Mitsubishi MELSEC-A A1SD71-S2 User manual

REVISIONS
' The manual number is given on the bottom left of the back cover.
Prlnt Date
Nov., 1992
*Manual Number
IB (NA) 66399-A
Revision
First edition

INTRODUCTION
Thank you for choosing the MitsubishiMELSEC-A Series of General Purpose Programmable Control-
lers. Please read this manual carefully
so that the equipment is used to its optimum. A copy of this
manual should be forwarded
to the end User.
,-

CONTENTS
1 . INTRODUCTION .................................................................................................................................... 1-1
/ .
2 . SYSTEM CONFIGURATION ....................................................................................................... 2-1 - 2-4
2.1OverallConfiguration ................................................................................................................. 2-1
2.2 ApplicableSystems
.................................................................................................................... 2-3
2.3ProgrammingEquipment
.......................................................................................................... 2-4
3 . SPECIFICATIONS .................................................................................................................... 3-1 - 3-74
L
3.1GeneralSpecifications ............................................................................................................... 3-1
3.2.1 Performancespecifications
.......................................................................................... 3-2
3.2.2 Functions
......................................................................................................................... 3-3
3.3.1Positioningsystemusing an AlSD71
........................................................................ 3-5
3.3.3 A1SD71 operation description
..................................................................................... 3-8
3.4.1 Parameters
................................................................................................................... 3-10
3.4.2 Zero return data
............................................................................................................ 3-23
3.4.3 Positioning data
............................................................................................................ 3-28
3.4.4Positioning mode
......................................................................................................... 3-37
3.5Buffer Memory
......................................................................................................................... 3-45
3.5.1 Positioningstartdata
.................................................................................................. 3-47
3.5.2
OS data area (Addresses 512 to 767) ..................................................................... 3-61
3.5.3Positioningdata area
(X axis :address 3872 to 5871, Y axis :address 5872 to 7871) ............................ 3-62
3.5.4Parameter area
(X axis :address 7872 to 7889, Y axis :address 7892 to 7908) ........................... 3-63
3.5.5Zeroreturndataarea
w
(X axis :address 7912 to 7918, Y axis :address 7922 to 7928) ............................ 3-64
3.6
I/O Signals To andFrom A1S CPU ....................................................................................... 3-65
3.7 I/OInterfacewithExternal Equipment
................................................................................. 3-71
3.7.1 A1SO71 electricalspecifications
............................................................................... 3-71
3.7.2Pulse leadinghailing edge times of AlSD71 output signals
............................... 3-72
3.7.3 Input/output interface specifications of the AlSD71 and an external device
.... 3-72
3.8 BatterySpecifications
............................................................................................................. 3-74
3.2PerformanceSpecificationsandFunctions
........................................................................... 3-2
3.3GeneralDescription of PositioningSystemOperations
...................................................... 3-5 I3
3.3.2Signalcommunicationsbetween an AlSD71 andeachunit .................................. 3-7
3.4 TypesandFunctions of SettingData
................................................................................... 3-10
n
4 . HANDLING ................................................................................................................................... 4-1 - 4-3
4.1 HandlingInstructions ................................................................................................................ 4-1
4.2 Nomenclature
............................................................................................................................. 4-2
4.3Settings
....................................................................................................................................... 4-3
4.3.1 Batteryconnection
........................................................................................................ 4-3

5 . LOADING AND INSTALLATION ............................................................................................... 5-1 - 5-4
5.1UnitWiringPrecautions ............................................................................................................ 5-1
5.2Wiring .......................................................................................................................................... 5-1
5.2.1Wiringprecautions ........................................................................................................ 5-1
5.2.2 Connectingexternalwiring
.......................................................................................... 5-4
5.2.3Connectingelectricwiring ........................................................................................... 5-4
6 . PROGRAMMING ...................................................................................................................... 6-1 - 6-43
6.1
6.2
6.3
..- p
Program Creation ...................................................................................................................... 6-1
6.1
. 1 Program composition ..................................................................................................... 6-1
6.1
. 2 Precautions when creating programs ........................................................................ 6-3
Operations Using a Peripheral Device or AD71TU
.............................................................. 6-5
ACPU Programming
.................................................................................................................. 6-6
6.3.1Datareadandwriteprecautions
.................................................................................. 6-6
6.3.2 Data communication with PC program
........................................................................ 6-7
6.3.3 Positioningstartprogram
........................................................................................... 6-15
6.3.4 Speed/positioning control switching program
......................................................... 6-23
6.3.5 Speed control program
................................................................................................ 6-26
6.3.6 Jog operation program
................................................................................................ 6-28
6.3.7 Positioningaddressteachingprogram
.................................................................... 6-30
6.3.8Zeroreturn
.................................................................................................................... 6-34
6.3.9 Present value change
.................................................................................................. 6-36
6.3.10 Positioning stop
............................................................................................................ 6-38
.
7 . CHECK LISTS ............................................................................................................................... 7-1 7-3
7.1General CheckList ..................................................................................................................... 7-1
7.2Testsand AdjustmentsProcedure
........................................................................................... 7-2
7.2.1Sequencecheck
............................................................................................................. 7-2
7.2.2 Positioning operation check
......................................................................................... 7-3
.---
I
8 . TROUBLESHOOTING ............................................................................................................... 8-1 - 8-17
8.1ErrorsDetected by AlSD71 ...................................................................................................... 8-1
8.1
. 1 Data range errors ........................................................................................................... 8-2
8.1
. 2 A1SD71 “HOLD” errors ................................................................................................. 8-5
8.1
. 3 Buffer memory write errors ........................................................................................... 8-5
8.1
. 4 AI SD71 start and operation errors .............................................................................. 8-6
8.1
. 6 Other errors ..................................................................................................................... 8-7
8.1
. 5 AISD71 positioning start errors duringBUSY ........................................................... 8-7

8.2Troubleshooting .......................................................................................................................... 8~
8.2.1 Generaltroubleshooting
............................................................................................... 8-8
8.2.2Driveinoperative
............................................................................................................ 8-9
8.2.3 Incorrect positioning
.................................................................................................... 8-11
8.2.4 Positioning speed wrong
............................................................................................. 8-13
8.2.5 Corrupted positioning data
......................................................................................... 8-14
8.2.7 Zero return fault
............................................................................................................ 8-16
8.2.6 Unrequested stop
......................................................................................................... 8-15
9 . MAINTENANCE ............................................................................................................................ 9-1 . 9-4
/
c
I
4
9.1UnitStorage ................................................................................................................................ 9-1
9.2BatteryChange
........................................................................................................................... 9-2
9.2.1 Battery change frequency
............................................................................................. 9-2
9.2.2 Battery replacement procedure
.................................................................................... 9-3
APPENDICES ....................................................................................................................... APP-1 - APP-29 '3
r
APPENDIX1SIGNALTIMING FROM THE AlSD71 .............................................................. APP-1
1
. 1OutputSignalTiming ................................................................................. APP-1
1
. 2StartDelayTime ........................................................................................ APP-2
1
. 3 A1SD71 Processing Times ....................................................................... APP-4
2.1 Formatsheets
.............................................................................................. APP-6
2.2 Positioning Data (DataNo
.
to ) ............................................................ APP-8
2.3 M codecomments
....................................................................................... APP-9
3.1ConnectionwithMitsubishi MELSERVO-A
........................................... APP-11
3.2ConnectionwithMitsubishiMELSERVO-SO
........................................ APP-12
3.3ConnectionwithMitsubishi MELSERVO-SA
........................................ APP-13
3.4ConnectionwithMitsubishi MELSERVO-SC
........................................ APP-14
3.5 ConnectionwithMitsubishi MELSERVO-J ............................................ APP-15
3.6ConnectionwithOriental'ssteppingmotor
.......................................... APP-16 n
3.7ConnectionwithOriental's AC servomotorAPP-17
3.8ConnectionwithToeiElectric's VELCONI-C
....................................... APP-18
3.9ConnectionwithNikki Denso'sDIGITAL S-PACK
.............................. APP-19
3.10 Connection with Yasukawa Electric's PACK-1
OA and 1OB ............... APP-20
I
APPENDIX 2 FORMAT SHEETS ................................................................................................ APP-5
APPENDIX
3 CONNECTION WITH SERVO MOTORS ......................................................... APP-10
W
.........................................
APPENDIX 4 OUTSIDE DIMENSIONS .................................................................................... APP-21
APPENDIX
5 POSITIONING DATANUMBER
AND BUFFER MEMORY ADDRESS CONVERSION TABLE
....................... APP-22

.. .
1. INTRODUCTION
MELSEC-A
1. INTRODUCTION
This manual explains the specifications, handling, and programming methods
of the AlSD7142positioning module (hereafter called theAlSD71) usedwith
a MELSEC-A series A1SCPU.
Inthis manual, the term "Positioning control" includes speed/positioning con-
trol and speed control.
The following are called peripheral devices
in this manual:
The AD71TU teaching unit is referred to as the AD71TU.
0 AGGPP graphic programming panel
0 AGPHP plasma handy graphic programmer fPeripheral device
0 AD71TU teachingunit hAD71TU
Refer to the following manuals:
0 SWOGP-AD71P Operating Manual
0 AGGPP User'sManual
0 AD71TU Operating Manual
0 Manual Relevant drive unit instruction manuals
0 AlSCPU User'sManual
Thefunctionsandspecifications of AlSD71 are the same asthose of the
AD71
(Sl) except for the following:
Modules
Itemr
AlSD7142 AD71(S1)
I Number of I/Opoints 148 points(empty 16 points + 32 points) I32points I
Applicable PC CPUs AlSCPU All MELSEC-A series PC CPUs except the
A2CCPU
installation POsi-
Master station, local station, remote 110
Master station, local Station
tions in the data link system station
Positioning control mode
Speed/positioningcontrolSelecteither
Switching mode
Positioning control mode
Speed control mode
Positioning modes
1
at parameter.
I Positioning accelerationand 64 to 5oooo (msec)
deceleration times I64 to 4999 (msec)
Inching
Sizes mm (inch)
5 VDC, 1.5 A 5 VDC, 0.8 A
Internal currentconsumption
Operation using manual pulse generator
Disabled
130(H)
x 69.5(W) x 93.6(D)
(5.12
x 2.74 x 3.69) 250(H)
x 37.5(W) x 121(D)
(9.84
x 1.48 x 4.76)
Weights
kg (Ib) 10.38 (0.84) 10.63 (1.39) I
In thismanual AlSD71 I/O numbers assigned from thePC CPU assume
that the AiSD71 isloaded in slots
0 and 1 of the main base.
1-1

A
2. SYSTEMCONFIGURATION
MElsEGA
2. SYSTEMCONFIGURATION
2.1 OveraH Configuration
/
I
*
m
AlSCPU
n
u
(AGBAT)
Battery
Main base
(AlS3EB)
I
Positioning module
(AlSD71-S2)
I
I
I
I
-- I
I
I
I L
I
This manual covers this range.
I- - --
Extension cable
(A1SC::::B)
a
I I
!
Extension base
(A1S::::B)
n
v
Cable
(AC::::R4)
lr
r- -I---- 1
l I
Drive unit
I I
Servo motor
Pulse motor
Stepping motor
I
The respective drive unit
I manualsgivedetails.
I
I
i
Fig. 2.1 OverallConfiguration
2-1

2. SYSTEMCONFIGURATION
MELSEGA
AD71 TU
AGGPP
I
SWOGP-AD71 P
I
n I
3
AGPHP
(AClOMD)
Cable
L
(AC30R2)
Cable
L
General-purpose
CRT
Printer
2-2

2. SYSTEM -" CONFIGURATION
. .l*, MELSEGA
2.2 ApplicableSystems
(I) The AlSD71 is onlyapplicable to an AlSCPU module.
(2) The number of AlSD7I usedwith an AISCPU module must be within the
range
of the number of I/O points of the AISCPU.
(3) The AlSD71 can be installed in any two-slot area of a base unit, but the
following must always be considered:
(a)
If possible,avoidinstallingthe AlSD71 in anextensionbaseunit
(AlS52B, A1S55BI AlS58B)
not equipped with apowersupply
module, since the power supply capacity may be insufficient.
(b)
If it is necessary to installthe AlSD71in anextensionbaseunit
which does not have a power supply mpdule, select a power supply
module, main and extension base units, and extension cables taking
intoconsideration(a)thepowersupplycapacity
of the main base
unit, and (b) the voltage drop across the main and extension base
units and extension cables.
(See the AISCPU User's Manual for details.)
t
4
2-3

2. SYSTEM CONFIGURATION
MELSEC-A
2.3 ProgrammingEquipment
Thefollowingtableindicates the equipmentavailable for programming the
A1 SD71.
Table 2.1 Programming Equipment
Remarks
Description
Software
package
~~~~~ ~
AD71(Sl)/AD72/AlSD71 softwarepackage
SWOGP-AD71P
Consists of the following:
I TypeRemarks 1
I Programming unit withCRT I
AGGPPE Equippedwith ROM writer, FDD andprinter
interface functions.
SWLIGP-GPPA Aseries system disk
SW[: GP-GPPK K series system disk
SWO-GPPU user disk (3.5inch,formatted)
AC30R4 Cable for connecting AlSD71and AGGPPE.
Intelligent GPP AGGPPE-SET
Consists of the following:
AGPHPE Equippedwith
FDD, printerinterfaceand
memory cassette functions.
Programming
unit
Plasma handy
programmer AGPHPE-SET SWLIGP-GPPA A series system disk
SW::GP-GPPK K series system disk
I I
I SWO-GPPU I User disk (3.5inch, formatted) I
I- I
IAC30R4 I Cable for connecting AlSD71and AGPHPE.
3m (9.84 ft) length.
I
User disk SWO-GPPU Floppy disk for storing user programs (3.5 inch, formatted)
RS-422 cable Cable for connecting CPU and AGGPPE. 3 m (9.84 ft) length.AC30R4
AC300R4
AClOMD
Cable
for connecting CPU and AGGPPE. 30 m (98.4 ft) length.
Cable for connecting GPP screen monitor display.
1 m (3.28 ft)
length.
Composite
video cable
Cleaning disk SWO-FDC Floppy disk for cleaning floppy disk drive.
KGPR(S1)
KGPR-K
Printer For print out of program ladder diagrams and lists
K7PR(S1)
A7PR
A7NPR
Jrinter
AC30R2 Cable for connecting AGGPPE and printer (KGPR(S1). KGPR-K,
K7PR(S1), A7PR, A7NPR, general-purpose printerwith RS-232C in-
terface). 3 m (9.84 ft) length.
RS-232C cable
Printer paper KGPR-Y Paper for KGPR and KGPR-Kprinter. 9 inch. Available in units of
2000 pcs.
Replacement ink ribbon for KGPR and KGPR-K.
KGPR-R
KGPR ink
ribbon
Teaching unit AD71TU AD71(Sl)/AD72/AlSD71 teach box.
2-4

3. SPECIFICATIONS .
- , J RAELSEGA
3. SPECIFICATIONS
3.1 GeneralSpeolficatlons
Table
3.1 General Speclflcations
Itom Specitications
I
Operatingambient to 55 oc
temperature
I
I
Storageambient -20 to 75 oc
temDerature I I
I ::,y:;tg ambient I 10 to 90 %RH, non-condensing
I I I
Storage ambient
humidity
10 to 90 %RH, non-condensing
I
Frequency AccelerationAmplitudeSweepCount
I
Vibration
1 Enforms I 10to 55 HZ 1
- 1 0'07' mm I
resistance
t [email protected]+ 4
(0.003 inch) times I
I I I I
Shockresistance I Conforms to 'JIS C0912 (98 m/s2(10 g) x 3 times in 3 directions)
I
to 60 Hz noise frequency
By noise simulator of
1500 Vpp noise voltage, 1 ps noise width and 25
Dielectric
5 MQ or larger by 500 V DC insulation resistance testeracross AC ex-
Insulation
1500 V DC for 1 minute across AC external terminals and ground
withstand voltage
500 V AC for 1 minute across DC external terminals and ground
resistance ternal terminals and ground
Grounding
Operating
ambience
Cooling method Self-cooling
Class
3 grounding : If appropriate grounding is not available, connect
the grounding wire to the electric panel.
Free of corrosive gases. Dust should he minimal.
'JIS :Japanese Industrial Standard
,
One octave marked '* indicates achange from the initial frequency to double orhalf frequency.
For example, any of the changes from
10 Hz to 20 Hz, from 20 Hz to 40 Hz, from 40 Hz to 20
Hz, and 20 Hz to 10 Hz are referred to as one octave.
3-1

, -,
3. SPECIFICATIONS
MELSEC-A
3.2 PerformanceSpecificationsandFunctions
3.2.1 Perfonmncespeclfkations
Table 3.2 Performance Speciflcations
Item
Performances aad Specifications
rlumber of 110 points
rlumber
of control axes
48 points' (number of occupied
slots : 2)
400 points per axisCapacity
Jositioning
Linear interpolation (for simultaneous 2 axes)
nterpolation
2 (simultaneous or independent)
jata Setting method Input from AGGPPE, AGPHPE or sequence program
?AM memory backup Lithium battery guarantees power failure backup for a total of
15 minutes without battery (25 "C)
300 days. Battery guaranteed for five years.
Positioning control mode
Modes
'osi-
ioning
Select using parame-
to the X and Y axes.)
Speed/positioning ters.(Same mode
is applied
switching mode
Speed controlmode
1
Absolute and/or incremental method
Speedlpositioning control switching mode
:
Incremental method (current address is switched to 0 when
starting.)
Method
Positioning units
1
to 16,252,928 (PULSE)
Max. 162 (m)
Max. 16200 (inch)
Max. 16200 (degree)
(command unit:
0.1 to 10 pmlPLS)
(command unit: 1
x to 0.001 inch/PLS)
(command unit: 1
x los5 to 0.001 degreelPLS)
I 10 to 200000 (PLS/sec) (command unit: 10 PLSlsec)
Positioning speed
I 10 to 120000 (mm/min)(commandunit: 10 mmlmin)'
1 to 12000 (inch/min)(commandunit: 1 inch/min)
I 1 to 12000 idegreelmin)(commandunit: 1 degreelmin)
Acceleration and
deceleration
I Automatic trapezoidal acceleration and deceleration
Acceleration and I64 to 50000 (msec)
deceleration times
I
Backlash
(0 to 255 Dulses if unit is PULSE)
compensation
0 to 65535 x position command unit
The AlSD71 may be calibrated
to allow for mechanical er-
Error compensation control switching mode. rors in the positioning control mode and speedlpositioning
!ero return
log operation function Jog operation by jog start signal input.
With zero address change function.
Zero return direction and speed depend on setting.
4 function
External supply voltage,
5 V DC, 0.8 A
nternal current consumption
M code output
:went
sizemm (inch) 130(H)
x 69.5(W) x 93.6(D) (5.12 x 2.74 x 3.69)
4.75
to 26.4 V, max. 50 mA
Neight kg (Ib) 0.38(0.84)
I REMARK
I/O allocation for the 2 slots are as follows:
First half
slot ........ Empty slot: 16 points
Second half
slot ... Special-function module: 32 points
Section 6.1.1 gives details about the first half
slot.
3-2

3. SPECIFICATIONS
I
3.2.2 Functions 6
. . . .7 -1. WSEGA
The AlSD7I has functions used for positioningand positioning control during
two-axis independent operations and two-axis linear interpolation operations.
Thesefunctionsareutilizedasfollows:
/
' By test operation of aperipheralAperipheraldevice or AD71TUis
device or teachingunitconnected
to anAlSD71,andposi-
tioning is executed using the periph-
eral device
or AD71TU.
This is used during program checks
or
test operations.
By a sequence program -..-............... Positioning is executed using a pro-
gram built
in the PC CPU.
-
*
\
For use of theperipheraldevice,refer to the SWOGP-AD71P Operating
Manual.
For use of the AD71TU, refer to the AD71TU OperatingManual.
Positioning control functionsare shown below.
Function
I
I
Error detection
Set data read andwrite
Present value and speed
read
Teaching
(positioning data write)
Sequence Program or A6GPP
Two-axis independent operation
operation Two-axis interpolation
An error code is provided by the AlSD71 if a data setting
or positioning control error occurs.
(For details of the error codes, refer to Chapter
8.)
AlSD71 set data (parameters, zero return data,
positioning data) can be read and written.
Present value data and speed data can be read from the
AlSD71.
(Present value can be read and monitored during position-
ing.)
After manual positioning. present value can be written as
position data.
(Data is written to both axes in the case of two-axes inter-
polation operations.)
The positioning functions of the AlSD71 are shown in Table 3.3.
3-3

3. SPECIFICATIONS
MELCFlGA
Table 3.3 AlSD71 Positioning Functions
Mothod wlth a aequanca program or nmthod(taat oporatlon)
udng
pdphud dovisa (or AD7lTU)
FunctlonaTwo-areaIndapondantopratlon Two-axea lnterpolatlon operation
JOG operation function
JOG operations canbe done whena JOG
operation commandfrom tho PC CPU (or
peripheral device) is turned ON.
Unavailable
Zero return
from tho PC CPU (or parphersl device).
Returnsby a zeroreturn startcommand
The current value is corrected
to the zero Unavailab'e
address after zero return is completed.
Positioning is executed at a set speed
the ourrmt position to the setting position
position.
two
axas mving in limrdiredions from
fromthe lo the setting
Positioning m executed at a swed with
positioning
cD
Positioning by linear interpolation can be
Changesspeed in acwrdance with the
n-times
8
e.
(linear interpolation).
-
signal, and executes positioning.
(pattern change)
0
Unavailable
positioningdataset bya one-time start bya change in speed
';
Changesspeed in acwrdance with thePositioning accompanied
.E
executed continuously as well os with the
positioningdataset bya one-timestart
m
E
positioning
One-tlme
C
C
two-axis independent operation.
signal, and executes positioning.
.-
Fa
Starts operations in accordance with the
positioningdatasat
by a one-timestart
signal. switches to positioning control by
an external control switching signal, and Unavailable
--
executes positioning.
Starts operations in accordance with the
positioningdatasetby a one-timestart
signal and stops operations due to a stop
signal from the PC CPU, external STOP
signal from the AD71TU. Operationscon-
signal, the peripheraldevice,or a stop
tinue until a stopsignalisreceived.The
currentvalue management is not per-
formed.
Speed control mode An operation that
is similar to a two-axis
simultaneously with two axes.
independent operation can start and stop
(1) If positioning is done using a sequence program in the positioning control
mode orspeed/positioningcontrolswitchingmodes,a PC CPUcan
output the set
M code from an AlSD71 when positioning starts or after
positioningiscompleted.(Peripheraldevicesdo not output
M codes
during positioning.)
(2) Current values in an AlSD71 can be changed (rewritten) by a sequence
program or peripheral device before positioning is started.
(3) Positioning can be donecontinuously by setting a positioning start data
number
to 20 points inthe buffer memory (X axis: 0 to 39, Y axis: 300 to
339) in an A1 SD71 before positioning startsinthe position controlmode.
(4) Theerrorcompensationfunctionand thebacklashcompensationfunc-
tion are valid in theparameter settings indicated below.
L
Error Compensation Backlash
JOG
0 '2
0
Position control
~ ~~~
.-
0
0
C
.O -.
o '2
Speed control
0 '1
0
Speed/positioning control switching
.-
a
o = valid
*1 If thetraveldirection changesduringrestarting,backlashcompensation
is executed.When starting for the first time, backlash compensation isnot
executed.
*2 If a stop instruction is received during backlash compensation travel, it is
controlled
so that positioning is stopped after traveling the amount of the
backlash.
3-4

3. 1. SPECIFICATIONS
1 fWt3EC-A
3.3 GeneralDesariptlon of PosRhlngSystemOperations
Thissectiongivesageneraldescriptionofthe AlSD71 anditsuseina
positioning system.
3.3.1 Positioningsystem using an AlSD71
Fig. 3.1 shows :the operation of an A1 SD71 in a positioning system.
PCCPU module
Positioning
(AlSCPU)
A1SD71 Forward pulse Drive unit Servo motor
---------
string
-wu
Speed
4
command
I
D-A
-
Error
counter converter
*
Program
o:
-
Set
i
data
c)
.
a
7 '
.- - interface
Reverse
:
pulse
h;-, write+
string
U-
t
Feedback pulse
-LnnT
--------- --
Peripheral
device.
AD71TU
Servo motor speed
I Time t
Fig.3.1PosltioningSystemOperation Block Diagram
The AlSD7l's output is a pulse string
When pulsestringsareoutput,pulsesareconvertedintoerrorcounters.
Deviation counter pulse values are converted into DC analog voltages by a
D-A converter, and changed into speed commands.
The drive unit gives a speed command.
The motor begins torotate and the pulse generator
PG gives feedback pulses
in proportion to the revolutionsof the motor to subtract accumulated pulses.
The motor rotation continues maintaining the constantdeviation counter pulse
value.
Whenthecommandpulseoutput fromthe
AlSD71 ceases,thedeviation
counter pulse value decreases, and the speed slows down.
Then, when the deviationcounter pulse value becomes
0, the motor stops.
Thus, the motor's rotary speed is proportional to the frequency
of the com-
, mand pulse, and degree of the angle of the motor's rotation is proportional to
the number
of command pulse output pukes.
Therefore, transmission can be done to a position that is proportional
to the
number
of pu1se.s of a pulse string by specifying the feedrate per pulse.
Thepulsefrequencyisequalto thenumber
of revolutions(transmission
speed)
of the motor.
3-5

3. SPECIFICATIONS
MECSEGA
General design of positioning system
V
ew
Servo motor
PO
A : Positiondetectionincrement(mm/p)
vs :
n:
L:
R:
v:
N:
K:
E:
PO :
P:
(1)
(2)
(3)
Command pulse frequency (PIS)
Number of pulse generator slits (slits/rev)
Feed screw lead (mm/rev)
Reduction ratio
Moving part speed (mm/s)
Motor speed (rpm)
Position loop gain (sec-')
Deviation counter pulse value
Zero point (pulse)
Address (pulse)
Position detection increment
L
A=-
Rxn
(mwP>
Command pulse frequency
vs = (PIS)
Deviation counter pulsevalue
v
E = - (pulse
VS
K
c
Expression (1) indicates the travel per pulse,i.e. the number of output pulses
x A. Using expression (2), calculate the command pulse frequency from the
workspeedandpositiondetectionincrement.Expression
(3) indicatesthe
relation between the command pulse frequency and deviation counter pulse
value.
Any of the fourpositioningunits,(mm), (inch), (degree), and (PULSE), may
be selected individually for the
X and Y axes.
According
to thetargetpositioningaddress,apulsestringisoutput,and
positioningis executed by the AlSD71 by settingdatasuch as thetravel
distance and
acceleration/deceleration time per pulse, the positioning speed,
and the positioning address in a positioning command unit.
3-6

3. SPECIFICATIONS
MWSSGA
3.3.2 Signalcommunications between an AlSD71 and each unit
Fig. 3.2 shows a function block diagram for signal communications between
each unit connected
to an AlSD71, an AlSCPU, peripheral device, and the
drive unit.
Communicationbetween PC CPU and AlSD71
I
Control signals and data communications via base unit, they consist of:
Control signals
..... I/O signals given in Section3.7.
Data
..................... Written to and read from the buffer memory by thePC
CPU. Detailed in Section 3.5.
Communicationbetweenperipheraldevice(or AD71TU) and AiSD71
Datawrite, AlSD71 test, AlSD71 monitor,etc.via
the AlSD71’s RS-422
connector.
Controlsignalcommunicationtoandfromthedriveunitandpulsetrain
output from the AISD71. (For the
I/O interface, refer to Section 3.8.)
Communicationsbetweendriveunitand AlSD71
AlSCPU AlSD71
7- -1
-
Y2D
AlSD71 ready IC
xll
PC ready
Reversejog start
Forward jog start
Zeroreturn request
Zero return start
Zeroreturncomplete
! *
y27, y29
y28, Y2A
x16, x17
y23, y24
xlc, XID
I
X12, X13
X14, X15
x18, x19 Startcorn lete
Y25. Y26
I---
Interface
with
PC
X1E. X1F
Y2B, Y2C
x10
X1A
x1 B
M code ON
J
I
I-
u-
I
1
/I
External
inerfaw
I
r
Driveunitready
Drive unit
Starl
c
Deviation counter clear
Pulse train
c
Controlswitching signal
Enablesignal External
signal
I
Positioning data writdread
4
Fig. 3.2 AlSD71 Function Block Diagram
3-7

3. SPECIFICATIONS
MELS€GA
3.3.3 AlSD71 operation descripaion
Fig. 3.2 PC initiatedpositioning procedure
I
START
I
L=
Operating data write?
I
AlSD71 buffer memory all clear . , , , .. . , Clearthe AlSD71 buffermemory using the peripheral device.
Set parameters
'. . . . . . See section3.5.1. '
Although data may be set by the sequence
program, it is recommended to set the data
(especially parameters and
zero point return
data) using the peripheral device or AD71TU.
Set
zero return data . . . ' . . See section 3.5.2. However, those parameters (acceleration/de-
celeration time, deceleration time for
an mer-
gency stop, and positioning mode) that cannot
be set
in the peripheral device or AD71TU
1
1
Setpositioning data . . . . . . . . See section 3.5.3. , must be set withasequenceprogram.
Zero return start signal(Y23, Y24)
Yes
Write positioning start data No.
into buffer memory.
. , , , . . . . Write start data numbers into X-axis addresses 0 and Y-axis
addresses 300.
b
Next position required?
END
(1) Section 6 gives details about zero return start and positioning start conditions.
(2) Table 3.4shows the data needed for control signals (positioningfunctions) from the PC CPU.
3-8

Table 3.4 Data Needed for Posltlonfng Functlons
Functions
~ ~~
JOG Zero Positioning
operation
Sped
8p..d/podtiontng
positioning
return Control
control rrltchlng
control
Data
Unit setting
00 0
00
Travel per pulse
0
0
0 00
Speedlimit value IoIoIoIoIo
Jog speed limit value
0
0 0
Backlash compensation
0 0
0 0 0
Starting bias speed
0
Upperstroke limit I I lolot
Lower stroke limit
0 0
Error compensation
0
0
~ ~- ~ ~~~ ~
'arameter
Acceleration and decelera-
tion times
lololololo
Positioning complete
signal output time
0
0
Pulse output mode IoIoIoloIo
Rotation direction setting
0
Positioning method
0
00
0
0
M code ON/OFF timing I I Io 10'1
Deceleration time for
emergency stop
0
0
0
0
Positioning mode
0 0
0 0
Zero return direction
0
000
Zero return address
0
Zero return method
0
0 0 0
Iero
eturn data Zero return speed
I Io1 I I
Zero return creep speed
0
Zero return dwell time
0
Torque limit I 101 I I
Positioning information
0 0
0
Positioning speed
0
0
0
'ositioning
lata Positioning address
I I IOIOI
Dwelltime I
I IOIOI
I
~ ~~~
Start data number area
0
Jog speed
0'
Of
0. . ,:,
O* O*
Speed change data
0
0 0
* Indicates functions used to change the speed during AlSD71 positioning.
Xhers
3-9