Mitsubishi MELSEC-A A6MD User manual

INTRODUCTION
Thank you for choosing the Mitsubishi MELSEC-A Series of General Purpose Programmable
Controllers. 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 - 1-3
1.1Features
.............................................................. 1-2
2.1General System Configuration
............................................ 2 . 1
2.2 Module
................................................................ 2-1
2.3 Cautions onSystem Design
.............................................. 2 - 1
2.4 Cautions on Operations
.................................................. 2 - 2
3
. SYSTEMBOOTPROCEDURE ... I ........................................ 3 . 1 . 3 . 6
3.1 Bootingthe A6MD
....................................................... 3 . 1
3.1
. 1 Bootingthe A6MD ................................................ 3 - 1
3.1.2Characterselection screen ......................................... 3 - 2
3.1.3 Model Selection
.................................................. 3 - 2
3.2 Common Key Operations
................................................. 3 - 4
3.3 Common DisplayAreas .................................................. 3 - 6
4 . STARTINGUPTHESERVOAMPLIFIER ..................... I .............. 4 . 1 . 4 . 4
5 . OPERATIONMONITORING(MONITORMODE) .. I .......................... 5 . 1 . 5 . 12
5.1 Monitoring PresentPositionData(8 Axes)
................................... 5 - 2
5.2 Checking ErrorContents
................................................. 5 - 4
5.4 Trace Monitoring of Servo Program
....................................... 5 - 10
5.3 Positioning DataMonitor and ServoDataMonitor
............................. 5 - 7
6 . TESTOPERATIONS(TESTMODE) ....................................... 6 . 1 . 6 . 43
6.1
6.2
6.3
6.4
6.5
6.6
6.7
6.8
6.9
Starting UpTheServo
................................................... 6 - 4
6.1,1 Checking servo conditions
......................................... 6 - 5
Diagnosing the Servo ................................................... 6 - 12
6.2.1 Velocity loop gain check
.......................................... 6 - 13
6.2.2 Position
loop gain check .......................................... 6 - 17
Testing Jog Operation .................................................. 6 - 21
Executing MPG Operation
............................................... 6 - 23
Executing Zero Return Operation
......................................... 6 - 25
Executing A Servo Program
.............................................. 6 - 28
6.6.1 Single start setting operation
...................................... 6 - 29
6.6.2 Registeredstart setting operation .................................. 6 - 31
ExecutingTeaching Operation
........................................... 6 - 35
ErrorResetOperation
.................................................. 6-41
PresentPositionData Change Operation
.................................. 6 - 43
...-- .. , ..... - .............. _ . .... ..-.

7 . SETTINGPOSITIONINGPARAMETERS ................................... 7 . 1 . 7 . 18
7.1 Setting Positioning Parameters
............................................ 7 . 2
7.1 -2 Servoparameters setting operation .................................. 7 - 6
7.1-3 Zero return data setting operation ................................... 7 - 8
7.1.4 Jog operation data setting operation ................................ 7 - 10
7.2 Copying Positioning Parameters
.......................................... 7 - 12
7.3 Checking Positioning Parameters
......................................... 7 - 14
7.4 Displayingthe PositioningParameterList
.................................. 7 - 16
7.5 Clearingthe Positioning Parameters
...................................... 7 - 17
7.6 ClearingAllData
....................................................... 7 - 18
7.1.1 Fixed parameter setting operation
................................ , .. 7 - 3
8 . SETTINGPARAMETERBLOCKS .......................................... 8 - 1 - 8 - 9
8.1 Setting ParameterBlocks ................................................. 8 . 2
8.2 Copying ParameterBlocks
............................................... 8 - 4
8.3 Checking ParameterBlocks .............................................. 8 - 6
8.4 Displaying a ParameterBlockList ........................................ , . 8 - 8
8.5 Clearing a ParameterBlock
............................................. , . 8 - 9
9 . SETTINGLIMITSWITCHOUTPUTDATA ................................... 9 - 1 - 9 - 8
9.1 Setting ON/OFFPatternforLimit Switch Output
.............................. 9 . 2
9.2 Checking Limit Switch Output Data ........................................ 9 - 7
9.3 Clearing Limit Switch Output Data
......................................... 9 - 8
10 . PROGRAMMING AND EDITING SERVO PROGRAMS ...... I .. I .. I ......... 10 . 1 . 10 . 28
10.1 ReadingServoPrograms
............................................... 10 - 3
10.2 WritingServoPrograms ................................................ 10 - 9
10.3DeletingServoPrograms .............................................. 10 - 11
10.4 Editing ServoPrograms
............................................... IO - 12
10.5 Displaying a Program List
.............................................. IO - 15
10.6 CheckingServoPrograms ............................................. 10 - 21
10.7 Sorting ServoPrograms
............................................... 10 - 22
10.8Copying ServoPrograms
.............................................. IO - 23
10.9 Batch ReplacingAxis Numbers
......................................... 10 - 26
10.1 0 ClearingAll Servo Programs ............................................ 10 - 28
11
. MESSAGELIST ..................................................... 11-1-11-5
11.1 ErrorMessageList
..................................................... 11-1
11.2 ProgramCheckErrorMessageList
....................................... 11 - 5

1. INTRODUCTION /MELSEC=A
1. INTRODUCTION
Thismanualdescribesthefunctionsandoperations of the AGMD
MonitorDisplayUnit(tobereferredtoasthe AGMD
in this manual)
connectedtothe A70MDF MonitorDisplayInterfaceModule(tobe
referred to asA70MDF in this manual).
1 Param- I Block No. 1
I blocks
eter
I Block No. 2
I I: I
I Block No. 15
I Block No. 16
I I
Servo
gram
VELOCITY 5ooo
(3:
L
+ Touch-panel
Parameter blocks
* Servo programs
* Test operation
Monitor operation
1
Servo amplifier
L
,
1 Servomotor
Screen display
I
Parameters
* Parameter blocks
* Servo programs
* Present position datamonitor
Error list monitor
* Servo diagnosis
Servo monitor
[Data Setting and Programming Operation]
1) Key in the parameters, parameter blocks, or servo programs using
the touch-panel keys
or A70MDF keys. (1)
2) Writethekeyed-indata or servoprogramtothe A73CPU PCPU
memory area.
(2)
3) Display the keyed-in data or servo program on the AGMD screen.
(3)
71
PCPU ..... The positioning control PCPU installed in the A73CPU module.
1-1
IR INA, 66235-4
...

1. INTRODUCTION /MELSEC=A
[Monitoring Operation]
1) Theservoamplifiertransmitsthepresentpositiondataaddress,
servo errors, and other data to the A73CPU.
(4)
2) Selectthedatatobemonitoredwithatouch-panelkeyoran
A70MDF key.
(1)
3) The display request for the monitor data selected in step 2) above
is transmitted to the PCPU or the A73CPU.
(2)
4) Themonitordataselectedwithatouch-panelkeyoran A70MDF
key is displayed on the AGMD screen. (3)
[Testing Operation]
1) Transmitthetestdataandthetestoperationexecutionrequest
with a touch-panel keyor an A70MDF key.
(1) and (2)
2) The test data and the test operation execution request are trans-
mitted from the A73CPU to the servo amplifier.
(5)
3)Theservoamplifiertransmitstheservoamplifiertestoperation
results to the A73CPUPCPU.
(4)
4) The A73CPU displaystheservomotortestoperationresultson
the AGMD screen.(3)
1.1 Features
(1) Positioningdataandservoprogramscanbeprogrammedand
W
edited in the interactive mode.
Thepositioningdataandservoprogramscanbeprogrammed
and edited in the interactive mode because the setting items and
setting range are displayed on the screen.
(2) On-screentouch-panel key operationsarepossible.
The touch-panel keys displayed on the AGMD screen facilitates
function selection and other operations.
(3) Theaxiscontrolledstateandservooperationstatecanbe
monitored.
* Commandpositiondataanderrors of theeightservodriven
axes can be monitored.
* Detailed data on each individual axis can be monitored.
(4) Testoperationispossible.
* Withzeroreturntestoperation,parameterssuch as thezero
return data and the set position
of the near-zero point dog can
be checked.
* By executing servo programs in the test mode, the AGMD can
check the servo programs and mechanical motion.
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I6 1NAl 6623SA

1. INTRODUCTION /MELSEC=A
(5) Teaching mode data setting is possible with MPG (manual pulse
generator) operation or jog operation.
By operating theaxes with theMPG operation or jog operation,
it
is possible toset data in the teaching mode or edit a positioning
address
in the designated servo program.
This is only possible in the absolute system.
(6) MR-SBservoamplifier data monitoring and testing are possible.
When an MR-Sf3 servo amplifier is used, the following monitoring
and testing are possible.
* Starting up the servo .....
See Section 6.1.
* Checking the velocity loop gain and position loop gain .....
See Section 6.2.
* Monitoring torque (peak torque, effective torque) .....
See Section 5.3.
1-3
IB INAI 66235-A

2. SYSTEM CONFIGURATION /MELSEC-A
2. SYSTEM CONFIGURATION
2.1GeneralSystemConfiguration
A73CPU system
Keyboard cable Monitor
display cable
L 1 1 1
-~
Monitor display unit
pamq
The keyboard and monitor display cables are optional:
a) Keyboardcable : AC3OMD-K (3 rn (9.84 ft))
b)Monitordisplaycable : AC3OMD-D (3m (9.84 ft)j
Cables shorter or longer than 3 m should be prepared
by the user.
For details, see theAGMD Monitor Display User's Manual
Fig. 2.1 General System Configuration
2.2 Module
(1) The AGMD is connected to theA70MDF in the A73CPU system.
2.3CautionsonSystemDesign
(1) Use the two cables (for the keyboard and the monitor display) to
connect theAGMD
to the A70MDF.
(2) Turn off the power to the AGMD and A70MDF before connecting
them.
If thecablesareconnectedordisconnectedafterthe AGMD
and/or A70MDF
is powered up, an A73CPU error, AGMD display
error, etc. will occur.
(3) Set the A70MDF/AD57-S2slideselectionswitchinthe A70MDF
position.

2. SYSTEM CONFIGURATION /MELSEC-A
2.4 CautionsonOperations
(1) Carefullycheckthesetdataonthe AGMD screen;execute
positioning control with the A73CPU only after making sure that
the set data does not containany errors.
(2) Thesettingsmadebeforeshipmentarelistedbelow:
(a) Parameters and parameter blocks
Default
(b) Servo program area
Cleared
(3) The AGMD and theAGGPP/AGGHP booted with the
SW[ ]GP-A73P
cannot execute the following operations simultaneously.
(a) Test operation
(b) Torque trace (monitor mode)
(c) Datawrite
(4) Toprogramaservoprogram orsetdata,reset the A73CPU PC
ready flag
(M2000).
Servo programs and data cannot be written while the PC ready
flag is set.
(5) After writingaservoprogramfromthe AGGPP/AGPHP, booted
with the
SW[ ]GP-A73P, with the AGMD set in the programming
mode, set
it in the programming mode again by pressing the [F2]
key.
The number of programs, steps used and remaining steps dis-
played on theAGMD screen will differ from the A73CPU memory
values
if the [F2] is key is not pressed.

3. SYSTEM BOOT PROCEDURE /MELSEC=A
3. SYSTEM BOOT PROCEDURE
3.1 Booting the AGMD
3.1.1 Booting the AGMD
1 I
Connect the A6MD
to the A70MDF
.................. Section 3.1.2Character Selection screen
NO
[CAN1
Turn ON the power
to the A73CPU sys- Japanese : [I] [CR]
tem and the A6MD English
: [2] [CR]
[CRI Selection:
1
1
I
4
c
Mode Select screen .................. Section 3.13
[CAN1
I I
Mode selection
Functions
I) Present
position
data (8 axes)
2) Error contents
3) Positioning
datdservo
data
$) Servo
program
trace
r
1)Axis data
setting
2) Axis data
COPY
3) Axis data
check
4) Axis data
list
5) Axis data
clear
6) All data
clear
Functions
1)Parameter
block
setting
2) Parameter
block
COPY
3) Parameter
block
check
4) Parameter
block list
5) Parameter
block clear
1
1) Limit
switch
data
setting
2) Limit
switch
data
check
3) Limit
switch
data
clear
Functions
1) Servo program
2) Servo program
3) Servo program
4) Servo program
list display
5) Servo program
check
6) Servo program
7) Servo program
COPY
8) Servo program
axis number
batch change
programclear
read
write
delete
sort
9) All servo
-
Functions
1) Servo
-
conditions
2) Servo
diagnosis
3) Jog operation
4) MPG operation
5) Zero return
6) Servo program
execution
7) Teaching
8) All axis error
reset
9) Present
positiondata
change
3-1
IB NAl 662?5 A

3. SYSTEM BOOT PROCEDURE /MELSEC-A
3.1.2
3.1.3
Character selection screen
CharacterstobedisplayedareselectedbetweenEnglishand
Japanese.
(1) Pressing the [CAN] key while the Mode Select screen is displayed
changes the screen to the Character Selection screen.
Fig. 3.1 Character Selection Screen
(2) Selectthecharactertouse.
(a)
[I] -, [CR]:Japanese
(b) [2] -, [CR]:English
Model Selection
The Mode Selection screen is displayed when the power
is turned on
to theAGMD
or when the [CAN] key is pressed after pressing the[FI]
- [F4] key.
Fig. 3.2 Mode Selection Screen
3-2
IB INAl66235-A

MEMO
3-3
IB iNAl 66235-A

3. SYSTEM BOOT PROCEDURE /MELSEC-A
3.2 CommonKeyOperations
(1) The AGMD usesthreetypes of keys for datainput:on-screen
touch-panel keys, A70MDF keys, and AD57S2 keys.
Theon-screentouch-panelkeysandthe A70MDF keys can be
used when theAGMD is connected to theA70MDF.
(a) The touch-panel keys can be used when the touch-panelkey
display is given on the screen.
Thetouch-panel key displayandthe A70MDF keysareex-
plained below.
Touch-Panel Key Display
/ / (1)
No. I Name I Contents
(1) I ODerationauidemessaae I Thetouch-Dane1keyfunctionisdisplayed
Touch-panel key display A touch-panel keyisdisplayedonthescreenbythe
I 'n or 'I 1' svmbol.
(3)
I A70MDF key display
The A70MDF key with the same function as the touch-
panel key displayed on the screen.
(b) The A70MDF common keys are indicated below.
~~~~~ ~
AD57S2 keys
Fig. 3.3 A70MDF Keys and AD57S2 Keys
3-4
IR INAl 66235-A

3. SYSTEM BOOT PROCEDURE /MELSEC=A
Table 3.1 NameandFunction of Common Keys
Key Name
Mode Keys
Emergency Stop Key
[BREAK]
Cancel
[CAN1
Monitor Stop *,
Execution
Keyed-in Data and
Message Clear
[HOME CLEAR]
Help
F71
Buzzer Volume
[BUZZER]
Contrast
[CONT RAST]
Data Set
Function
Selects the mode.
Displays the test mode escape screen in the test
mode.
Stops the PCPU immediately.
Stops all axes being controlled after deceleration
according to the preset immediate deceleration
time.
Returns the display to the previous screen.
Switches monitoring stop and monitoring execu-
tion on the monitor mode screen.
Deletes keyed in data.
Deletes the message displayed in the message
column.
Displays the Help screen (detailed operation in-
formation) for each screen.
This is a toggle key: pressing the key again
returns the display to the screen from which the
Help screen was called.
Changes the buzzer volume to either high or low.
Sets the plasma display contrast.
Sets the keyed-in data when this key is pressed.
Remarks
Effective only in the test
mode.
Effective when the cor-
responding guide mes-
sage is displayed on the
monitor mode screen.
Effective when the cor-
responding guide mes-
sage is displayed.

3. SYSTEM BOOT PROCEDURE ,/MELSEC-A
3.3 Common Display Areas
r
L
I I
Area (1): General information and operation guide messages
Displays the operation and setting methods and current execu-
tion status.
Area
(2): Message
Displays the execution status messages and error messages.
Area (3): Effective key
Displays 'A70MDF' when theA6MD is connected to theA7OMDF.
Area
(4): Mode
Displays the modes which can be selected with the Mode Keys
([Fl] to [F4]). Thecurrentlyexecutedfunctionisdisplayed in
reverse.
Area
(5): Emergency stop display
Displays the key used to output the emergency stop instruction
from the A6MD to theA73CPU PCPU.
Area (6): Cancel display
Displays thekey used to return the display to the previous screen.
This manual only covers the information displayed
in Area (1).
L I

4. STARTING UP THESERVOAMPLIFIER /MELSEC-A
4. STARTING UP THE SERVOAMPLIFIER
This section describes the MR-SB servo amplifier start-up procedure.
Anasterisk
(*) indicatesthattheoperationisnotpossiblewhena
general-purpose servo amplifier is used.
<
Procedure
J
I
[F1 I Setting Positioning Parameters
r
Clearing all data
~
Initialize the positioning parameters and clear the
servo programs. ,,,,,,,,~~~~i~~
7.6
I
I
I
I
I
Setting fixed parameters
Set and cross-check the fixed parametersfor the
axis to be controlled. ,,,,,,,,~~~~i~~
7,1 ,1
1
Setting servo parameters
Set and cross-check the servo parametersfor the
axis to be controlled. .,.,....section
7,1 ,2
axis to becontrolled.
Set the parameter block to be used.
........ Section 8.1
I
I
I
I
I
r Checking parameter block I
Cross-check the set parameter block.
........ Section 8.3
I
I
I
I
Set the ON/OFF pattern of the limit switch output
data. ,,,,,,,,~~~~i~~
9.1
I Checkinglimit switch set data I
Check the limit switch output data.
I ,.,,.,.,Section 9.2
I I
1
0
%: Axis dataincludes
the following.
- Fixed parameters
- Servo parameters
- Zero return data

4. STARTING UP THESERVOAMPLIFIER /MELSEC=A
1
[F21 Programming a Servo Program
I Programminga servo program I
Use the following data to program a sew0program.
- Program number
- Servo instructions
........ Section 10.2
- Positioningdata
1
Checking aservo program
Check the following items in the servo program.
- Set data
- Set items
. . .. .... Section 10.6
- Syntax
b
Programming a sequence program
........ Program and write a sequence program
Write a sequence program tothe A73CPU. with an AGGPPIAGPHPIAGHGP booted
with the SW[ ]GP-GPPNSW[ 1-HGPA.
For positioning commands,see the
A73CPU Reference Manual.
1
Turning ON the servo power
Connect the servo amplifier to the A73CPU and
turn ON the power to the servo.
4-2
IB (NA1 66235-A

4. STARTING UP THESERVOAMPLIFIER /MELSEC-A
I
Starting-up theServo Amplifier
Emergency stop check*
Initial check*
I
Typecheck* I
~ Rotation direction check*
I
Upper/lower stroke end LS check I
1
Rotation speed check*
I
Servo Diagnosis
........
I
Velocity loopgaincheck* I Section6.2.1
1
Positioning loop gain check*
....... ,Section 6.2.2
Testing jog operation and MPG
(manual pulsegenerator) operation
........
Checking stroke limit
Checking machine operation Sections 6.3
and 6.4
Zero return test
- Checking zeroreturndata
- Checking near-zero point dog position
........
Section 6.5
I
i
Servo program test operation
Checking the servo program by running it
independently ........
Checking operations by running aseries of
servo programs.
Section 6.6
......... Section 6.1

4. STARTING UP THE SERVO AMPLIFIER /MELSEC-A
Q
~31 Monitoringthe Servo Data of the Designated Axis
Peak torque check*
Check if the acceleration/deceleration torque at the
peak torque islower than the set maximum torque.
I
I Effectivetorque check* I
Check if the effective continuous loadtorque at the
effective torque is lower than the rated torque. I
I
1
I
(-- End
......... Section 5.3
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IB INA] 66235 A