................................................................................6-12
6.5 Program details........................................................................................................................................6-21
6.5.1 Initialization program.........................................................................................................................6-21
6.5.2 Start details setting program.............................................................................................................6-22
6.5.3 Start program.....................................................................................................................................6-23
6.5.4 Continuous operation interrupt program...........................................................................................6-31
6.5.5 Restart program ................................................................................................................................6-33
6.5.6 Stop program.....................................................................................................................................6-36
7. MEMORY CONFIGURATION AND DATA PROCESS 7-1 to 7-14
7.1 Configuration and roles of AD75 memory.................................................................................................7-2
7.1.1 Configuration and roles of AD75 memory..........................................................................................7-2
7.1.2 Buffer memory area configuration ......................................................................................................7-5
7.2 Data transmission process ........................................................................................................................7-6
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A - 8
SECTION 2 CONTROL DETAILS AND SETTING
8. ZERO POINT RETURN CONTROL 8-1 to 8-26
8.1 Outline of zero point return control............................................................................................................8-2
8.1.1 Two types of zero point return control................................................................................................8-2
8.2 Machine zero point return..........................................................................................................................8-4
8.2.1 Outline of the machine zero point return operation............................................................................8-4
8.2.2 Machine zero point return method......................................................................................................8-5
8.2.3 Zero point return method (1): Near-point dog method.......................................................................8-6
8.2.4 Zero point return method (2): Stopper stop method 1) .....................................................................8-8
8.2.5 Zero point return method (3): Stopper stop method 2) ...................................................................8-11
8.2.6 Zero point return method (4): Stopper stop method 3) ...................................................................8-14
8.2.7 Zero point return method (5): Count method 1) ..............................................................................8-16
8.2.8 Zero point return method (6): Count method 2) ..............................................................................8-18
8.3 High-speed zero point return...................................................................................................................8-20
8.3.1 Outline of the high-speed zero point return operation .....................................................................8-20
8.4 Positioning to the zero point ....................................................................................................................8-22
9. MAIN POSITIONING CONTROL 9-1 to 9-60
9.1 Outline of main positioning controls...........................................................................................................9-2
9.1.1 Data required for main positioning control..........................................................................................9-3
9.1.2 Operation patterns of main positioning controls.................................................................................9-4
9.1.3 Designating the positioning address.................................................................................................9-14
9.1.4 Confirming the current value.............................................................................................................9-15
9.1.5 Control unit "degree" handling..........................................................................................................9-17
9.1.6 Interpolation control...........................................................................................................................9-19
9.2 Setting the positioning data ....................................................................................................................9-22
9.2.1 Relation between each control and positioning data.......................................................................9-22
9.2.2 1-axis linear control...........................................................................................................................9-23
9.2.3 2-axis linear interpolation control......................................................................................................9-25
9.2.4 1-axis fixed-dimension feed control..................................................................................................9-29
9.2.5 2-axis fixed-dimension feed control (interpolation) .........................................................................9-31
9.2.6 2-axis circular interpolation control with auxiliary point designation................................................9-33
9.2.7 2-axis circular interpolation control with center point designation ...................................................9-39
9.2.8 Speed control ....................................................................................................................................9-46
9.2.9 Speed/position changeover control..................................................................................................9-48
9.2.10 Current value change......................................................................................................................9-54
9.2.11 JUMP command..............................................................................................................................9-59
10. ADVANCED POSITIONING CONTROL 10-1 to 10-24
10.1 Outline of advanced positioning control................................................................................................10-2
10.1.1 Data required for advanced positioning control .............................................................................10-3
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