Mitsubishi MELSEC-K User manual
-_
t
i
MlTSUBlSHl
PROGRAMMABLE
CON1
ROLLER
Instruction
Manual
Positioning Unit Type
KD7
I
Teaching Unit
for
KD7
I
Type
KD7
I
TUE
I
IB(NAl64492-B
I
MlTSUBlSHl
ELECTRIC
0
'<
'
CONTENTS
/
..
1.
Introduction
.........................................
1
2. Composition
2-1 Component units
.................................
2
2-2 System composition
..............................
3
3. Operation explanation
3-1 Principles of operation
.........................
4
3-2 Outline design
of
the positioning system
........
6
Specifications
4-1
Performance specifications
......................
7
4-2 General specifications
..........................
8
4-3
Power unit capacity
.............................
9
Input/Output interface
40
5.
,
7
5-1 Signal names
...................................
10
5-2 Electrical specifications
......................
12
5-3
Torque restriction
.............................
14
5-4 Interface for the KD71S1
.......................
15
6.
Pcsitioning
nethod
..................................
19
6-1
Zero point return
..............................
20
6-2
Positioning
....................................
21
6-3 Positioning continuation
.......................
21
6-4
Speed and torque revisions
.....................
22
6-5
Speed revision during execution
of
positioning
.
22
6-6
Positioning stop
................................
22
6-7 Positioning start
..............................
22
7.
Contents
of
preset
data
7-1
Parameters
.....................................
25
7-2
Zero point return data
.........................
30
7-3
Positioning data
...............................
33
8.
Hardware
8-1
Hardware composition and function of selector
switch
(SW2)
...................................
38
8-2
LED display contents
...........................
40
8-3
UNLOCK-LOCK switch
.............................
40
8-4
Use
of
selector switch
(SW2)
...................
40
8-5
Programming settings data into ROM
.............
42
9.
External connections
9-1
Example
of
connections to TGei Electric
VELCONIC
.......................................
43
9-2
Example
of
connections to Nikki Electric
DIGITAL S-PACK
.................................
45
9-3
Example
of
connections
to
Yasukawa Electric
POSITION PACK-1OA
..............................
46
10.
Operating the Teaching Unit
10-1
Connection with the Positioning Unit
...........
48
10-2
General operations
.............................
49
10-3
Operating modes
................................
50
10-4
Write-in
.......................................
51
10-5
Readout
.........................................
54
-
10-6
Monitor
........................................
56
10-7
Testing
........................................
58
10-8
Special operations
.............................
62
7\
'I
11.
Sequencer Program
11-1
1/0
signals and allocation
.....................
65
11-2 Signal exchange with sequencer
.................
66
11-3 Writing
preset data
.......................
71
11-4 Readout
of
preset data
.......................
77
11-5 Start
..........................................
82
11-6
1
11-7
11-8
12. Trial
12-1
12-2
13. Error
13-1
13-2
Readout
of
current
value, torque, and status
...
85
Revision
of
current
value
......................
89
Speed revisions
................................
89
run
Sequence checks
................................
92
Check
of
positioning operation
.................
94
code displays and their rectification
Error code display
.............................
95
Error code chart
...............................
96
14. Safety measures
.............~........................
103
t
I
i")
1,
Introduction
The Positioning Unit KD71 (hereafter abbreviated as KD711, is
used for high-precision positioning control as one
of
the input/
output
peripherals
of
the
MELSEC-K1,
K2,
KOJ.
The KD71 has a microprocessor,
whose output is a positioning
pulse sequence, including acceleration and deceleration.
The output can be combined with various kinds
of
servo
control drive units to perform positioning for
a
wide range
c1
of industrial equipment.
Features
:
1.
Full digital control
0
The use of
a
high-speed microprocessor
has
made possible small
size and high performance, with high reliability.
2.
One unit performs 2-axis control
With a single positioning unit, independent 2-axis control
or
simultaneous 2-axis control is possible.
3.
Includes linear interpolation function.
0
A
2-axis linear interpolation function is included in the unit.
4,
Includes backlash compensation function.
The backlash compensation function makes possible high-preci-
sion
positioning possible.
I
5,
Usable
servo
motors
Since the
KD71
operates with pulse-sequence output, it can
be
used with
DC
servo motors,
AC
servo motors, stepping motors,
and other drive units.
-1-
6.
Positioning data settings
The
setting
of
positioning data can
be
performed from the KD71
TU
and- sequencer
CPU.
-
Positioning
unit
..
KD71
2.
Composition
.
Teaching
unit
Connection
cable
2-1
Component
parts
KD71TU
K70CBL
The component
parts
used in conjunction with the positioning
-.-
~
unit
are
as
listed
below
Table
2:
Positioning unit component
parts
Name
IModel
Battery
KGBAT
Memory
11
KROM
unit
I
Contents
Positioning unit main body (output sync type)
Positioning
data
input/output unit
Cable
for
oor.necting the KD71 and KD71TU
(length
2m(78
inches)
)
Memory backup battery
for
IC-RAM
memory and
latch function.
EP-ROM (equivalent
to
type- 2716,
IC
chip),
2K
bytes.
Positioning unit main body
for
use with
MELDAS-S1 (output source- type)
-
I
L
-
._
.
.
..
.
I
.
.. .
..
0
0
0
-2-
c,
2-2
System composition
Positioning unit
KD71
onnect
able
.70CBL
ion
Teaching unit
KD71TUE
Write-in
of
positioning
JUULPulse
..S
e
quen
c
e
r
MELSEC-K
Sequence processing
Data processing
[+
Data link function
1
Positioning function
sequence output
w
data
Readout
of
positioning
data
Control status
display
Positioning
test
function Drive unit
AC/DC
servo
motor,
pulse
motor,
stepping
motor,
etc,
Fig.
2:
System composition
-3-
3.
I
Operation explanation
I
3-1
Principles
of
operation
r
------------
pulse
I
sequence
ULrLr
~S-peed
r
A
command
>
M
Servo
Inverted; >Deviation-
D'A
conve
r
t
e
r
.Ir
amp13
fier
pulse counter
sequence
J
*
I
I
I
I
I
I
Interface
PG
Feedback pulse sequence
,-LhnT
i
0
.-
-
vo
motor
speed
3
rn
tu
tu
a
Y
v)
accumulation
Time
(t)
speed
command.
0
Fig.
3:
Block diagram
of
positioning system operation
The
output
of
the KD71
is
a
pulse sequence. When
a
pulse
sequence
is
output, the pulses accumulate in the deviation
counter, and-this pulse accumulation
is
converted
to
direct
current analog voltage by the
D/A
converter, thus becoming the
_.
0
When the
motor
begins rotating
as
a
result
of
the speed command,
pulses in proportion
to
the amount of rotation
are
output
from
the pulse genera.tor
PG,
and,decrease the accumulation in the
deviation counter.
I
The deviation counter preserves
a
fixed amount
of
accumulation,
continuing the
motor
rotation, and when the command-pulse output
from the
KD71
is
stopped, the accumulated pulses in the deviation
counter
are
reduced and speed
is
lowered, and when
the
accumula-
*
ted pulses disappear, the
motor
stops.
In other words, the
ro-
tating speed
of
the
motor
is
proportional to the frequency
of
the command pulse, and the rotation angle
of
the
motor
is
0
proportional to
the
number of
command
pulses output.
-5-
3-2 Outline'design of the positioning system
\u
A:
Unit
of
..
position detection (mm/PULSE)
I
Servo
motor
Vs:
Command pulse frequency [PULSE/sec]
n:
Pulse generator
slits
[SLIT/rev]
(1)
Unit
Of
position detection
L:
Feed
screw
lead [mm/revl
R:
Deceleration rate
*
V:
Moving element speed [mm/sec]
N:
Motor
revolution
[rpm]
K:
Position
loop
gain [sec-ll
A=-
(nn/PULSE)
Rxn
(2)
Command pulse frequenc'y
0
7-
6
t
Accumulated pulses in deviation counter [PULSE]
V
A
A&:
Stopping accuracy [PULSE]
Vs
=
-
(
PULSE/sec
1
(3) Pulse accumulation
of
deviation counter
vs
K
E
=-(
PULSE)
The amount
of
movement
of
one pulse
is
shown in
(l),
the amount
of movement equaling the number
of
output pulses
x
A.
The
com-
mand pulse frequency
is
computed in
(2)
from the moving element
speed
and the unit of position detection.
The relation
of
the command pulse frequency and the pulse
ac-
cumulation in the deviation counter
is
shown in
(3).
The KD71
sets
the position
of
the moving element in absolute
value. When the zero point
is
Po,
and the amount of movement
from the zero point
is
,&
,
I?
P=Pot-
A
the following re'lation
is
obtained:
i
4.
,Specifications
4-1
Performance specifications
Item
No.
of control
axes
'
Maximum command
value
Maximum speed
Speed setting
range
Automatic ac-
celeration/
deceleration time
Data capacity
Setting method
Zero point
return function
Setting data
RAM
memory
backup
Specifications
.
Handles 32 points
No.
of
exclusive
I
I/o points
2 axes (simul.
2-axis,
independent 2-axis)
999,999 pulses
6
digit decimals
100
KPPS
4
PPS
s
100
KPPS, can be set in
4
PPS increments
Linear accel/decel
0.1
s
9.99
sec, setfable in
10
ms increments
400 data per axis
(0
s
399)
Can be input from teaching unit and sequencer CPU (KOJ, Kl,.K2)
Includes zero point shift function, zero point return direction, speed para-
meters settings
Parameter
Acceleration/deceleration
time
0.1
I,
9.99
sec.
Torque
restriction
10
250%
Backlash 0-255 pulses
Speed restriction decimal-
6
digits
Upper stroke limit deci-
mal 4 digits
Upper stroke limit deci-
mal
6
digits
JOG
speed decimal
4
digits
Zero point return data
Zero point return mode
Zero point address
decimal
6
digits
Creep speed decimal
6
digits
Torque restrictionl0s 250%
Dwell
O.Ols9.99 sec.
Zero point return speed
decimal
6
digits
Positioning data
Data number
0
2,
399
Positioning pattern
Positioning address
decimal
6
digits
,
Speed decimal
6
digits
Torque restriction
10%
250%
Dwell O.Ols9.99 sec.
Condenser preservation
10
min. at 4OOC.
Lithium battery, overall preservation time in event
of
power outage
300
days,
battery life 5 years.
s
-7-
4-2
General specifications
Item Specifications
Ambient
temperature
I
Ambient
(during storage)
Relative humidity
temperature
I
0
%
55oc
-10
'L
75OC
10
'L
90
%RH
(non-condensing)
I
Shock protection
Noise protection
Voltage
protection
Insulation
resistance
Conforms to JIS C 0912 (10 g,
3
times in each direction
X,
Y,
Z)
By noise limiter, noise voltage 1OOOV
(P-P),
noise width lps, noise frequency
25
2,
60Hz.
ACSOOV-1 min. Input/output terminals encased
Input/output terminals encased
With 500V insulation resist-
ance tester,
~MQ
or more
10
%
90
%RH
(non-condensing)
Conforms to JIS
C
0911
'I1 83 type (16.7Hz compound amplitude
3
mm
2Hr)
Relative humidity
Vibration
protection
(during storage)
-8-
4-3
Power
unit capacity
The capacity
of
the power unit, and the load current
of
the
KD71
and the’various
1/0
units
is
as
shown below, The power unit
should
be
selected
by
computing the total current consumed.
Power
unit
K61PA62P
i
15V 4A
I
Power
unit
5V 15A
I5V
lOAl
I
K2CPU
w/
peripheral
unit
5V 2.2A
w/
KD71TUE
(w/oKD71
TU)
I
KJ71
L2,
L4
I
0.1
A
If
the
system is run without
a
sufficient power capacity,
damage
may
result to the power unit, destruction of the sequenc
sequence
program,
or
malfunction
of
the
CPU.
5.
Input/Output interface
5-1
Signal names
U
a
2
Signal name
Drive unit
ready
READY
DOG
Zero-point
signal
PGO
Positioning stop
STOP
START
Deviation counter
clear
CLEAR
Direction sign
SIGN
Command puise
PULSE
Command pulse
for normal
direction
PULSE
F
Command pulse
for inverted
direction
PULSE R
Contents
(1)
Set on
LOW
when servo drive unit is normal and ready to accept
(2)
Before starting, the KD71 checks the drive unit ready signal, and
(3)
Set to HIGH when drive unit is not capable of operation, e.g. when
feed pulses.
if not in a ready status, outputs a zero point return demand.
malfunction is found in control power or elsewhe-re.
(1)
Used for near point detection during zero point return.
(2) When zero point return is performed by zero-point signal, the zero
Set on
LOW
for near point detection.
point is the first grid point separated
from
DOG
following the
detection
of
the near-point
DOG.
(1)
The zero-point signal is used
during zero point return, and in
general, the zero-point grid signal
of
thepulse encoder is
used. At zero-point set to
LOW.
(2) When zero point return method is by stopper,
and zero point return
completion
is
input from external sources, this signal is also ysed.
(For details refer to section 7-2-1).
(1)
LOW
when positioning is stopped.
(2)
When this signal is input, the
KD71
stops execution of positioning,
and sets the start signal
(START)
to OFF (HIGH).
(1)
Low during execution 6,fpositioning.
(2) During output of feed pulse or during dwell, start signal becomes
ON
(LOW).
This signal is normally used as the brake release
signal for
mechanically-braked servos.
This is the pulse signal output before the execution of zero point
return operation, and it resets the accumulation pulses
of
the servo
unit's deviation counter.
H
I--
-
Low during normal, HIGH during inverted.
Normal
increase
sthe current value, inverted decreases current
value.
Common feed pulse for normal and inverted.
Running direction
is
determcined by direction sign (SIGN).
Feed pulse for normal (forward)'use.
Feed pulse for inverted (reverse) use.
0
0
The following outputs are used by selecting either
A
or
B
output using the switch built into the unit. (Refer to Fig.
8)
Signal name
command
4J
pulse
I
PULSE
F
A
type
(SW2-2
OFF)
Contents
Feed pulse
for
normal
(forward)
I
PULSE
R
I
\
B
type
(SW2-2
ON)
Signal name
Direction sign
SIGN
Command pulse
PULSE
Contents
LOW
during normal,
HIGH
during inverted.
((During normal,
current
value increases;
during inverted,
current
value decreases).
Feed pulse for use with both normal and
inverted. Running direction
is
determined
by
direction sign
(SIGN)
.
PULSE
uuuuu
umuu
NOTES)
1.
1/0
signals
are
the
same
for
X
and
Y
axes.
2.
For external connections and arrangement
of
connector
pins,
refer
to
section
9.
3.
Selection
of
the output
mode
in
Fig.8
is
as
follows:
when
SW2-2
is
OFF,
the mode
is
A;
when
SW2-2
is
ON,
mode
is
B
(set
to
B
by
factory at time of shipping).
-11-
5-2
EleCtfical
specifications
(1).
Input
Signal name
Supplied
power
STOP
DOQ
READY
PQO
(2)
output
Signal name
START
CLEAR
S
I
QN
PULSE
PULSE
F
PULSE
R
Contents
DC5-24V
(4.75d25V stabilized current)
1
5
0
mA(max))
At
HIGH
level supplied power voltage
-lV
or
more
(Input current 0.3mA
or
less)
At
LOW
level supplied
power
voltage
(Inputcurrent 2.5mA
or
more)
-3V
or
less
-At
HIGH
leuel supplied
power
voltage
-1~
or
more
(Inputcurrent 0.3mA
or
less)
At
LOW
level
supplied
power
voltage
(Inputcurrent 2.5mA
or
more)
-3V
0-r
less
Pulse
width:
2
0
PS
Or
more
Pulse
fall
time:
3
psor
le-ss
Con
tents
Output type: Open
collector
Load voltage-.:
4.75
d
25VDC
,Load current:
lOmA
(max)
Output voltage
at
ON:
0.6V
or
less
Current leakage
at(OFF-state):
O.lmA
or
less
Output type:
open
collector
Load voltage: 4.75
d25VDC
Load
current:
lOmA
(max)
Use
with
range
of
2mANlOm
When
ised
with
less
than
2mA,
add
a
dummy
resistor.
Pulse
rise
time
and fall
time:
Both3
p
s
or
less'
0
-1
2-
-1
KD7
1
~~
Pin
number
..
I
Signal
name
X
axisY axis
Type
A
2A 2B
9B
7B
STOP
-
-
8A 10A
DOG
-
7A
9A
READY
-
1B 3B
-
PGO
-
8B
1
OB
1
kQ
Type
B
STOP
'
DOG
READY
Pa0
1A
4A
I
I
I
I
3A
(+)
power:
supply
5B
(-9
supply)*
DC
5m24V
(outside
F
-
13B
14A
--
12A
5A
11A 15B START
k
18A
18B
16B
.Same
as
6 B
above.
PULSE
F
I
'I
-
--
SIGN
14B 19A
15A 19B
12B 17A
Same
as
13A
17B
above*
-
PULSE
R
Same
as
.above
-
PULSE
CLEAR
4B 6A
Same
as
above
CLEAR
START
Fig.
5.1
KD71
1/0
circuits.
-1
3-
5-3
Torque restriction
The KD71 includes
a
function
for
controlling torque. When per-
forming torque restriction, the
KD7l's
torque restriction value
is
readout
by
the
KCPU
sequence
program,
converted
to
analog
by
the
D/A
converter unit w63A,and output
to
the drive unit.
For reading the troque restriction value, refer to section
I
1-6.
Sequencer
KCPU
Torque
:est
ri
c
t
ion
ralue
:e
adou
t
Drive unit
Pulse
sequence
res
t
r
i
c
t.i
o
n
(analog volume)
Fig,
5.2
Block diagram
of
torque restriction function
-14-
5-4
Interface for the KD71S1
The positioning unit KD71S1 is connected to, and used with the
Mitsubishi
servo
unit MELDAS-Sl._ The
differences between
the servo unit and the
KD71
are the mode of input/output
signals and the pin numbers only. Other functions, operat-
ions.,
and specifications are identical to ,the
KD7l.
Select
positioning functions, data transmission finctions, and
memory protect
ON-OFF
‘selector switches in accordance
with
Fig.
8.
0
-1
5-
5-4-1
1/0
interface
Signal name
Drive unit ready
READY
Near point signal
DOG
Zero-point signal
Positioning stop
STOP
Start
START
Clear signal
CLEAR
Direction sign
SIGN
Pulse sequence
output
PULSE
:1)
Set to HIGH when the MELDAS-S1 is normal and ready to
accept feed pulses.
:2)
Before starting, the KD71S1 checks the drive unit ready
signal, and if not in a ready status, outputs a zero
point return demand
(1)
Used
for
near-point detection during zero point return.
HIGH at near-point detection.
(2)
The zero point is the first grid point separated from
the
DOG
following thedetection of the near-point
DOG.
(1)
Zero point signal for zero point return, uses MELDAS-Sl's
grid
ON
signal (resolver phase angle
0).
(2)
When zero point return method is by stopper, and zero
point return completion is input from external sources,
this
signal
is also used.
(1)
HIGH when positioning is stopped.
(2)
When this signal is
present, the
KD71S1
stops
execution
of
positioning, and sets the start signal (START) to OFF
(Low)
.
During output of feed pulse, or during dwell, start signal
is ON (HIGH). This signal is normally used as the brake
release signal for
mechanically-braked servos.
For
MELDAS-S1 alarm reset, this
is
the pulse signal output
before execution of zero point return operation.
1
0-5
Oms
I
I
Used as the direction sign for pulse sequence commands.
Differential output.
This is the pulse sequence command, and is output
differentially.
nrulnnn
n
I
I
I
PULSE
1
I
SIGN
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