Mitsubishi MELSEC-K User manual

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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

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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
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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

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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
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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.
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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.
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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.
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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
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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
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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
*
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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
_.
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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.
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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: