MELSEC iq-f FX5 Simple Motion Module User's Manual (Advanced Synchronous Control) -FX5-40SSC-S -FX5-80SSC-S

Transcription

1 MELSEC iq-f FX5 Simple Moion Module User's Manual (Advanced Synchronous Conrol) -FX5-40SSC-S -FX5-80SSC-S

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3 SAFETY PRECAUTIONS (Read hese precauions before use.) Before using his produc, please read his manual and he relevan manuals inroduced in his manual carefully and pay full aenion o safey in order o handle he produc correcly. This manual classifies he safey precauions ino wo caegories: [ WARNING] and [ CAUTION]. WARNING CAUTION Indicaes ha incorrec handling may cause hazardous condiions, resuling in deah or severe injury. Indicaes ha incorrec handling may cause hazardous condiions, resuling in minor or moderae injury or propery damage. Depending on he circumsances, procedures indicaed by [ CAUTION] may also cause severe injury. I is imporan o follow all precauions for personal safey. Sore his manual in a safe place so ha i can be read whenever necessary. Always forward i o he end user. [DESIGN PRECAUTIONS] WARNING Make sure o se up he following safey circuis ouside he PLC o ensure safe sysem operaion even during exernal power supply problems or PLC failure. Oherwise, malfuncions may cause serious accidens. - Mos imporanly, se up he following: an emergency sop circui, a proecion circui, an inerlock circui for opposie movemens (such as normal vs. reverse roaion), and an inerlock circui (o preven damage o he equipmen a he upper and lower posiioning limis). - Noe ha when he CPU module deecs an error, such as a wachdog imer error, during selfdiagnosis, all oupus are urned off. Also, when an error ha canno be deeced by he CPU module occurs in an inpu/oupu conrol block, oupu conrol may be disabled. Exernal circuis and mechanisms should be designed o ensure safe machinery operaion in such a case. - Noe ha he oupu curren of he 24 V DC service power supply varies depending on he model and he absence/presence of exension modules. If an overload occurs, he volage auomaically drops, inpus in he PLC are disabled, and all oupus are urned off. Exernal circuis and mechanisms should be designed o ensure safe machinery operaion in such a case. - Noe ha when an error occurs in a relay, ransisor or riac of an oupu circui, he oupu migh say on or off. For oupu signals ha may lead o serious accidens, exernal circuis and mechanisms should be designed o ensure safe machinery operaion in such a case. Consruc an inerlock circui in he program so ha he whole sysem always operaes on he safe side before execuing he conrol (for daa change) of he PLC in operaion. Read he manual horoughly and ensure complee safey before execuing oher conrols (for program change, parameer change, forcible oupu and operaion saus change) of he PLC in operaion. Oherwise, he machine may be damaged and accidens may occur due o erroneous operaions. In an oupu circui, when a load curren exceeding he curren raing or an overcurren caused by a load shor-circui flows for a long ime, i may cause smoke and fire. To preven his, configure an exernal safey circui, such as a fuse. For he operaing saus of each saion afer a communicaion failure of he nework, refer o relevan manuals for he nework. Incorrec oupu or malfuncion may resul in an acciden. To mainain he safey of he programmable conroller sysem agains unauhorized access from exernal devices via he nework, ake appropriae measures. To mainain he safey agains unauhorized access via he Inerne, ake measures such as insalling a firewall. 1

4 [DESIGN PRECAUTIONS] CAUTION When an inducive load such as a lamp, heaer, or solenoid valve is conrolled, a large curren (approximaely en imes greaer han normal) may flow when he oupu is urned from off o on. Take proper measures so ha he flowing curren does no exceed he value corresponding o he maximum load specificaion of he resisance load. Afer he CPU module is powered on or is rese, he ime aken o ener he RUN saus varies depending on he sysem configuraion, parameer seings, and/or program size. Design circuis so ha he enire sysem will always operae safely, regardless of his variaion in ime. Simulaneously urn on and off he power supplies of he CPU module and exension modules. If a long-ime power failure or an abnormal volage drop occurs, he PLC sops, and oupu is urned off. When he power supply is resored, i will auomaically resar (when he RUN/STOP/RESET swich is on RUN side). [INSTALLATION PRECAUTIONS] WARNING Make sure o cu off all phases of he power supply exernally before aemping insallaion or wiring work. Failure o do so may cause elecric shock or damage o he produc. Use he produc wihin he generic environmen specificaions described in he generic specificaions of he user's manual (Hardware) of he CPU module o use. Never use he produc in areas wih excessive dus, oily smoke, conducive duss, corrosive gas (sal air, Cl 2, H 2 S, SO 2 or NO 2 ), flammable gas, vibraion or impacs, or expose i o high emperaure, condensaion, or rain and wind. If he produc is used in such condiions, elecric shock, fire, malfuncions, deerioraion or damage may occur. 2

5 [INSTALLATION PRECAUTIONS] CAUTION Do no ouch he conducive pars of he produc direcly. Doing so may cause equipmen failures or malfuncions. When drilling screw holes or wiring, make sure ha cuing and wiring debris do no ener he venilaion slis of he PLC. Failure o do so may cause fire, equipmen failures or malfuncions. For produc supplied ogeher wih a dus proof shee, he shee should be affixed o he venilaion slis before he insallaion and wiring work o preven foreign objecs such as cuing and wiring debris. However, when he insallaion work is compleed, make sure o remove he shee o provide adequae venilaion. Failure o do so may cause fire, equipmen failures or malfuncions. Insall he produc on a fla surface. If he mouning surface is rough, undue force will be applied o he PC board, hereby causing nonconformiies. Insall he produc securely using a DIN rail or mouning screws. Connec he expansion board and expansion adaper securely o heir designaed connecors. Loose connecions may cause malfuncions. Make sure o affix he expansion board wih apping screws. Tighening orque should follow he specificaions in he manual. If he screws are ighened ouside of he specified orque range, poor connecions may cause malfuncions. Work carefully when using a screwdriver such as insallaion of he produc. Failure o do so may cause damage o he produc or accidens. Connec he exension cables, peripheral device cables, inpu/oupu cables and baery connecing cable securely o heir designaed connecors. Loose connecions may cause malfuncions. When using an SD memory card, inser i ino he SD memory card slo. Check ha i is insered compleely. Poor conac may cause malfuncion. Turn off he power o he PLC before aaching or deaching he following devices. Failure o do so may cause equipmen failures or malfuncions. - Peripheral devices, expansion board, expansion adaper, and connecor conversion adaper - Exension modules, bus conversion module, and connecor conversion module - Baery 3

6 [WIRING PRECAUTIONS] WARNING Make sure o cu off all phases of he power supply exernally before aemping insallaion or wiring work. Failure o do so may cause elecric shock or damage o he produc. Make sure o aach he erminal cover, provided as an accessory, before urning on he power or iniiaing operaion afer insallaion or wiring work. Failure o do so may cause elecric shock. The emperaure raing of he cable should be 80 or more. Make sure o wire he screw erminal block in accordance wih he following precauions. Failure o do so may cause elecric shock, equipmen failures, a shor-circui, wire breakage, malfuncions, or damage o he produc. - The disposal size of he cable end should follow he dimensions described in he manual. - Tighening orque should follow he specificaions in he manual. - Tighen he screws using a Phillips-head screwdriver No. 2 (shaf diameer 6 mm (0.24") or less). Make sure ha he screwdriver does no ouch he pariion par of he erminal block. Make sure o properly wire o he erminal block (European ype) in accordance wih he following precauions. Failure o do so may cause elecric shock, equipmen failures, a shor-circui, wire breakage, malfuncions, or damage o he produc. - The disposal size of he cable end should follow he dimensions described in he manual. - Tighening orque should follow he specificaions in he manual. - Twis he ends of sranded wires and make sure ha here are no loose wires. - Do no solder-plae he elecric wire ends. - Do no connec more han he specified number of wires or elecric wires of unspecified size. - Affix he elecric wires so ha neiher he erminal block nor he conneced pars are direcly sressed. [WIRING PRECAUTIONS] CAUTION Do no supply power o he [24 +] and [24 V] erminals (24 V DC service power supply) on he CPU module or exension modules. Doing so may cause damage o he produc. Perform class D grounding (grounding resisance: 100 or less) of he grounding erminal on he CPU module and exension modules wih a wire 2 mm 2 or hicker. Do no use common grounding wih heavy elecrical sysems. Refer o he user's manual (Hardware) of he CPU module o use for he deails. Connec he power supply wiring o he dedicaed erminals described in he manual. If an AC power supply is conneced o a DC inpu/oupu erminal or DC power supply erminal, he PLC will burn ou. Do no wire vacan erminals exernally. Doing so may damage he produc. Insall module so ha excessive force will no be applied o erminal blocks, power connecors, I/O connecors, communicaion connecors, or communicaion cables. Failure o do so may resul in wire damage/breakage or PLC failure. 4

7 CAUTION Make sure o observe he following precauions in order o preven any damage o he machinery or accidens due o malfuncion of he PLC caused by abnormal daa wrien o he PLC due o he effecs of noise. - Do no bundle he power line, conrol line and communicaion cables ogeher wih or lay hem close o he main circui, high-volage line, load line or power line. As a guideline, lay he power line, conrol line and communicaion cables a leas 100 mm (3.94") away from he main circui, high-volage line, load line or power line. - Ground he shield of he shield wire or shielded cable a one poin on he PLC. However, do no use common grounding wih heavy elecrical sysems. - Ground he shield of he analog inpu/oupu cable a one poin on he signal receiving side. However, do no use common grounding wih heavy elecrical sysems. [STARTUP AND MAINTENANCE PRECAUTIONS] WARNING Do no ouch any erminal while he PLC's power is on. Doing so may cause elecric shock or malfuncions. Before cleaning or reighening erminals, cu off all phases of he power supply exernally. Failure o do so in he power ON saus may cause elecric shock. Before modifying he program in operaion, forcible oupu, running or sopping he PLC, read hrough he manual carefully, and ensure complee safey. An operaion error may damage he machinery or cause accidens. Do no change he program in he PLC from wo or more peripheral equipmen devices a he same ime. (i.e. from an engineering ool and a GOT) Doing so may cause desrucion or malfuncion of he PLC program. Use he baery for memory backup in conformance o he user's manual (Hardware) of he CPU module o use. - Use he baery for he specified purpose only. - Connec he baery correcly. - Do no charge, disassemble, hea, pu in fire, shor-circui, connec reversely, weld, swallow or burn he baery, or apply excessive forces (vibraion, impac, drop, ec.) o he baery. - Do no sore or use he baery a high emperaures or expose o direc sunligh. - Do no expose o waer, bring near fire or ouch liquid leakage or oher conens direcly. Incorrec handling of he baery may cause excessive generaion, bursing, igniion, liquid leakage or deformaion, and lead o injury, fire or failures and malfuncion of faciliies and oher equipmen. 5

8 [STARTUP AND MAINTENANCE PRECAUTIONS] CAUTION Do no disassemble or modify he PLC. Doing so may cause fire, equipmen failures, or malfuncions. For repair, conac your local Misubishi Elecric represenaive. Afer he firs use of he SD memory card, do no inser/remove he memory card more han 500 imes. 500 imes or more may cause malfuncion. Turn off he power o he PLC before connecing or disconnecing any exension cable. Failure o do so may cause equipmen failures or malfuncions. Turn off he power o he PLC before aaching or deaching he following devices. Failure o do so may cause equipmen failures or malfuncions. - Peripheral devices, expansion board, expansion adaper, and connecor conversion adaper - Exension modules, bus conversion module, and connecor conversion module - Baery [OPERATION PRECAUTIONS] CAUTION Consruc an inerlock circui in he program so ha he whole sysem always operaes on he safe side before execuing he conrol (for daa change) of he PLC in operaion. Read he manual horoughly and ensure complee safey before execuing oher conrols (for program change, parameer change, forcible oupu and operaion saus change) of he PLC in operaion. Oherwise, he machine may be damaged and accidens may occur by erroneous operaions. [DISPOSAL PRECAUTIONS] CAUTION Please conac a cerified elecronic wase disposal company for he environmenally safe recycling and disposal of your device. When disposing of baeries, separae hem from oher wase according o local regulaions. For deails on he Baery Direcive in EU counries, refer o he user's manual (Hardware) of he CPU module o use. 6

9 [TRANSPORTATION PRECAUTIONS] CAUTION When ransporing he PLC wih he opional baery, urn on he PLC before shipmen, confirm ha he baery mode is se using a parameer and he BAT LED is OFF, and check he baery life. If he PLC is ranspored wih he BAT LED ON or he baery exhaused, he baery-backed daa may be unsable during ransporaion. The PLC is a precision insrumen. During ransporaion, avoid impacs larger han hose specified in he general specificaions by using dedicaed packaging boxes and shock-absorbing palees. Failure o do so may cause failures in he PLC. Afer ransporaion, verify operaion of he PLC and check for damage of he mouning par, ec. For deails on he general specificaions, refer o he user's manual (Hardware) of he CPU module o use. When ransporing lihium baeries, follow required ransporaion regulaions. For deails on he regulaed producs, refer o he user's manual (Hardware) of he CPU module o use. When fumigans ha conain halogen maerials such as fluorine, chlorine, bromine, and iodine used for disinfecing and proecing wooden packaging from insecs, hey cause malfuncion when enering our producs. Please ake necessary precauions o ensure ha remaining maerials from fumigan do no ener our producs, or rea packaging wih mehods oher han fumigaion (hea mehod). Addiionally, disinfec and proec wood from insecs before packing producs. 7

10 CONDITIONS OF USE FOR THE PRODUCT (1) Misubishi programmable conroller ("he PRODUCT") shall be used in condiions; i) where any problem, faul or failure occurring in he PRODUCT, if any, shall no lead o any major or serious acciden; and ii) where he backup and fail-safe funcion are sysemaically or auomaically provided ouside of he PRODUCT for he case of any problem, faul or failure occurring in he PRODUCT. (2) The PRODUCT has been designed and manufacured for he purpose of being used in general indusries. MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY (INCLUDING, BUT NOT LIMITED TO ANY AND ALL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT, WARRANTY, TORT, PRODUCT LIABILITY) FOR ANY INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY he PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS, PRECAUTIONS, OR WARNING CONTAINED IN MITSUBISHI'S USER, INSTRUCTION AND/OR SAFETY MANUALS, TECHNICAL BULLETINS AND GUIDELINES FOR he PRODUCT. ("Prohibied Applicaion") Prohibied Applicaions include, bu no limied o, he use of he PRODUCT in; Nuclear Power Plans and any oher power plans operaed by Power companies, and/or any oher cases in which he public could be affeced if any problem or faul occurs in he PRODUCT. Railway companies or Public service purposes, and/or any oher cases in which esablishmen of a special qualiy assurance sysem is required by he Purchaser or End User. Aircraf or Aerospace, Medical applicaions, Train equipmen, ranspor equipmen such as Elevaor and Escalaor, Incineraion and Fuel devices, Vehicles, Manned ransporaion, Equipmen for Recreaion and Amusemen, and Safey devices, handling of Nuclear or Hazardous Maerials or Chemicals, Mining and Drilling, and/or oher applicaions where here is a significan risk of injury o he public or propery. Nowihsanding he above, resricions Misubishi may in is sole discreion, auhorize use of he PRODUCT in one or more of he Prohibied Applicaions, provided ha he usage of he PRODUCT is limied only for he specific applicaions agreed o by Misubishi and provided furher ha no special qualiy assurance or fail-safe, redundan or oher safey feaures which exceed he general specificaions of he PRODUCTs are required. For deails, please conac he Misubishi represenaive in your region. 8

11 INTRODUCTION Thank you for purchasing he Misubishi MELSEC iq-f series programmable conrollers. This manual describes he funcions and programming of he relevan producs lised below. Before using his produc, please read his manual and he relevan manuals carefully and develop familiariy wih he funcions and performance of he MELSEC iq-f series programmable conroller o handle he produc correcly. When applying he program examples provided in his manual o an acual sysem, ensure he applicabiliy and confirm ha i will no cause sysem conrol problems. Please make sure ha he end users read his manual. Relevan producs FX5-40SSC-S, FX5-80SSC-S Symbols used in his manual are shown below. A serial No. is insered in he "**" mark. [Pr.**]: Symbols indicaing posiioning parameer or home posiion reurn parameer iems [Da.**]: Symbols indicaing posiioning daa or block sar daa iems [Md.**]: Symbols indicaing monior daa iems [Cd.**]: Symbols indicaing conrol daa iems Regarding use of his produc This produc has been manufacured as a general-purpose par for general indusries, and has no been designed or manufacured o be incorporaed in a device or sysem used in purposes relaed o human life. Before using he produc for special purposes such as nuclear power, elecric power, aerospace, medicine or passenger movemen vehicles, consul Misubishi Elecric. This produc has been manufacured under sric qualiy conrol. However when insalling he produc where major accidens or losses could occur if he produc fails, insall appropriae backup or failsafe funcions in he sysem. Noe If in doub a any sage during he insallaion of he produc, always consul a professional elecrical engineer who is qualified and rained in he local and naional sandards. If in doub abou he operaion or use, please consul he neares Misubishi Elecric represenaive. Since he examples indicaed by his manual, echnical bullein, caalog, ec. are used as a reference, please use i afer confirming he funcion and safey of he equipmen and sysem. Misubishi Elecric will accep no responsibiliy for acual use of he produc based on hese illusraive examples. This manual conen, specificaion ec. may be changed, wihou a noice, for improvemen. The informaion in his manual has been carefully checked and is believed o be accurae; however, if you noice a doubful poin, an error, ec., please conac he neares Misubishi Elecric represenaive. When doing so, please provide he manual number given a he end of his manual. 9

12 CONTENTS SAFETY PRECAUTIONS CONDITIONS OF USE FOR THE PRODUCT INTRODUCTION RELATED MANUALS TERMS CHAPTER 1 OUTLINE OF SYNCHRONOUS CONTROL Ouline of Synchronous Conrol Performance Specificaions Operaion Mehod of Synchronous Conrol Synchronous conrol execuion procedure Saring/ending for synchronous conrol Sop operaion of oupu axis CHAPTER 2 INPUT AXIS MODULE Servo Inpu Axis Overview of servo inpu axis Servo inpu axis parameers Servo inpu axis monior daa Command Generaion Axis Overview of command generaion axis Command generaion axis parameers Command generaion axis conrol daa Command generaion axis monior daa Command generaion axis posiioning daa Wrie/read mehod for command generaion axis parameer and posiioning daa Synchronous Encoder Axis Overview of synchronous encoder axis Seing mehod for synchronous encoder Synchronous encoder axis parameers Synchronous encoder axis conrol daa Synchronous encoder axis monior daa CHAPTER 3 CAM FUNCTION Conrol Deails for Cam Funcion Creae Cam Daa Memory configuraion of cam daa Cam daa operaion funcion Cam auo-generaion funcion CHAPTER 4 SYNCHRONOUS CONTROL Main Shaf Module Overview of main shaf module Main shaf parameers Main shaf cluch parameers Main shaf cluch conrol daa Auxiliary Shaf Module Overview of auxiliary shaf module

13 Auxiliary shaf parameers Auxiliary shaf cluch parameers Auxiliary shaf cluch conrol daa Cluch Overview of cluch Conrol mehod for cluch Smoohing mehod for cluch Use example of cluch Speed Change Gear Module Overview of speed change gear module Speed change gear parameers Oupu Axis Module Overview of oupu axis module Oupu axis parameers Synchronous Conrol Change Funcion Overview of synchronous conrol change funcion Synchronous conrol change conrol daa Synchronous Conrol Monior Daa Phase Compensaion Funcion Oupu Axis Sub Funcions CONTENTS CHAPTER 5 SYNCHRONOUS CONTROL INITIAL POSITION Synchronous Conrol Iniial Posiion Synchronous Conrol Iniial Posiion Parameers Cam Axis Posiion Resoraion Mehod Cam axis curren value per cycle resoraion Cam reference posiion resoraion Cam axis feed curren value resoraion Synchronous Conrol Analysis Mode Cam Posiion Calculaion Funcion Cam posiion calculaion conrol daa Cam posiion calculaion monior daa Mehod o Resar Synchronous Conrol APPENDICES 158 Appendix 1 Lis of Buffer Memory Addresses (for Synchronous Conrol) Appendix 2 Sample Program of Synchronous Conrol INDEX 170 REVISIONS WARRANTY TRADEMARKS

14 RELATED MANUALS Manual name [manual number] Descripion Available form MELSEC iq-f FX5 Simple Moion Module User's Manual (Advanced Synchronous Conrol) [IB ] (This manual) MELSEC iq-f FX5 Simple Moion Module User's Manual (Sarup) [IB ] MELSEC iq-f FX5 Simple Moion Module User's Manual (Applicaion) [IB ] Funcions and programming for he synchronous conrol of he Simple Moion module Specificaions, procedures before operaion, sysem configuraion, wiring, and operaion examples of he Simple Moion module Funcions, inpu/oupu signals, buffer memories, parameer seings, programming, and roubleshooing of he Simple Moion module Prin book e-manual PDF Prin book e-manual PDF Prin book e-manual PDF This manual does no include deailed informaion on he followings: General specificaions Available CPU modules and he number of mounable modules Insallaion For deails, refer o he following. MELSEC iq-f FX5U User's Manual (Hardware) MELSEC iq-f FX5UC User's Manual (Hardware) e-manual refers o he Misubishi FA elecronic book manuals ha can be browsed using a dedicaed ool. e-manual has he following feaures: Required informaion can be cross-searched in muliple manuals. Oher manuals can be accessed from he links in he manual. The hardware specificaions of each par can be found from he produc figures. Pages ha users ofen browse can be bookmarked. 12

15 TERMS Unless oherwise specified, his manual uses he following erms. Term 4-axis module 8-axis module Axis Buffer memory CPU module Device Engineering ool Global label GX Works3 Label Module label MR Configuraor2 MR-J3(W)-B MR-J4(W)-B MR-JE-B Servo amplifier Simple Moion module SSCNET *1 SSCNET /H *1 Descripion Anoher erm for FX5-40SSC-S Anoher erm for FX5-80SSC-S Anoher erm for a servo amplifier A memory in an inelligen funcion module, where daa (such as seing values and monioring values) are sored. When using he CPU module, he memory is indicaed for soring daa (such as seing values and moniored values) of he Eherne funcion and daa used for daa communicaion of he muliple CPU funcion. The abbreviaion for he MELSEC iq-f series CPU module A device (X, Y, M, D, or ohers) in a CPU module A generic erm for GX Works3 and MR Configuraor2 A label ha is enabled for all program daa when creaing muliple program daa in he projec. There are wo ypes of global labels: module label ha is auomaically generaed by GX Works3 and label ha can be creaed for he any of he specified devices. The produc name of he sofware package for he MELSEC programmable conrollers (Version 1.005F or laer) A label ha represens a device in a given characer sring A label ha represens one of memory areas (I/O signals and buffer memory areas) specific o each module in a given characer sring. GX Works3 auomaically generaes his label, which can be used as a global label. The produc name of he seup sofware for he servo amplifier (Version 1.34L or laer) MR-J3-_B_(-RJ)/MR-J3W-_B Servo amplifier series MR-J4-_B_(-RJ)/MR-J4W_-_B Servo amplifier series MR-JE-_B Servo amplifier series A generic erm for a drive uni Unless specified in paricular, indicaes he moor driver uni of he sequenial command mehod which is conrolled by he Simple Moion module (belonging o own saion). The abbreviaion for he MELSEC iq-f series Simple Moion module High speed synchronous communicaion nework beween Simple Moion module and servo amplifier *1 SSCNET: Servo Sysem Conroller NETwork 13

16 1 OUTLINE OF SYNCHRONOUS CONTROL The ouline, specificaions and he operaion mehod of synchronous conrol using he Simple Moion module are explained in his chaper. This chaper helps o undersand wha can be done using he posiioning sysem and which procedure o use for a specific purpose. 1.1 Ouline of Synchronous Conrol "Synchronous conrol" can be achieved using sofware insead of conrolling mechanically wih gear, shaf, speed change gear or cam, ec. "Synchronous conrol" synchronizes movemen wih he inpu axis (servo inpu axis, command generaion axis or synchronous encoder axis), by seing "he parameers for synchronous conrol" and saring synchronous conrol on each oupu axis. Synchronous Posiioning sar encoder Synchronous conrol sar Synchronous conrol sar Synchronous conrol sar Manual pulse generaor/ Synchronous encoder inpu Simple Moion module Posiioning daa Posiioning conrol Synchronous encoder axis parameer Synchronous encoder axis Command generaion axis parameer Main shaf (main inpu axis) Synchronous parameer Composie Main shaf gear main shaf gear Command generaion axis *3 Servo inpu axis parameer Servo inpu axis *1 Auxiliary shaf gear Main shaf (sub inpu axis) Auxiliary shaf cluch Speed change gear *2 Main shaf cluch Speed change gear *2 Composie auxiliary shaf gear Speed change gear *2 Cam daa Auxiliary shaf axis Oupu axis Cam Servo amplifier Servo amplifier Servo amplifier Servo amplifier Servo moor Servo moor Servo moor Servo moor I is possible o conrol wihou amplifier by seing he virual servo amplifier. *1 I is possible o drive he servo inpu axis excep for he posiioning conrol (home posiion reurn, manual conrol, speed-orque conrol, synchronous conrol). For deails on he posiioning conrol, he home posiion reurn, he manual conrol and he speed-orque conrol, refer o he following. MELSEC iq-f FX5 Simple Moion Module User's Manual (Applicaion) *2 Speed change gear can be arranged on one of "Main shaf side", "Auxiliary shaf side" or "Afer composie auxiliary shaf gear". *3 For he drive mehod of he command generaion axis, refer o he following. Page 32 Command Generaion Axis 14 1 OUTLINE OF SYNCHRONOUS CONTROL 1.1 Ouline of Synchronous Conrol

17 Lis of synchronous conrol module The module is used in synchronous conrol as follows. Inpu axis module 1 Synchronous encoder axis parameer Synchronous encoder axis Synchronous parameer Command generaion axis parameer Command generaion axis Servo inpu axis parameer Servo inpu axis Inpu axis module Synchronous encoder axis parameer Synchronous encoder axis Command generaion axis parameer Command generaion axis Main shaf module Main shaf Composie main (main inpu axis) shaf gear Auxiliary shaf gear Main shaf (sub inpu axis) Auxiliary shaf cluch Speed change gear Main shaf gear Main shaf cluch Speed change gear Composie auxiliary shaf gear Speed change gear module Auxiliary shaf module Servo inpu axis parameer Servo inpu axis Auxiliary shaf axis Auxiliary shaf module Speed change gear module Oupu axis Speed change gear Cam Speed change gear module Oupu axis module Cam daa Synchronous encoder axis parameer Synchronous encoder axis Inpu axis module Command generaion axis parameer Command generaion axis Servo inpu axis parameer Servo inpu axis Inpu axis module can be se o one of servo inpu axis, command generaion axis or synchronous encoder axis. Speed change gear can be arranged on one of main shaf side, auxiliary shaf side or afer composie auxiliary shaf gear. Se he movemen amoun of inpu axis module as large as possible o preven he speed flucuaion of oupu axis module in he synchronous conrol. If he movemen amoun of inpu axis module is small, he speed flucuaion of oupu axis module may occur depending on he seing for synchronous parameer. The following iems can be moniored in he "Synchronous Conrol Image" window using he Simple Moion Module Seing Funcion; each synchronous conrol monior daa and he roaion direcion of main shaf main inpu axis, main shaf sub inpu axis, auxiliary shaf axis, and oupu axis (cam axis feed curren value) 1 OUTLINE OF SYNCHRONOUS CONTROL 1.1 Ouline of Synchronous Conrol 15

18 Inpu axis Classificaion Name Pars Funcion descripion Maximum number of usable Reference Inpu axis module Servo inpu axis Command generaion axis Synchronous encoder axis Used o drive he inpu axis wih he posiion of he servomoor conrolled by he Simple Moion module. Used o drive he inpu axis by generaing only he posiioning command based on he posiioning daa of he command generaion axis. Used o drive he inpu axis wih inpu pulse from he synchronous encoder. Number per module 4-axis module 8-axis module Number per axis 4 8 Page 25 Servo Inpu Axis 4 8 Page 32 Command Generaion Axis 4 Page 52 Synchronous Encoder Axis 16 1 OUTLINE OF SYNCHRONOUS CONTROL 1.1 Ouline of Synchronous Conrol

19 Oupu axis Classificaion Name Pars Funcion descripion Maximum number of usable Reference Main shaf module Auxiliary shaf module Main shaf main inpu axis Main shaf sub inpu axis Composie main shaf gear Main shaf gear Main shaf cluch Auxiliary shaf axis The inpu axis on he main side of he main shaf module. The reference posiion on he main shaf. The inpu axis on he sub side of he main shaf module. I is used o inpu he compensaion amoun for he posiion of he main shaf main inpu axis. The composie movemen amoun of he main shaf main inpu axis and he main shaf sub inpu axis are ransmied o he main shaf gear. The convering movemen amoun afer composie main shaf gear is ransmied by he seing gear raio. The movemen amoun of he main shaf is ransmied by he cluch ON/OFF. The inpu axis of he auxiliary shaf module. Number per module 4-axis module 8-axis module Number per axis Page 87 Main Shaf Module Page 87 Main Shaf Module Page 87 Main Shaf Module Page 87 Main Shaf Module Page 87 Main Shaf Module Page 104 Cluch Page 96 Auxiliary Shaf Module 1 Auxiliary shaf gear The convering movemen amoun of he auxiliary shaf is ransmied by he seing gear raio Page 96 Auxiliary Shaf Module Auxiliary shaf cluch The movemen amoun of he auxiliary shaf is ransmied by he cluch ON/OFF Page 96 Auxiliary Shaf Module Page 104 Cluch Composie auxiliary shaf gear The composie movemen amoun of he main shaf and he auxiliary shaf are ransmied Page 96 Auxiliary Shaf Module Speed change gear module Speed change gear I is used o change he speed by seing speed change raio during he operaion Page 115 Speed Change Gear Module Oupu axis module Oupu axis The cam conversion is processed based on he inpu movemen amoun and he seing cam daa, so ha he feed curren value is oupu as he command o he servo amplifier Page 117 Oupu Axis Module Cam daa Classificaion Name Funcion descripion Maximum number of usable Reference Number per module Cam daa Cam daa I conrols he operaion paern of he oupu axis (wo-way operaion and feed operaion), which is corresponding o he inpu movemen amoun of he oupu axis module. Up o 256 Page 72 CAM FUNCTION 1 OUTLINE OF SYNCHRONOUS CONTROL 1.1 Ouline of Synchronous Conrol 17

20 1.2 Performance Specificaions Performance specificaions Iem Number of seable axes 4-axis module 8-axis module Inpu axis Servo inpu axis 4 axes/module 8 axes/module Composie main shaf gear Main shaf main inpu axis Main shaf sub inpu axis Main shaf gear Main shaf cluch Auxiliary shaf Auxiliary shaf gear Auxiliary shaf cluch Composie auxiliary shaf gear Speed change gear Command generaion axis Synchronous encoder axis 4 axes/module 8 axes/module 4 axes/module 1/oupu axis 1 axis/oupu axis 1 axis/oupu axis 1/oupu axis 1/oupu axis 1 axis/oupu axis 1/oupu axis 1/oupu axis 1/oupu axis 1/oupu axis Oupu axis (Cam axis) 4 axes/module 8 axes/module Cam specificaions Iem Specificaion Memory capaciy Cam sorage area 4-axis module: 64k byes 8-axis module: 128k byes Cam open area 1024k byes Number of cam regisraion *1 Cam sorage area 4-axis module: Up o 64 8-axis module: Up o 128 (Dependen on memory capaciy, cam resoluion and coordinae number) Commen Cam open area Up o 256 (Dependen on memory capaciy, cam resoluion and coordinae number) Up o 32 characers per cam daa Cam daa Sroke raio daa forma Cam resoluion 256/512/1024/2048/4096/8192/16384 Sroke raio o [%] Coordinae daa forma Coordinae number 2 o 8192 Coordinae daa Inpu value: 0 o Oupu value: o *1 The maximum number of cam regisraion by he cam resoluion is shown below. (In case i creaed by he same cam resoluion.) 18 1 OUTLINE OF SYNCHRONOUS CONTROL 1.2 Performance Specificaions

21 Sroke raio daa forma Cam resoluion Maximum number of cam regisraion Cam sorage area Cam open area 4-axis module 8-axis module 4-axis module 8-axis module Coordinae daa forma Coordinae number Maximum number of cam regisraion Cam sorage area Cam open area 4-axis module 8-axis module 4-axis module 8-axis module Cam operaion specificaions Iem Operaion mehod of cam daa Cam auo-generaion funcion Cam posiion calculaion funcion Specificaion (1) Engineering ool Wrie/read/verify o cam sorage area (2) Via buffer memory (Cam daa operaion funcion) Wrie/read o cam sorage area and cam open area Auomaically generae he cam for roary cuer. Calculae he cam posiion by he program. Used o calculae he cam posiion for he synchronous conrol iniial posiion before saring synchronous conrol. Synchronous encoder axis specificaions Iem Number of conrol axes 4 Synchronous encoder axis ype Conrol uni Specificaion Incremenal synchronous encoder/ Synchronous encoder via servo amplifier/ Synchronous encoder via CPU mm, inch, degree, pulse (Possible o selec he decimal places of posiion uni and speed uni) Uni conversion Numeraor o [Synchronous encoder axis posiion uni] Denominaor 1 o [pulse] Lengh per cycle seing range 1 o [Synchronous encoder axis posiion uni] Curren value range Curren value o [Synchronous encoder axis posiion uni] Curren value per cycle 0 o (Lengh per cycle - 1) [Synchronous encoder axis posiion uni] Conrol mehod Conrol insrucion Curren value change, Couner disable, Couner enable Curren value seing address Address seing range: o [Synchronous encoder axis posiion uni] 1 OUTLINE OF SYNCHRONOUS CONTROL 1.2 Performance Specificaions 19

22 1.3 Operaion Mehod of Synchronous Conrol Synchronous conrol execuion procedure The synchronous conrol is execued using he following procedure. Preparaion STEP 1 Se he following parameers. Common parameers ([Pr.24], [Pr.82], [Pr.89], [Pr.96], [Pr.97], [Pr.150], [Pr.151]) Posiioning parameers ([Pr.1] o [Pr.4], [Pr.7] o [Pr.22], [Pr.25] o [Pr.42], [Pr.81], [Pr.83], [Pr.84], [Pr.90], [Pr.95], [Pr.116] o [Pr.119], [Pr.127]) Exended parameers ([Pr.91] o [Pr.94]) One of he following wo mehods can be used. <Mehod 1> Direcly se (wrie) he parameers in he Simple Moion module using he engineering ool. <Mehod 2> Se (wrie) he parameers from he CPU module o he Simple Moion module using he program. *1 Se "inpu axis parameers" for synchronous conrol. ([Pr.300] o [Pr.304], [Pr.320] o [Pr.329]) *2 Se he cam daa. *3 Se "synchronous parameers" for synchronous conrol. ([Pr.400] o [Pr.468]) STEP 2 *4 Creae a program ha execues o sar / change conrol / sop synchronous conrol. (Se "[Cd.380]Synchronous conrol sar", sar and sop he inpu axis operaion and change he reducion raio) STEP 3 Wrie he program, which is creaed in STEP1 and STEP2, o he CPU module. Sar synchronous conrol STEP 4 Turn ON he synchronous conrol sar bi for he axis ha sars synchronous conrol. Turn ON he arge axis bi in "[Cd.380] Synchronous conrol sar" and sar synchronous conrol by he program in STEP 2. Verify ha i is during synchronous conrol. Verify ha i is during synchronous conrol in "[Md.26] Axis operaion saus". Operae he inpu axis. Operae he inpu axis by he program in STEP 2. Monior he synchronous conrol change STEP 5 Monior he synchronous conrol operaion saus. Execue he conrol change for he speed change raio, cam No., ec. Monior using he engineering ool. Changing he conrol by he program in STEP 2. Complee synchronous conrol STEP 6 Sop he inpu axis. Sop he inpu axis by he program in STEP 2. Verify he inpu axis is sopped and urn OFF he synchronous conrol sar bi for he axis ha sops synchronous conrol. Turn OFF he arge axis bi in "[Cd.380] Synchronous conrol sar" o sop synchronous conrol by he program in STEP 2. End of conrol *1 Page 25 INPUT AXIS MODULE *2 Page 72 CAM FUNCTION *3 Page 87 SYNCHRONOUS CONTROL, Page 137 Synchronous Conrol Iniial Posiion Parameers *4 Page 166 Sample Program of Synchronous Conrol 20 1 OUTLINE OF SYNCHRONOUS CONTROL 1.3 Operaion Mehod of Synchronous Conrol

23 Precauions Mechanical elemens such as limi swiches are considered as already insalled. Parameer seings for posiioning conrol apply for all axes wih he Simple Moion module. Be sure o execue he home posiion reurn when he home posiion reurn reques flag is ON. 1 Saring/ending for synchronous conrol Se he parameers for synchronous conrol for each oupu axis o sar synchronous conrol. The saus changes o synchronous conrol afer he parameers are analyzed a he sar of synchronous conrol, and he oupu axes synchronize wih inpu axis operaions. [Cd.380] Synchronous conrol sar (Targe axis bi) [Md.141] BUSY signal (Targe axis bi) [Md.26] Axis operaion saus Sandby (0) Analyzing (5) Synchronous conrol (15) Sandby (0) [Md.321] Synchronous encoder axis curren value per cycle [Md.407] Cam axis currenvalue per cycle [Md.20] Feed curren value Synchronous conrol sysem conrol daa Seing iem Seing deails Seing value Defaul value Buffer memory address [Cd.380] Synchronous conrol sar Synchronous conrol begins if he arge axis bi is urned ON. Synchronous conrol ends if he bi is urned OFF during synchronous conrol. Fech cycle: Operaion cycle Se he arge axis in 16 bis. (bi0: axis 1 o bi7: axis 8) *1 OFF: Synchronous conrol end ON: Synchronous conrol sar *1 The range from axis 1 o 4 is valid in he 4-axis module and from axis 1 o 8 is valid in he 8-axis module. Saring mehod for synchronous conrol Synchronous conrol can be sared by urning he arge axis bi from OFF o ON in "[Cd.380] Synchronous conrol sar" afer seing he parameers for synchronous conrol. "5: Analyzing" is se in "[Md.26] Axis operaion saus" a he synchronous conrol sar, and he parameers for synchronous conrol are analyzed. The "[Md.141] BUSY signal (Targe axis bi)" urns ON afer compleion of analysis, and "15: Synchronous conrol" is se in "[Md.26] Axis operaion saus". Sar he inpu axis operaion afer confirming ha "15: Synchronous conrol" is se in "[Md.26] Axis operaion saus". Ending mehod for synchronous conrol Synchronous conrol can be ended by urning he arge axis bi from ON o OFF in "[Cd.380] Synchronous conrol sar" afer he inpu axis operaion is sopped. The "[Md.141] BUSY signal (Targe axis bi)" urns OFF a he synchronous conrol end, and "0: Sandby" is se in "[Md.26] Axis operaion saus" a he oupu axis sop. Synchronous conrol can also be ended by urning he arge axis bi from ON o OFF in "[Cd.380] Synchronous conrol sar" during he inpu axis operaion. However, i is recommended o end afer sopping he inpu axis operaion since he oupu axis sops immediaely. Refer o he following for he sop operaion of oupu axis a he synchronous conrol end. Page 23 Sop operaion of oupu axis 1 OUTLINE OF SYNCHRONOUS CONTROL 1.3 Operaion Mehod of Synchronous Conrol 21

24 Saring hisory The saring hisory is updaed when saring synchronous conrol. "9020: Synchronous conrol operaion" is sored in "[Md.4] Sar No.". Saus when saring synchronous conrol The following bis in "[Md.31] Saus" are urned OFF when saring synchronous conrol in he same way as for he posiioning conrol sar. Bi b0 b1 b2 b4 b5 b10 Deails In speed conrol flag Speed-posiion swiching lach flag Command in-posiion flag Home posiion reurn complee flag Posiion-speed swiching lach flag Speed change 0 flag If bi for muliple axes are urned ON simulaneously in "[Cd.380] Synchronous conrol sar", conrol is no sared simulaneously since he analysis is processed for each axis in numerical order. When he muliple axes mus be sared simulaneously, sar he inpu axis operaion afer confirming ha all axes are configured for he synchronous conrol. If he inpu axis operaes during he analysis a he synchronous conrol sar, he movemen amoun of he inpu axis is refleced immediaely afer he synchronous conrol sar. The oupu axis migh rapidly accelerae depending on he movemen amoun of he inpu axis. Sar he inpu axis operaion afer confirming ha are configured for synchronous conrol. The analysis process for synchronous conrol sar migh ake ime depending on he parameer seing for synchronous conrol. (When "0: Cam axis curren value per cycle resoraion" is se in "[Pr.462] Cam axis posiion resoraion objec" and he cam (cam resoluion: 16384) is searched: Abou 40 ms, When "0: Cam axis curren value per cycle resoraion" is se in "[Pr.462] Cam axis posiion resoraion objec" and he cam (cam resoluion: 256) is searched: Abou 1.0 ms) Se "1: Cam reference posiion resoraion" or "2: Cam axis feed curren value resoraion" in "[Pr.462] Cam axis posiion resoraion objec" o sar synchronous conrol a high speed. When he synchronous conrol parameer is se o he value ouside he seing range, he synchronous conrol does no sar, and he inpu axis error No. is sored in he monior daa OUTLINE OF SYNCHRONOUS CONTROL 1.3 Operaion Mehod of Synchronous Conrol

25 Sop operaion of oupu axis If he following causes occur in sopping he oupu axis during synchronous conrol, synchronous conrol is compleed afer sops processing for he oupu axis ("[Md.141] BUSY signal" is OFF, "[Md.26] Axis operaion saus" is sandby). Synchronous alignmen mus be execued for he oupu axis o resar he synchronous conrol. ( Page 117 Oupu Axis Module) 1 Sop cause The arge axis bi of "[Cd.380] Synchronous conrol sar" is urned from ON o OFF. Sofware sroke limi error occurrence Emergency sop Forced sop Sop group1 o 3 *1 (Sop wih hardware sroke limi or sop command) Sop process Immediae sop Deceleraion sop *1 Refer o he following. MELSEC iq-f FX5 Simple Moion Module User's Manual (Applicaion) Immediae sop The operaion sops wihou decelerae. The Simple Moion module immediaely sops he command, bu he operaion will coas for he droop pulses accumulaed in he deviaion couner of he servo amplifier. [Md.407] Cam axis curren value per cycle [Md.20] Feed curren value (Cam operaion) [Md.22] Feedrae [Cd.380] Synchronous conrol sar (Targe axis bi) Immediae sop [Md.141] BUSY signal (Targe axis bi) 1 OUTLINE OF SYNCHRONOUS CONTROL 1.3 Operaion Mehod of Synchronous Conrol 23

26 Deceleraion sop The oupu axis sops wih deceleraion according o he seing in "[Pr.37] Sop group 1 rapid sop selecion" o "[Pr.39] Sop group 3 rapid sop selecion". The deceleraion ime is se in "[Pr.446] Synchronous conrol deceleraion ime" for deceleraion sop, and in "[Pr.36] Rapid sop deceleraion ime" for rapid sop. The slope of deceleraion is as follows. [Pr.8] Speed limi value Slope of deceleraion = Deceleraion ime (Rapid sop deceleraion ime) The cam axis curren value per cycle is no updaed, and only he feed curren value is updaed, since he deceleraion sop begins. Therefore, he pah of he feed curren value is drawn regardless he cam operaion wih deceleraion sop. The inpu axis mus be sopped when he oupu axis is sop synchronizing wih he inpu axis. [Md.407] Cam axis curren value per cycle [Md.20] Feed curren value (Cam operaion) [Md.22] Feedrae [Cd.380] Synchronous conrol sar (Targe axis bi) Deceleraion sop Axis sop signal [Md.141] BUSY signal (Targe axis bi) 24 1 OUTLINE OF SYNCHRONOUS CONTROL 1.3 Operaion Mehod of Synchronous Conrol

27 2 INPUT AXIS MODULE The seings for he parameer and monior daa for he inpu axis module ha used wih synchronous conrol are explained in his chaper. Refer o he following for deails on he connecion and conrol for he servo amplifier and he synchronous encoder ha are used for inpu axis module. MELSEC iq-f FX5 Simple Moion Module User's Manual (Applicaion) Servo Inpu Axis Overview of servo inpu axis The servo inpu axis is used o drive he inpu axis based on he posiion of he servomoor ha is being conrolled by he Simple Moion module. The saus of a servo inpu axis can also be moniored even before he synchronous conrol sar since he seing of a servo inpu axis is valid afer he sysem's power supply ON. The saus of a servo inpu axis can be moniored afer he sysem's power supply ON. The following shows he relaionship beween he posiion of he servomoor and he servo inpu axis. [Pr.300] Servo inpu axis ype Servo moor posiion Feed curren value Real curren value Servo command value Feedback value [Pr.301] Servo inpu axis smoohing ime consan Inpu smoohing processing [Pr.302] Servo inpu axis phase compensaion advance ime [Pr.303] Servo inpu axis phase compensaion ime consan Phase compensaion processing [Md.302] Servo inpu axis phase compensaion amoun [Pr.304] Servo inpu axis roaion direcion resricion Roaion direcion resricion [Md.303] Servo inpu axis roaion direcion resricion amoun Curren value of servo inpu axis [Md.300] Servo inpu axis curren value [Md.301] Servo inpu axis speed Conrol mehod for servo inpu axis All conrols (including synchronous conrol) can be execued for a servo inpu axis. Refer o he following for he conrols oher han he synchronous conrol. MELSEC iq-f FX5 Simple Moion Module User's Manual (Applicaion) If he virual servo amplifier funcion is se in he servo inpu axis, synchronous conrol can be execued by he inpu value as virual. Refer o he following for deails on virual servo amplifier funcion. MELSEC iq-f FX5 Simple Moion Module User's Manual (Applicaion) 2 INPUT AXIS MODULE 2.1 Servo Inpu Axis 25

28 If "1: Feed curren value" or "2: Real curren value" is se in "[Pr.300] Servo inpu axis ype", se "1: Updae feed curren value" in "[Pr.21] Feed curren value during speed conrol" o sar he speed posiion change conrol. If "0: Do no updae feed curren value" or "2: Clear feed curren value o zero" is se in [Pr.21], he error "Speed-posiion swiching conrol sar in servo inpu axis no possible" (error code: 1BA7H) will occur and he conrol will no sar. Unis for he servo inpu axis The posiion unis and speed unis for he servo inpu axis are shown below for he seing "[Pr.300] Servo inpu axis ype" and "[Pr.1] Uni seing". Servo inpu axis posiion unis Seing value of "[Pr.300] Servo inpu axis ype" 1: Feed curren value 2: Real curren value 3: Servo command value 4: Feedback value Seing value of "[Pr.1] Uni seing" 0: mm 10-4 mm (10-1 m) Servo inpu axis posiion uni Range o [mm] ( o [ m]) 1: inch 10-5 inch o [inch] 2: degree 10-5 degree o [degree] 3: pulse pulse o [pulse] pulse o [pulse] Servo inpu axis speed unis Seing value of "[Pr.300] Servo inpu axis ype" 1: Feed curren value 2: Real curren value 3: Servo command value 4: Feedback value Seing value of "[Pr.1] Uni seing" Servo inpu axis speed uni Range 0: mm 10-2 mm/min o [mm/min] 1: inch 10-3 inch/min o [inch/min] 2: degree 10-3 degree/min * o [degree/min] *1 3: pulse pulse/s o [pulse/s] pulse/s o [pulse/s] *1 This will be he speed uni " 10-2 degree/min" (Range: o [degree/min]), when "[Pr.83] Speed conrol 10 muliplier seing for degree axis" is valid. When "1: Feed curren value" or "3: Servo command value" is se in "[Pr.300] Servo inpu axis ype", and he servo inpu axis becomes servo OFF by he servo alarm or forced sop, he amoun of value change may be large. This can be prevened by seing "2: Real curren value" or "4: Feedback value" in "[Pr.300] Servo inpu axis ype". When a home posiion reurn for he axis where "1: Feed curren value" or "2: Real curren value" is se in "[Pr.300] Servo inpu axis ype" is performed, if he servo inpu axis operaion during home posiion reurn is used as he inpu value, he inpu is sopped in he midway of home posiion reurn. When he servo inpu axis operaion during home posiion reurn is used as he inpu value, se "3: Servo command value" or "4: Feedback value" in "[Pr.300] Servo inpu axis ype" INPUT AXIS MODULE 2.1 Servo Inpu Axis

29 Servo inpu axis parameers n: Axis No. - 1 Seing iem Seing deails Seing value Defaul value Buffer memory address [Pr.300] Servo inpu axis ype [Pr.301] Servo inpu axis smoohing ime consan [Pr.302] Servo inpu axis phase compensaion advance ime [Pr.303] Servo inpu axis phase compensaion ime consan [Pr.304] Servo inpu axis roaion direcion resricion Se he curren value ype o be generaed of he inpu value for he servo inpu axis. Fech cycle: A power supply ON Se o smooh he inpu value. Fech cycle: A power supply ON Se he ime o advance or delay he phase. Fech cycle: Operaion cycle Se he ime consan o affec he phase compensaion. Fech cycle: A power supply ON Se his parameer o resric he inpu movemen amoun o one direcion. Fech cycle: A power supply ON Se in decimal. 0: Invalid 1: Feed curren value 2: Real curren value 3: Servo command value 4: Feedback value Se in decimal. 0 o 5000 [ms] Se in decimal o [ s] n n n n Se in decimal n 0 o [ms] *1 Se in decimal. 0: Wihou roaion direcion resricion 1: Enable only for curren value increase direcion 2: Enable only for curren value decrease direcion n 2 *1 Se he value as follows in a program. 0 o 32767: Se as a decimal o 65535: Conver ino a hexadecimal and se. [Pr.300] Servo inpu axis ype Se he curren value ype o be generaed of he inpu value for he servo inpu axis. Seing value Deails 0: Invalid Servo inpu axis is invalid. 1: Feed curren value Generae he inpu value based on "[Md.20] Feed curren value". 2: Real curren value Generae he inpu value based on he real curren value, which is convered ino unis of he encoder feedback pulses from he servo amplifier. 3: Servo command value Generae he inpu value based on he command pulse for he servo amplifier (a value ha he feed curren value is convered ino encoder pulse unis). 4: Feedback value Generae he inpu value based on he encoder feedback pulse from he servo amplifier. Simple Moion module 1: Feed curren value 2: Real curren value Uni Pulse conversion (Backlash compensaion) Pulse Uni conversion 3: Servo command value 4: Feedback value Servo amplifier 2 INPUT AXIS MODULE 2.1 Servo Inpu Axis 27

30 [Pr.301] Servo inpu axis smoohing ime consan Se he averaging ime o execue a smoohing process for he inpu movemen amoun from he servo inpu axis. The smoohing process can moderae speed flucuaion, when he "Real curren value" or "Feedback value" is used as inpu values. The inpu response is delayed depending on he ime corresponding o he seing by smoohing process seing. Inpu value speed before smoohing Inpu value speed afer smoohing Averaging by smoohing ime consan [Pr.301] Servo inpu axis smoohing ime consan [Pr.301] Servo inpu axis smoohing ime consan [Pr.302] Servo inpu axis phase compensaion advance ime Se he ime o advance or delay he phase (inpu response) of he servo inpu axis. Refer o he following for he delay ime inheren o he sysem using he servo inpu axis. Page 131 Phase Compensaion Funcion Seing value Deails 1 o [ s] Advance he phase (inpu response) according o he seing ime. 0 [ s] Do no execue phase compensaion o -1 [ s] Delay he phase (inpu response) according o he seing ime. If he seing ime is oo long, he sysem experiences overshoo or undershoo a acceleraion/deceleraion of he inpu speed. In his case, se longer ime o affec he phase compensaion amoun in "[Pr.303] Servo inpu axis phase compensaion ime consan". [Pr.303] Servo inpu axis phase compensaion ime consan Se he ime consan o affec he phase compensaion amoun for he firs order delay. 63 [%] of he phase compensaion amoun are refleced in he ime consan seing. [Pr.302] Servo inpu axis phase compensaion advance ime Servo inpu axis curren value Curren value before phase compensaion Curren value afer phase compensaion Speed before phase compensaion Speed afer phase compensaion [Md.302] Servo inpu axis phase compensaion amoun 63% Speed before phase compensaion [Md.302] Servo inpu axis phase compensaion amoun 63% [Pr.303] Servo inpu axis phase compensaion ime consan [Pr.303] Servo inpu axis phase compensaion ime consan 28 2 INPUT AXIS MODULE 2.1 Servo Inpu Axis

31 [Pr.304] Servo inpu axis roaion direcion resricion Se his parameer o resric he inpu movemen amoun for he servo inpu axis o one direcion. This helps o avoid reverse operaion caused by machine vibraion, ec. when "Real curren value" or "Feedback value" is used as inpu values. Seing value Deails 0: Wihou roaion direcion resricion Roaion direcion resricion is no execued. 1: Enable only for curren value increase direcion Enable only he inpu movemen amoun in he increasing direcion of he servo inpu axis curren value. 2: Enable only for curren value decrease direcion Enable only he inpu movemen amoun in he decreasing direcion of he servo inpu axis curren value. 2 The inpu movemen amoun in he reverse direcion of he enabled direcion accumulaes as a roaion direcion resriced amoun, and will be refleced when he inpu movemen amoun moves in he enabled direcion again. Therefore, he curren value of servo inpu does no deviae when he reverse operaion is repeaed. The roaion direcion resriced amoun is se o 0 when he following operaions are execued for he servo inpu axis. A servo amplifier is conneced The home posiion reurn is execued The curren value is changed For "1: Enable only for curren value increase direcion" is se in "[Pr.304] Servo inpu axis roaion direcion resricion". Speed before roaion direcion resricion [Md.301] Servo inpu axis speed (Speed afer roaion direcion resricion) [Md.303] Servo inpu axis roaion direcion resricion amoun The inpu movemen amoun is accumulaed as a roaion direcion resriced amoun, and will be refleced when he inpu movemen amoun in he enabled direcion. 2 INPUT AXIS MODULE 2.1 Servo Inpu Axis 29

32 Servo inpu axis monior daa n: Axis No. - 1 Monior iem Sorage deails Monior value Buffer memory address [Md.300] Servo inpu axis curren value The curren value for he servo inpu axis is sored. Refresh cycle: Operaion cycle Monioring is carried ou in decimal o [Servo inpu axis posiion unis *1 ] n n [Md.301] Servo inpu axis speed The speed for he servo inpu axis is sored. Refresh cycle: Operaion cycle Monioring is carried ou in decimal o [Servo inpu axis speed unis *2 ] n n [Md.302] Servo inpu axis phase compensaion amoun The curren phase compensaion amoun is sored. Refresh cycle: Operaion cycle Monioring is carried ou in decimal o [Servo inpu axis posiion unis *1 ] n n [Md.303] Servo inpu axis roaion direcion resricion amoun While he roaion direcion is resriced, he accumulaion for he inpu movemen amoun in he opposie direcion of he enabled direcion is sored. Refresh cycle: Operaion cycle Monioring is carried ou in decimal o [Servo inpu axis posiion unis *1 ] n n *1 Servo inpu axis posiion unis ( Page 26 Servo inpu axis posiion unis) *2 Servo inpu axis speed unis ( Page 26 Servo inpu axis speed unis) [Md.300] Servo inpu axis curren value The curren value for he servo inpu axis is sored in servo inpu axis posiion unis ( Page 26 Servo inpu axis posiion unis) as follows. The curren value for he servo inpu axis is he value afer processing he smoohing, he phase compensaion and he roaion direcion resricion. Seing value of "[Pr.300] Servo inpu axis ype" 1: Feed curren value 2: Real curren value 3: Servo command value 4: Feedback value Sorage deails The accumulaive curren value sared wih "[Md.20] Feed curren value"/"[md.101] Real curren value" for he connecion o he servo amplifier is sored. I is also sored in he range from o [degree] for degree unis. When he "[Md.20] Feed curren value"/"[md.101] Real curren value" is changed by he home posiion reurn or he curren value change, he value is changed o he new curren value. When of he absolue posiion deecion sysem seing is invalid, he accumulaive curren value ha sars from 0 for he conneced servo amplifier is sored. When of he absolue posiion deecion sysem seing is valid, he accumulaive curren value ha sars from he absolue posiion command/encoder feedback pulse for he conneced servo amplifier is sored. The servo inpu axis curren value will no change, even if he home posiion reurn or he curren value is changed. [Md.301] Servo inpu axis speed The speed for he servo inpu axis is sored in servo inpu axis speed unis ( Page 26 Servo inpu axis speed unis). The speed for he servo inpu axis is he value afer processing smoohing, phase compensaion, and roaion direcion resricion. [Md.302] Servo inpu axis phase compensaion amoun The phase compensaion amoun for a servo inpu axis is sored in servo inpu axis posiion unis ( Page 26 Servo inpu axis posiion unis). The phase compensaion amoun for a servo inpu axis is he value afer processing smoohing and phase compensaion INPUT AXIS MODULE 2.1 Servo Inpu Axis

33 [Md.303] Servo inpu axis roaion direcion resricion amoun While he roaion direcion is resriced for a servo inpu axis, he accumulaion for inpu movemen amoun in he opposie direcion of he enabled direcion is sored in servo inpu axis posiion unis ( Page 26 Servo inpu axis posiion unis) as follows. Seing value of "[Pr.304] Servo inpu axis roaion direcion resricion" Sorage deails 1: Enable only for curren value increase direcion A negaive accumulaion is sored during roaion direcion resricion. 0 is sored if here is no resricion. 2: Enable only for curren value decrease direcion A posiive accumulaion is sored during roaion direcion resricion. 0 is sored if here is no resricion. 2 Roaion direcion resricion is processed afer phase compensaion processing. Therefore, if undershoo occurs from phase compensaion during deceleraion sop, he roaion direcion resricion amoun migh remain. 2 INPUT AXIS MODULE 2.1 Servo Inpu Axis 31

34 2.2 Command Generaion Axis Overview of command generaion axis The command generaion axis is an axis ha execues command generaion only. I can be conrolled individually from he axis conneced wih a servo amplifier. The command generaion axis is used o drive he inpu axis based on he posiioning daa or he JOG operaion. The axis se in "[Pr.100] Servo series" is defined as "servo amplifier axis" agains "command generaion axis". Conrol mehod for he command generaion axis The command generaion axis operaes following o he posiioning daa and conrol daa of he command generaion axis. The conrols ha can be used for he command generaion axis are shown below. : Available, : No available Conrol mode Conrol Availabiliy Linear conrol ABS linear 1, INC linear 1 ABS linear 2, INC linear 2 ABS linear 3, INC linear 3 ABS linear 4, INC linear 4 Circular inerpolaion conrol ABS circular sub, ABS circular righ, ABS circular lef INC circular sub, INC circular righ, INC circular lef Fixed-feed Fixed-feed 1, Fixed-feed 2, Fixed-feed 3, Fixed-feed 4 Speed conrol Forward run speed 1, Reverse run speed 1 Forward run speed 2, Reverse run speed 2 Forward run speed 3, Reverse run speed 3 Forward run speed 4, Reverse run speed 4 Speed-posiion conrol Forward run speed/posiion, Reverse run speed/posiion Posiion-speed conrol Forward run posiion/speed, Reverse run posiion/speed Curren value change Simulaneous sar JOG operaion Manual pulse generaor operaion Home posiion reurn The conrol deails are common wih "major posiioning conrols". For deails, refer o he following. MELSEC iq-f FX5 Simple Moion Module User's Manual (Applicaion) 32 2 INPUT AXIS MODULE 2.2 Command Generaion Axis

35 The sub funcions ha can be used for he command generaion axis are shown below. : Combinaion possible : Combinaion resriced : Combinaion no possible Conrol mode Home posiion reurn rery funcion Home posiion shif funcion Backlash compensaion funcion Elecronic gear funcion ABS linear 1 *1 INC linear 1 *1 Forward run speed 1 *1 Reverse run speed 1 *1 Forward run speed/posiion *1 Reverse run speed/posiion *1 Curren value change *1 JOG operaion Near pass funcion 2 *1 The near pass funcion is validaed only when he machine of he sandard specificaion carries ou he posiion conrol wih he coninuous pah conrol mode. Conrol mode Speed limi funcion *2 Invalid during he coninuous pah conrol mode. Torque limi funcion Sofware sroke limi funcion Hardware sroke limi funcion ABS linear 1 INC linear 1 Forward run speed 1 Reverse run speed 1 Forward run speed/posiion Reverse run speed/posiion Curren value change JOG operaion Conrol mode Speed change funcion Override funcion Acceleraion/ deceleraion ime change funcion Torque change funcion ABS linear 1 *2 INC linear 1 *2 Forward run speed 1 Reverse run speed 1 Forward run speed/posiion Reverse run speed/posiion Curren value change JOG operaion Conrol mode Pre-reading sar funcion Sop command processing for deceleraion sop funcion *3 Execue he curren value change using he posiioning daa. I is no oupu using he posiioning sar No Forced sop funcion Targe posiion change funcion Sep funcion Skip funcion M code oupu funcion ABS linear 1 INC linear 1 Forward run speed 1 Reverse run speed 1 Forward run speed/posiion Reverse run speed/posiion Curren value change *3 JOG operaion 2 INPUT AXIS MODULE 2.2 Command Generaion Axis 33

36 Conrol mode Teaching funcion Command in-posiion funcion *4 Valid only when he deceleraion sar during posiioning conrol. The following shows he suppor saus of sub funcions excluding above. : Combinaion possible, : Combinaion no possible Acceleraion/ deceleraion processing funcion ABS linear 1 INC linear 1 Forward run speed 1 Reverse run speed 1 Forward run speed/posiion *4 Reverse run speed/posiion *4 Curren value change JOG operaion Conrol mode Speed conrol 10 imes muliplier seing for degree axis funcion ABS linear 1 INC linear 1 Forward run speed 1 Reverse run speed 1 Forward run speed/posiion Reverse run speed/posiion Curren value change JOG operaion Deceleraion sar flag funcion Operaion seing for incompleion of home posiion reurn funcion Absolue posiion sysem Coninuous operaion inerrup funcion Follow up funcion Change command generaion axis parameers and posiioning daa The command generaion axis does no sore parameers or posiioning daa in he buffer memory. Therefore, rewrie he parameers and he posiioning daa using he following mehods. When using GX Works3 Se he command generaion axis parameers and posiioning daa using GX Works3. Afer ha, execue "wriing o he Simple Moion module". When using command generaion axis conrol daa [Change command generaion axis parameers] Use he following conrol daa. For deails, refer o Page 49 Wrie/read mehod for command generaion axis parameer and posiioning daa. [Cd.300] Command generaion axis parameer No. designaion [Cd.301] Command generaion axis parameer seing value [Cd.302] Command generaion axis parameer conrol reques [Change command generaion axis posiioning daa] Use he following conrol daa. For deails, refer o Page 49 Wrie/read mehod for command generaion axis parameer and posiioning daa. [Cd.303] Command generaion axis posiioning daa No. designaion [Cd.304] Command generaion axis posiioning daa designaion [Cd.305] Command generaion axis posiioning daa seing value [Cd.306] Command generaion axis posiioning daa conrol reques Seing for command generaion axis Se "1: Valid" in "[Pr.340] Command generaion axis valid seing" using he mehods above. The command generaion axis seing is feched a he power ON. Therefore, o disconnec he command generaion axis, urn ON he Simple Moion module power supply again afer seing "0: Invalid" in "[Pr.340] Command generaion axis valid seing" INPUT AXIS MODULE 2.2 Command Generaion Axis

37 Sar reques Specify he posiioning daa No. in "[Cd.3] Posiioning sar No." and se "1: ON" in "[Cd.184] Posiioning sar signal". The sar complee signal ([Md.31] Saus: b14) and "[Md.141] BUSY signal" urn ON, and he posiioning operaion sars. Troubleshooing Oupu he axis error and warning which are same as he servo amplifier axis o "[Md.23] Axis error No." and "[Md.24] Axis warning No." of he command generaion axis. 2 Unis for he command generaion axis The posiion unis and speed unis for he command generaion axis are shown below based on he seing "[Pr.1] Uni seing". Command generaion axis posiion unis Seing value of "[Pr.1] Uni seing" Command generaion axis speed unis Command generaion axis posiion uni Range 0: mm 10-1 m o [ m] 1: inch 10-5 inch o [inch] 2: degree 10-5 degree o [degree] 3: pulse pulse o [pulse] Seing value of "[Pr.1] Uni seing" Command generaion axis speed uni Range 0: mm 10-2 mm/min o [mm/min] 1: inch 10-3 inch/min o [inch/min] 2: degree 10-3 degree/min * o [degree/min] *1 3: pulse pulse/s o [pulse/s] *1 This will be he speed uni " 10-2 degree/min" (Range: o [degree/min]), when "[Pr.83] Speed conrol 10 muliplier seing for degree axis" is valid. Operaion a forced sop When he command generaion axis sars while "0: Valid" is se o "[Pr.82] Forced sop valid/invalid selecion", he error "Sar no possible" (error code: 1928H) occurs and he command generaion axis does no sar. When he forced sop inpu signal urns OFF during operaion, he axis sops rapidly according o he seing of "[Pr.36] Rapid sop deceleraion ime" and "1: Sopped" is se in "[Md.26] Axis operaion saus". The forced sop seing can be changed by "[Pr.82] Forced sop valid/invalid selecion". "[Pr.82] Forced sop valid/invalid selecion" and "forced sop inpu signal" are common wih he servo amplifier axis. 2 INPUT AXIS MODULE 2.2 Command Generaion Axis 35

38 Command generaion axis parameers All command generaion axis parameers are prepared for each command generaion axis. However, change he parameers using GX Works3 or conrol daa because he parameers are no in he buffer memory. Seing iem Seing deails Seing value Defaul value Buffer memory address [Pr.340] Command generaion axis valid seing Se valid/invalid of he command generaion axis o be used. Fech cycle: A power supply ON Se in decimal. 0: Invalid 1: Valid 0 [Pr.346] Command generaion axis lengh per cycle Se he lengh per cycle of he command generaion axis. Fech cycle: A power supply ON Se in decimal. 0: Invalid 1 o [Command generaion axis posiion unis *1 ] 0 *1 Command generaion axis posiion unis ( Page 35 Command generaion axis posiion unis) [Pr.340] Command generaion axis valid seing Se valid/invalid of he command generaion axis. Seing value Deails 0: Invalid Command generaion axis is invalid. 1: Valid Command generaion axis is valid. [Pr.346] Command generaion axis lengh per cycle Se he lengh per cycle for he command generaion axis curren value per cycle. The curren value of command generaion axis is sored in "[Md.347] Command generaion axis curren value per cycle" a ring couner based on he seing value. The uni seings are in command generaion axis posiion unis ( Page 35 Command generaion axis posiion unis). Se a value wihin he range from 1 o If a value ou of he range is inpu, he axis error "Ouside command generaion axis lengh per cycle seing error" (error code: 1BADH) occurs and he axis operaes as ha he lengh per cycle is 0. If "0" is se, "[Md.347] Command generaion axis curren value per cycle" is no updaed INPUT AXIS MODULE 2.2 Command Generaion Axis

39 Lis of parameers ha can be used Each parameer specificaion is common wih he servo amplifier axis. For specificaion deails, refer o he following. MELSEC iq-f FX5 Simple Moion Module User's Manual (Applicaion) : Available, : No available Common parameers 2 Name Servo amplifier axis Command generaion axis [Pr.24] Manual pulse generaor/incremenal synchronous encoder inpu selecion [Pr.82] Forced sop valid/invalid selecion [Pr.89] Manual pulse generaor/incremenal synchronous encoder inpu ype selecion [Pr.96] Operaion cycle seing Basic parameers1 Basic parameers2 : Servo amplifier axis and command generaion axis in common : Servo amplifier axis and command generaion axis in common [Pr.97] SSCNET seing [Pr.150] Inpu erminal logic selecion [Pr.151] Manual pulse generaor/ Incremenal synchronous encoder inpu logic selecion Name Servo amplifier axis Command generaion axis [Pr.1] Uni seing : Fech cycle is a power supply ON. [Pr.2] Number of pulses per roaion (AP) [Pr.3] Movemen amoun per roaion (AL) [Pr.4] Uni magnificaion (AM) [Pr.7] Bias speed a sar Name Servo amplifier axis Command generaion axis [Pr.8] Speed limi value [Pr.9] Acceleraion ime 0 [Pr.10] Deceleraion ime 0 2 INPUT AXIS MODULE 2.2 Command Generaion Axis 37

40 Deailed parameers1 Name Servo amplifier axis Command generaion axis [Pr.11] Backlash compensaion amoun [Pr.12] Sofware sroke limi upper limi value : Iniial value 0 *1 [Pr.13] Sofware sroke limi lower limi value : Iniial value 0 *1 [Pr.14] Sofware sroke limi selecion [Pr.15] Sofware sroke limi valid/invalid seing : Iniial value 1 *1 [Pr.16] Command in-posiion widh [Pr.17] Torque limi seing value [Pr.18] M code ON signal oupu iming [Pr.19] Speed swiching mode [Pr.20] Inerpolaion speed designaion mehod [Pr.21] Feed curren value during speed conrol *2 [Pr.22] Inpu signal logic selecion *1 Differen from he servo amplifier axis, he iniial value of sofware sroke limi is invalid. *2 I operaes fixed o 1. Deailed parameers2 b0: Lower limi b1: Upper limi b3: Sop signal b6: Proximiy dog signal [Pr.81] Speed-posiion funcion selecion [Pr.116] FLS signal selecion [Pr.117] RLS signal selecion [Pr.118] DOG signal selecion [Pr.119] STOP signal selecion Name Servo amplifier axis Command generaion axis [Pr.25] Acceleraion ime 1 [Pr.26] Acceleraion ime 2 [Pr.27] Acceleraion ime 3 [Pr.28] Deceleraion ime 1 [Pr.29] Deceleraion ime 2 [Pr.30] Deceleraion ime 3 [Pr.31] JOG speed limi value [Pr.32] JOG operaion acceleraion ime selecion [Pr.33] JOG operaion deceleraion ime selecion [Pr.34] Acceleraion/deceleraion process selecion [Pr.35] S-curve raio [Pr.36] Rapid sop deceleraion ime [Pr.37] Sop group 1 rapid sop selecion [Pr.38] Sop group 2 rapid sop selecion [Pr.39] Sop group 3 rapid sop selecion [Pr.40] Posiioning complee signal oupu ime [Pr.41] Allowable circular inerpolaion error widh [Pr.42] Exernal command funcion selecion [Pr.83] Speed conrol 10 imes muliplier seing for degree axis [Pr.84] Resar allowable range when servo OFF o ON [Pr.90] Operaion seing for speed-orque conrol mode b4 o b7: Torque iniial value selecion b8 o b11: Speed iniial value selecion b12 o b15: Condiion selecion a mode swiching [Pr.95] Exernal command signal selecion [Pr.127] Speed limi value inpu selecion a conrol mode swiching 38 2 INPUT AXIS MODULE 2.2 Command Generaion Axis

41 Home posiion reurn basic parameers Name Servo amplifier axis Command generaion axis [Pr.43] Home posiion reurn mehod [Pr.44] Home posiion reurn direcion [Pr.45] Home posiion address [Pr.46] Home posiion reurn speed [Pr.47] Creep speed [Pr.48] Home posiion reurn rery 2 Home posiion reurn deailed parameers Name Servo amplifier axis Command generaion axis [Pr.50] Seing for he movemen amoun afer proximiy dog ON [Pr.51] Home posiion reurn acceleraion ime selecion [Pr.52] Home posiion reurn deceleraion ime selecion [Pr.53] Home posiion shif amoun [Pr.54] Home posiion reurn orque limi value [Pr.55] Operaion seing for incompleion of home posiion reurn [Pr.56] Speed designaion during home posiion shif [Pr.57] Dwell ime during home posiion reurn rery Exended parameers Name Servo amplifier axis Command generaion axis [Pr.91] Opional daa monior: Daa ype seing 1 [Pr.92] Opional daa monior: Daa ype seing 2 [Pr.93] Opional daa monior: Daa ype seing 3 [Pr.94] Opional daa monior: Daa ype seing 4 2 INPUT AXIS MODULE 2.2 Command Generaion Axis 39

42 Command generaion axis conrol daa All command generaion axis conrol daa is prepared for each command generaion axis. n: Axis No. - 1 Seing iem Seing deails Seing value Defaul value Buffer memory address [Cd.300] Command generaion axis parameer No. designaion Specify he parameer No. o be wrien. Se in decimal. Parameer No. 1 o n [Cd.301] Command generaion axis parameer seing value Specify he seing value o be wrien. Se in decimal o n n [Cd.302] Command generaion axis parameer conrol reques Se he wriing command. Se in hexadecimal. 0000H: No reques 0001H: Wrie reques 0002H: Read reques FFFFH: Wrie error 0000H n [Cd.303] Command generaion axis posiioning daa No. designaion Specify he posiioning daa No. o be wrien. Se in decimal. Daa No. 1 o n [Cd.304] Command generaion axis posiioning daa designaion Specify [Da._] of he posiioning daa No. o be wrien (posiioning daa, block sar daa, condiion daa). Se in decimal. Daa No. specificaion [Da.1]: 1 [Da.2]: 2 [Da.26]: n [Cd.305] Command generaion axis posiioning daa seing value Specify he seing value o be wrien. Se in decimal o n n [Cd.306] Command generaion axis posiioning daa conrol reques Se he wriing command. Se in hexadecimal. 0000H: No reques 0001H: Wrie reques 0002H: Read reques FFFFH: Wrie Error 0000H n [Cd.300] o [Cd.302] Command generaion axis parameer Refer o he following for deails. Page 49 Wrie/read mehod for command generaion axis parameer and posiioning daa [Cd.303] o [Cd.306] Command generaion axis posiioning daa Refer o he following for deails. Page 49 Wrie/read mehod for command generaion axis parameer and posiioning daa 40 2 INPUT AXIS MODULE 2.2 Command Generaion Axis

43 Lis of conrol daa ha can be used The specificaion is common wih he servo amplifier axis. For specificaion deails, refer o he following. MELSEC iq-f FX5 Simple Moion Module User's Manual (Applicaion) : Available, : No available Sysem conrol daa 2 Name Servo amplifier axis Command generaion axis [Cd.1] Flash ROM wrie reques [Cd.2] Parameer iniializaion reques [Cd.41] Deceleraion sar flag valid [Cd.42] Sop command processing for deceleraion sop selecion Axis conrol daa *1 The seing range is 1 o 100: Posiioning daa No. and 9003: Curren value changing. : Servo amplifier axis and command generaion axis in common : Servo amplifier axis and command generaion axis in common : Servo amplifier axis and command generaion axis in common : Servo amplifier axis and command generaion axis in common [Cd.44] Exernal inpu signal operaion device (Axis 1 o 8) [Cd.102] SSCNET conrol command [Cd.137] Amplifier-less operaion mode swiching reques [Cd.190] PLC READY signal : Servo amplifier axis and command generaion axis in common [Cd.191] All axis servo ON signal Name Servo amplifier axis Command generaion axis [Cd.3] Posiioning sar No. *1 [Cd.4] Posiioning saring poin No. [Cd.5] Axis error rese [Cd.6] Resar command [Cd.7] M code OFF reques [Cd.8] Exernal command valid [Cd.9] Curren value change [Cd.10] New acceleraion ime value [Cd.11] New deceleraion ime value [Cd.12] Acceleraion/deceleraion ime change value during speed change, enable/disable [Cd.13] Posiioning operaion speed override [Cd.14] New speed value [Cd.15] Speed change reques [Cd.16] Inching movemen amoun [Cd.17] JOG speed [Cd.18] Inerrup reques during coninuous operaion [Cd.19] Home posiion reurn reques flag OFF reques [Cd.20] Manual pulse generaor 1 pulse inpu magnificaion [Cd.21] Manual pulse generaor enable flag [Cd.22] New orque value/forward new orque value [Cd.23] Speed-posiion swiching conrol movemen amoun change regiser [Cd.24] Speed-posiion swiching enable flag [Cd.25] Posiion-speed swiching conrol speed change regiser [Cd.26] Posiion-speed swiching enable flag [Cd.27] Targe posiion change value (New address) [Cd.28] Targe posiion change value (New speed) [Cd.29] Targe posiion change reques flag [Cd.30] Simulaneous saring own axis sar daa No. [Cd.31] Simulaneous saring axis sar daa No.1 [Cd.32] Simulaneous saring axis sar daa No.2 [Cd.33] Simulaneous saring axis sar daa No.3 2 INPUT AXIS MODULE 2.2 Command Generaion Axis 41

44 Name Servo amplifier axis Command generaion axis [Cd.34] Sep mode [Cd.35] Sep valid flag [Cd.36] Sep sar informaion [Cd.37] Skip command [Cd.38] Teaching daa selecion [Cd.39] Teaching posiioning daa No. [Cd.40] ABS direcion in degrees [Cd.43] Simulaneous saring axis [Cd.45] Speed-posiion swiching device selecion *2 [Cd.46] Speed-posiion swiching command [Cd.100] Servo OFF command [Cd.101] Torque oupu seing value [Cd.108] Gain changing command flag [Cd.112] Torque change funcion swiching reques [Cd.113] Reverse new orque value [Cd.130] Servo parameer wrie reques [Cd.131] Parameer No. (Seing Parameer No. seing for servo parameers o be changed) Parameer group Wriing mode [Cd.132] Change daa [Cd.136] PI-PID swiching reques [Cd.138] Conrol mode swiching reques [Cd.139] Conrol mode seing [Cd.140] Command speed a speed conrol mode [Cd.141] Acceleraion ime a speed conrol mode [Cd.142] Deceleraion ime a speed conrol mode [Cd.143] Command orque a orque conrol mode [Cd.144] Torque ime consan a orque conrol mode (Forward direcion) [Cd.145] Torque ime consan a orque conrol mode (Negaive direcion) [Cd.146] Speed limi value a orque conrol mode [Cd.147] Speed limi value a coninuous operaion o orque conrol mode [Cd.148] Acceleraion ime a coninuous operaion o orque conrol mode [Cd.149] Deceleraion ime a coninuous operaion o orque conrol mode [Cd.150] Targe orque a coninuous operaion o orque conrol mode [Cd.151] Torque ime consan a coninuous operaion o orque conrol mode (Forward direcion) [Cd.152] Torque ime consan a coninuous operaion o orque conrol mode (Negaive direcion) [Cd.153] Conrol mode auo-shif selecion [Cd.154] Conrol mode auo-shif parameer [Cd.180] Axis sop [Cd.181] Forward run JOG sar [Cd.182] Reverse run JOG sar [Cd.183] Execuion prohibiion flag [Cd.184] Posiioning sar signal *2 I is fixed o he iniial value INPUT AXIS MODULE 2.2 Command Generaion Axis

45 Command generaion axis monior daa n: Axis No. - 1 Monior iem Sorage deails Monior value Buffer memory address [Md.345] Command generaion axis accumulaive curren value [Md.347] Command generaion axis curren value per cycle The accumulaive curren value for he command generaion axis is sored. Refresh cycle: Operaion cycle The curren value per cycle for he command generaion axis is sored. Refresh cycle: Operaion cycle Monioring is carried ou in decimal o [Command generaion axis posiion unis *1 ] Monioring is carried ou in decimal. 0 o (Command generaion axis lengh per cycle - 1) [Command generaion axis posiion unis *1 ] n n n n 2 *1 Command generaion axis posiion unis ( Page 35 Command generaion axis posiion unis) [Md.345] Command generaion axis accumulaive curren value The accumulaive curren value for he command generaion axis is sored in he "[Pr.1] Uni seing". The axis whose uni seing is oher han "degree" is se o "feed curren value = accumulaive curren value". [Md.347] Command generaion axis curren value per cycle The curren value per cycle for he command generaion axis is sored in he range from 0 o ("[Pr.346] Command generaion axis lengh per cycle" - 1). 2 INPUT AXIS MODULE 2.2 Command Generaion Axis 43

46 Lis of monior daa ha can be used The specificaion is common wih he servo amplifier axis. For specificaion deails, refer o he following. MELSEC iq-f FX5 Simple Moion Module User's Manual (Applicaion) : Available, : No available Sysem monior daa Name Servo amplifier axis Command generaion axis [Md.3] Sar informaion Sar hisory [Md.4] Sar No. [Md.54] Sar (Year: monh) [Md.5] Sar (Day: hour) [Md.6] Sar (Minue: second) [Md.60] Sar (ms) [Md.7] Error judgmen [Md.8] Sar hisory poiner [Md.19] Number of wrie accesses o flash ROM : Servo amplifier axis and command generaion axis in common [Md.50] Forced sop inpu : Servo amplifier axis and command generaion axis in common [Md.51] Amplifier-less operaion mode saus [Md.52] Communicaion beween amplifiers axes searching flag [Md.53] SSCNET conrol saus [Md.59] Module informaion [Md.130] F/W version : Servo amplifier axis and command generaion axis in common [Md.131] Digial oscilloscope running flag : Servo amplifier axis and command generaion axis in common [Md.132] Operaion cycle seing : Servo amplifier axis and command generaion axis in common [Md.133] Operaion cycle over flag : Servo amplifier axis and command generaion axis in common [Md.134] Operaion ime : Servo amplifier axis and command generaion axis in common [Md.135] Maximum operaion ime : Servo amplifier axis and command generaion axis in common [Md.140] Module saus b0: READY : Servo amplifier axis and command generaion axis in common b1: Synchronizaion flag : Servo amplifier axis and command generaion axis in common [Md.141] BUSY signal b0: Axis 1 BUSY *1 b1: Axis 2 BUSY *1 b2: Axis 3 BUSY *1 b3: Axis 4 BUSY *1 b4: Axis 5 BUSY *1 b5: Axis 6 BUSY *1 b6: Axis 7 BUSY *1 b7: Axis 8 BUSY *1 *1 The buffer memory is differen from he servo amplifier axis. Also, he buffer memory address is sored in each axis INPUT AXIS MODULE 2.2 Command Generaion Axis

47 Axis monior daa Name Servo amplifier axis Command generaion axis [Md.20] Feed curren value [Md.21] Machine feed value [Md.22] Feedrae [Md.23] Axis error No. [Md.24] Axis warning No. [Md.25] Valid M code [Md.26] Axis operaion saus [Md.27] Curren speed [Md.28] Axis feedrae [Md.29] Speed-posiion swiching conrol posiioning movemen amoun [Md.30] Exernal inpu signal b0: Lower limi signal b1: Upper limi signal b3: Sop signal b4: Exernal command signal/swiching signal b6: Proximiy dog signal [Md.31] Saus b0: In speed conrol flag b1: Speed-posiion swiching lach flag b2: Command in-posiion flag b3: Home posiion reurn reques flag b4: Home posiion reurn complee flag b5: Posiion-speed swiching lach flag b9: Axis warning deecion b10: Speed change 0 flag b12: M code ON b13: Error deecion b14: Sar complee b15: Posiioning complee [Md.32] Targe value [Md.33] Targe speed [Md.34] Movemen amoun afer proximiy dog ON [Md.35] Torque limi sored value/forward orque limi sored value [Md.36] Special sar daa insrucion code seing value [Md.37] Special sar daa insrucion parameer seing value [Md.38] Sar posiioning daa No. seing value [Md.39] In speed limi flag [Md.40] In speed change processing flag [Md.41] Special sar repeiion couner [Md.42] Conrol sysem repeiion couner [Md.43] Sar daa poiner being execued [Md.44] Posiioning daa No. being execued [Md.45] Block No. being execued [Md.46] Las execued posiioning daa No. [Md.47] Posiioning daa being execued Posiioning idenifier Posiioning address Arc address Command speed Dwell ime M code Axis o be inerpolaed [Md.48] Deceleraion sar flag [Md.100] Home posiion reurn re-ravel value 2 2 INPUT AXIS MODULE 2.2 Command Generaion Axis 45

48 Name Servo amplifier axis Command generaion axis [Md.101] Real curren value [Md.102] Deviaion couner value [Md.103] Moor roaion speed [Md.104] Moor curren value [Md.106] Servo amplifier sofware No. [Md.107] Parameer error No. [Md.108] Servo saus1 b0: READY ON b1: Servo ON b2, b3: Conrol mode b7: Servo alarm b12: In-posiion b13: Torque limi b14: Absolue posiion los b15: Servo warning [Md.109] Regeneraive load raio/opional daa monior oupu 1 [Md.110] Effecive load orque/opional daa monior oupu 2 [Md.111] Peak orque raio/opional daa monior oupu 3 [Md.112] Opional daa monior oupu 4 [Md.113] Semi/Fully closed loop saus [Md.114] Servo alarm [Md.116] Encoder opion informaion [Md.119] Servo saus2 b0: Zero poin pass b3: Zero speed b4: Speed limi b8: PID conrol [Md.120] Reverse orque limi sored value [Md.122] Speed during command [Md.123] Torque during command [Md.124] Conrol mode swiching saus [Md.125] Servo saus3 b14: Coninuous operaion o orque conrol mode [Md.500] Servo saus7 [Md.502] Driver operaion alarm No INPUT AXIS MODULE 2.2 Command Generaion Axis

49 Command generaion axis posiioning daa All posiioning daa is no in he buffer memory. Therefore, change he daa using GX Works3 or conrol daa. The specificaion of command generaion axis posiioning daa is common wih "major posiioning conrols". However, he posiioning daa is 100 poins for each axis. The conrol mehods ha can be used are "ABS linear 1, INC linear 1, Forward run: speed 1, Reverse run: speed 1, Forward run: speed/posiion, Reverse run: speed/posiion". For deails of "major posiioning conrols", refer o he following. MELSEC iq-f FX5 Simple Moion Module User's Manual (Applicaion) 2 Lis of posiioning daa ha can be used The specificaion is common wih he servo amplifier axis. For specificaion deails, refer o he following. MELSEC iq-f FX5 Simple Moion Module User's Manual (Applicaion) : Available, : No available Posiioning daa Name Servo amplifier axis Command generaion axis [Da.1] Operaion paern [Da.2] Conrol mehod [Da.3] Acceleraion ime No. [Da.4] Deceleraion ime No. [Da.6] Posiioning address/movemen amoun [Da.7] Arc address [Da.8] Command speed [Da.9] Dwell ime/jump desinaion posiioning daa No. [Da.10] M code/number of LOOP o LEND repeiions [Da.10] Condiion daa No. [Da.20] Axis o be inerpolaed No.1 [Da.21] Axis o be inerpolaed No.2 [Da.22] Axis o be inerpolaed No.3 When he speed conrol is seleced in "[Da.1] Operaion paern", se invalid o "[Pr.15] Sofware sroke limi valid/invalid seing" as necessary. Seing range of "[Da.2] Conrol mehod" Name Servo amplifier axis Command generaion axis 01h: ABS linear 1 02h: INC linear 1 03h: Fixed-feed 1 04h: Forward run speed 1 05h: Reverse run speed 1 06h: Forward run speed/posiion 07h: Reverse run speed/posiion 08h: Forward run posiion/speed 09h: Reverse run posiion/speed 0Ah: ABS linear 2 0Bh: INC linear 2 0Ch: Fixed-feed 2 0Dh: ABS circular sub 0Eh: INC circular sub 0Fh: ABS circular righ 10h: ABS circular lef 11h: INC circular righ 2 INPUT AXIS MODULE 2.2 Command Generaion Axis 47

50 Name Servo amplifier axis Command generaion axis 12h: INC circular lef 13h: Forward run speed 2 14h: Reverse run speed 2 15h: ABS linear 3 16h: INC linear 3 17h: Fixed-feed 3 18h: Forward run speed 3 19h: Reverse run speed 3 1Ah: ABS linear 4 1Bh: INC linear 4 1Ch: Fixed-feed 4 1Dh: Forward run speed 4 1Eh: Reverse run speed 4 80h: NOP 81h: Curren value changing 82h: JUMP insrucion 83h: LOOP 84h: LEND Block sar daa Name Servo amplifier axis Command generaion axis [Da.11] Shape [Da.12] Sar daa No. [Da.13] Special sar insrucion [Da.14] Parameer Condiion daa Name Servo amplifier axis Command generaion axis [Da.15] Condiion arge [Da.16] Condiion operaor [Da.17] Address [Da.18] Parameer 1 [Da.19] Parameer 2 [Da.23] Number of simulaneously saring axes [Da.24] Simulaneously saring axis No.1 [Da.25] Simulaneously saring axis No.2 [Da.26] Simulaneously saring axis No INPUT AXIS MODULE 2.2 Command Generaion Axis

51 Wrie/read mehod for command generaion axis parameer and posiioning daa The command generaion axis parameer and posiioning daa are no sored in he buffer memory, so ha each seing value changes by he conrol daa. The fech iming of each parameer and posiioning daa is in accordance wih each specificaion. Therefore, some parameer is no used for conrol unil PLC READY ON or he power supply ON. 2 Execue he wriing of he parameer and posiioning daa by he wrie mehod procedure shown below. If he wriing order is wrong, an unpredicable value migh be se. The command generaion axis conrol daa and posiioning daa wrien by his mehod are erased a he power supply OFF. When i is necessary o save he daa, wrie o he flash ROM of he Simple Moion module by "[Cd.1] Flash ROM wrie reques". Wrie mehod for command generaion axis parameer 1. Specify he command generaion axis parameer No. o "[Cd.300] Command generaion axis parameer No. designaion". 2. When "340" is se, "[Pr.340] Command generaion axis valid seing" is specified. When "1" is se, "[Pr.1] Uni seing" is specified. 3. Specify he seing value o he command generaion axis parameer wih 2 words in "[Cd.301] Command generaion axis parameer seing value". 4. Se "1: Wrie reques" o "[Cd.302] Command generaion axis parameer conrol reques". 5. "[Cd.301] Command generaion axis parameer seing value" is wrien o he command generaion axis parameer No. specified in "[Cd.300] Command generaion axis parameer No. designaion". When he wriing is succeeded, "0: No reques" is se in "[Cd.302] Command generaion axis parameer conrol reques". 6. When he parameer No. which is no defined o he command generaion axis is specified, "FFFFH: Wrie error" is se in "[Cd.302] Command generaion axis parameer conrol reques". "[Cd.302] Command generaion axis parameer conrol reques" is deeced always. I is no required o reurn o "0: No reques" from "FFFFH: Wrie error" manually. 7. The command generaion axis conrol daa and posiioning daa wrien by his mehod are erased a he power supply OFF. When i is necessary o save he daa, wrie o he flash ROM of he Simple Moion module by "[Cd.1] Flash ROM wrie reques". The iming ha he command generaion axis parameer o be wrien becomes valid is common wih he servo amplifier axis. For specificaion deails, refer o he following. MELSEC iq-f FX5 Simple Moion Module User's Manual (Applicaion) [Pr.1] Uni seing 0 2: degree [Cd.300] Command generaion axis parameer No. designaion 0 1: [Pr.1] Uni seing [Cd.301] Command generaion axis parameer seing value 0 2: degree [Cd.302] Command generaion axis parameer conrol reques 0: No reques 1: Wrie reques 0: No reques Sar of parameer wriing Compleion of parameer wriing When he wriing is failed, "FFFFH: Wrie error" occurs. 2 INPUT AXIS MODULE 2.2 Command Generaion Axis 49

52 Read mehod for command generaion axis parameer 1. Specify he command generaion axis parameer No. o "[Cd.300] Command generaion axis parameer No. designaion". 2. Se "2: Read reques" o "[Cd.302] Command generaion axis parameer conrol reques". 3. The seing value o he command generaion axis parameer is read wih 2 words in "[Cd.301] Command generaion axis parameer seing value". "0: No reques" is se in "[Cd.302] Command generaion axis parameer conrol reques". 4. When he parameer No. which is no defined o he command generaion axis is specified, "FFFFH: Wrie error" is se in "[Cd.302] Command generaion axis parameer conrol reques". "[Cd.302] Command generaion axis parameer conrol reques" is deeced always. I is no required o reurn o "0: No reques" from "FFFFH: Wrie error" manually. [Pr.1] Uni seing 2: degree [Cd.300] Command generaion axis parameer No. designaion 0 1: [Pr.1] Uni seing [Cd.301] Command generaion axis parameer seing value 0 2: degree [Cd.302] Command generaion axis parameer conrol reques 0: No reques 2: Read reques 0: No reques Sar of parameer reading Compleion of reading When he reading is failed, "FFFFH: Wrie error" occurs. Wrie mehod for command generaion axis posiioning daa 1. Specify he command generaion axis posiioning daa No. o "[Cd.303] Command generaion axis posiioning daa No. designaion". When "1" is se, "1" of he posiioning daa is specified. 2. Specify he command generaion axis posiioning daa [Da._] o "[Cd.304] Command generaion axis posiioning daa designaion". When "1" is se, "[Da.1] Operaion paern" is specified. 3. Specify he seing value o he command generaion axis posiioning daa No. and he command generaion axis posiioning daa wih 2 words o he low-order wihou space in "[Cd.305] Command generaion axis posiioning daa seing value". To wrie ABS linear 1 in "[Da.2] Conrol mehod", specify " H". When " H" is specified, "0" is wrien. 4. Se "1: Wrie reques" o "[Cd.306] Command generaion axis posiioning daa conrol reques". "[Cd.305] Command generaion axis posiioning daa seing value" is wrien o he posiioning daa of he command generaion axis posiioning daa No. specified in "[Cd.303] Command generaion axis posiioning daa No. designaion" and "[Cd.304] Command generaion axis posiioning daa designaion". When he wriing is succeeded, "0: No reques" is se in "[Cd.306] Command generaion axis posiioning daa conrol reques". 5. When he posiioning daa No. and he posiioning daa which are no defined o he command generaion axis are specified, "FFFFH: Wrie error" is se in "[Cd.306] Command generaion axis posiioning daa conrol reques". "[Cd.306] Command generaion axis posiioning daa conrol reques" is deeced always. I is no required o reurn o "0: No reques" from "FFFFH: Wrie error" manually. 6. The command generaion axis conrol daa and posiioning daa wrien by his mehod are erased a he power supply OFF. When i is necessary o save he daa, wrie o he flash ROM of he Simple Moion module by "[Cd.1] Flash ROM wrie reques". The iming ha he command generaion axis posiioning daa o be wrien becomes valid is common wih he servo amplifier axis. For specificaion deails, refer o he following. MELSEC iq-f FX5 Simple Moion Module User's Manual (Applicaion) 50 2 INPUT AXIS MODULE 2.2 Command Generaion Axis

53 Posiioning daa No.1 [Da.1] Operaion paern 0 1: ABS linear 1 [Cd.303] Command generaion axis posiioning daa No. designaion 0 1: 1 of posiioning daa No. [Cd.304] Command generaion axis posiioning daa designaion [Cd.305] Command generaion axis posiioning daa seing value 0 1: [Da.1] Operaion paern 0 1: ABS linear 1 2 [Cd.306] Command generaion axis posiioning daa conrol reques 0: No reques 1: Wrie reques 0: No reques Sar of posiioning daa wriing Compleion of wriing When he wriing is failed, "FFFFH: Wrie error" occurs. Read mehod for command generaion axis posiioning daa 1. Specify he command generaion axis posiioning daa No. o "[Cd.303] Command generaion axis posiioning daa No. designaion". When "1" is se, "1" of he posiioning daa is specified. 2. Specify he command generaion axis posiioning daa [Da._] o "[Cd.304] Command generaion axis posiioning daa designaion". When "1" is se, "[Da.1] Operaion paern" is specified. 3. Se "2: Read reques" o "[Cd.306] Command generaion axis posiioning daa conrol reques". 4. "[Cd.305] Command generaion axis posiioning daa seing value" is read wih 2 words o he posiioning daa of he command generaion axis posiioning daa No. specified in "[Cd.303] Command generaion axis posiioning daa No. designaion" and "[Cd.304] Command generaion axis posiioning daa designaion". When he reading is succeeded, "0: No reques" is se in "[Cd.306] Command generaion axis posiioning daa conrol reques". 5. When he parameer No. which is no defined o he command generaion axis is specified, "FFFFH: Wrie error" is se in "[Cd.306] Command generaion axis posiioning daa conrol reques". "[Cd.306] Command generaion axis posiioning daa conrol reques" is deeced always. I is no required o reurn o "0: No reques" from "FFFFH: Wrie error" manually. Posiioning daa No.1 [Da.1] Operaion paern 1: ABS linear 1 [Cd.303] Command generaion axis posiioning daa No. designaion 0 1: 1 of posiioning daa No. [Cd.304] Command generaion axis posiioning daa designaion 0 1: [Da.1] Operaion paern [Cd.305] Command generaion axis posiioning daa seing value 0 1: ABS linear 1 [Cd.306] Command generaion axis posiioning daa conrol reques 0: No reques 1: Read reques 0: No reques Sar of posiioning daa reading Compleion of reading When he reading is failed, "FFFFH: Wrie error" occurs. 2 INPUT AXIS MODULE 2.2 Command Generaion Axis 51

54 2.3 Synchronous Encoder Axis Overview of synchronous encoder axis The synchronous encoder is used o drive he inpu axis based on inpu pulse from a synchronous encoder ha is conneced exernally. The saus of a synchronous encoder axis can also be moniored afer he sysem's power supply urns ON. [Pr.24] Manual pulse generaor/incremenal synchronous encoder inpu selecion [Pr.89] Manual pulse generaor/incremenal synchronous encoder inpu ype selecion [Pr.151] Manual pulse generaor/incremenal synchronous encoder inpu logic selecion [Pr.320] Synchronous encoder axis ype [Pr.329] Resoluion of synchronous encoder via CPU Couner disable/ Couner enable [Pr.321] Synchronous encoder axis uni seing [Pr.322] Synchronous encoder axis uni conversion: Numeraor [Pr.323] Synchronous encoder axis uni conversion: Denominaor [Pr.325] Synchronous encoder axis smoohing ime consan [Pr.326] Synchronous encoder axis phase compensaion advance ime [Pr.327] Synchronous encoder axis phase compensaion ime consan [Pr.328] Synchronous encoder axis roaion direcion resricion Curren value change [Pr.324] Synchronous encoder axis lengh per cycle Inpu pulse of synchronous encoder Uni conversion Inpu smoohing processing Phase compensaion processing Roaion direcion resricion Curren value of synchronous encoder axis [Md.323] Synchronous encoder axis phase compensaion amoun [Md.324] Synchronous encoder axis roaion direcion resricion amoun [Md.320] Synchronous encoder axis curren value [Md.321] Synchronous encoder axis curren value per cycle [Md.322] Synchronous encoder axis speed 52 2 INPUT AXIS MODULE 2.3 Synchronous Encoder Axis

55 Synchronous encoder axis ype The following 3 ypes of synchronous encoders can be used for he synchronous encoder axis. Refer o he following for he seing mehod for each synchronous encoder axis. Page 55 Seing mehod for synchronous encoder Synchronous encoder axis ype Incremenal synchronous encoder Synchronous encoder via servo amplifier Synchronous encoder via CPU Deails The incremenal synchronous encoder ha is conneced o he manual pulse generaor/incremenal synchronous encoder inpu of he Simple Moion module is used as he synchronous encoder axis. Used o use a synchronous encoder conneced o he servo amplifier which suppors he scale measuremen mode as a synchronous encoder axis. Used o operae a gray code encoder ha is conneced o he inpu module of CPU module as a synchronous encoder axis. 2 Conrol mehod for synchronous encoder axis The following conrols can be execued for he synchronous encoder axis by using "[Cd.320] Synchronous encoder axis conrol sar" and "[Cd.321] Synchronous encoder axis conrol mehod". Seing value of "[Cd.321] Synchronous encoder axis conrol mehod" Conrol deails 0: Curren value change "[Md.320] Synchronous encoder axis curren value" and "[Md.321] Synchronous encoder axis curren value per cycle" are changed based on he seing of "[Cd.322] Synchronous encoder axis curren value seing address". 1: Couner disable Inpu from he synchronous encoder is disabled. 2: Couner enable Inpu from he synchronous encoder is enabled. Unis for he synchronous encoder axis The posiion unis and speed unis for he synchronous encoder axis are shown below for he seing of "[Pr.321] Synchronous encoder axis uni seing". Synchronous encoder axis posiion unis Seing value of "[Pr.321] Synchronous encoder axis uni seing" Conrol uni Number of decimal places for posiion Synchronous encoder axis posiion uni Range 0: mm 0 mm o [mm] mm o [mm] 1: inch 0 inch o [inch] inch o [inch] 2: degree 0 degree o [degree] degree o [degree] 3: pulse 0 pulse o [pulse] pulse o [pulse] 2 INPUT AXIS MODULE 2.3 Synchronous Encoder Axis 53

56 Synchronous encoder axis speed unis Seing value of "[Pr.321] Synchronous encoder axis uni seing" Conrol uni Speed ime uni Number of decimal places for speed Synchronous encoder axis speed uni Range 0: mm 0: second [s] 0 mm/s o [mm/s] mm/s o [mm/s] 1: minue [min] 0 mm/min o [mm/min] mm/min o [mm/min] 1: inch 0: second [s] 0 inch/s o [inch/s] inch/s o [inch/s] 1: minue [min] 0 inch/min o [inch/min] inch/min o [inch/min] 2: degree 0: second [s] 0 degree/s o [degree/s] degree/s o [degree/s] 1: minue [min] 0 degree/min o [degree/min] degree/min o [degree/min] 3: pulse 0: second [s] 0 pulse/s o [pulse/s] pulse/s o [pulse/s] 1: minue [min] 0 pulse/min o [pulse/min] pulse/min o [pulse/min] 54 2 INPUT AXIS MODULE 2.3 Synchronous Encoder Axis

57 Seing mehod for synchronous encoder Incremenal synchronous encoder Seing mehod Connec he synchronous encoder o he "Manual pulse generaor/incremenal synchronous encoder inpu" of he Simple Moion module. Se he inpu mehod for he incremenal synchronous encoder signal using he following parameers. (I may be common o use he same se up for he manual pulse generaor inpu.) [Pr.24] Manual pulse generaor/incremenal synchronous encoder inpu selecion [Pr.89] Manual pulse generaor/incremenal synchronous encoder inpu ype selecion [Pr.151] Manual pulse generaor/incremenal synchronous encoder inpu logic selecion 2 The synchronous encoder axis operaes compleely independenly wih he manual pulse generaor operaion. The parameer and conrol daa for he manual pulse generaor operaion excep he 3 parameers lised above has no influence on conrol of synchronous encoder axis. Therefore, hey can also be conrolled simulaneously by common inpu pulses. When he synchronous encoder axis connecion is valid afer he sysem's power supply is ON, i will be "Synchronous encoder axis curren value = 0", "Synchronous encoder axis curren value per cycle = 0" and "Couner enabling saus". Seing example The following shows an example for seing an incremenal synchronous encoder as synchronous encoder axis 2 of he Simple Moion module. Simple Moion module Synchronous encoder axis 2 Incremenal synchronous encoder Axis 1 Axis 2 Axis 3 Se "1: Incremenal synchronous encoder" in "[Pr.320] Synchronous encoder axis ype" for he synchronous encoder axis 2. And, se he inpu mehod for incremenal synchronous encoder signal in he following parameers. "[Pr.24] Manual pulse generaor/incremenal synchronous encoder inpu selecion": "0: A-phase/B-phase muliplied by 4" "[Pr.89] Manual pulse generaor/incremenal synchronous encoder inpu ype selecion": "0: Differenial oupu ype" "[Pr.151] Manual pulse generaor/incremenal synchronous encoder inpu logic selecion": "0: Differenial oupu ype" 2 INPUT AXIS MODULE 2.3 Synchronous Encoder Axis 55

58 Synchronous encoder via servo amplifier There are resricions in he funcion and he encoder ha can be used by he version of he servo amplifier. Seing mehod Used o use a synchronous encoder conneced o he servo amplifier which suppors he scale measuremen mode as a synchronous encoder axis. The following servo amplifiers can be used. The servo amplifier mus suppor he scale measuremen funcion. MR-J4-B-RJ Only a roary encoder can be conneced. Refer o he following servo amplifier insrucion manuals for he version of he servo amplifier which suppors he scale measuremen funcion and he roary encoder which can be used. SSCNET /H Inerface AC Servo MR-J4-_B_(-RJ) Servo Amplifier Insrucion Manual A synchronous encoder conneced o he specified servo amplifier axis can be used by he following seings. Seing iem Synchronous encoder axis seing Encoder ype seing (Absolue/ Incremenal) Seing mehod Se "101 o 108: Synchronous encoder via servo amplifier (Connecable servo amplifier: axis 1 o axis 8 *1 )" in "[Pr.320] Synchronous encoder axis ype". [Seing mehod of Simple Moion Module Seing Funcion] Se he synchronous encoder axis parameer according o he seing below. "[Pr.320] Type" 101: Synchronous encoder via servo amplifier "[Pr.320] Axis No. of conneced servo amplifier" Axis No. of servo amplifier o connec Se he servo parameer "Scale measuremen mode selecion (PA22)" according o he seing below. 0 _H: Disabled 1 _H: Used in absolue posiion deecion sysem 2 _H: Used in incremenal sysem [Seing mehod of Simple Moion Module Seing Funcion] Se "ABS" or "INC" from he "Exernal synchronous encoder inpu" lis of he amplifier seing dialog. (The amplifier seing dialog can be opened from he "Sysem Configuraion" window in he "Sysem Seing".) *1 The range from axis 1 o 4 is valid in he 4-axis module and from axis 1 o 8 is valid in he 8-axis module. When "1 _H" is se in he servo parameer "Scale measuremen mode selecion (PA22)", he synchronous encoder axis curren value and he synchronous encoder axis curren value per cycle are resored afer he servo amplifier axis is conneced. Therefore, connecion becomes valid, and will be on he couner enabling saus. (The curren value seing by curren value change is required beforehand.) When "2 _H" is se in he servo parameer "Scale measuremen mode selecion (PA22)", "0" is se o he iniial value of he synchronous encoder axis curren value and he synchronous encoder axis curren value per cycle afer he servo amplifier axis is conneced. Therefore, connecion becomes valid, and will be on he couner enabling saus. If he corresponding servo amplifier axis is no conneced, he connecion of he synchronous encoder axis will be invalid. When "1 _H" is se in he servo parameer "Scale measuremen mode selecion (PA22)" and he synchronous encoder movemen amoun (encoder pulse unis) on disconnecion or during he power supply OFF exceeds " " or " ", he synchronous encoder axis curren value is resored wih is opposie sign INPUT AXIS MODULE 2.3 Synchronous Encoder Axis

59 Poin of he seing mehod "Scale measuremen mode selecion (PA22)" is se o he servo amplifier se by "ABS" or "INC" from he "Exernal synchronous encoder inpu" lis of he amplifier seing dialog using he Simple Moion Module Seing Funcion. When he servo parameer "Scale measuremen mode selecion (PA22)" is changed, i is required o swich he power of servo amplifier off once afer he parameer is ransferred o he servo amplifier, and hen swich i on again. If he servo amplifier se by he servo parameer "Scale measuremen mode selecion (PA22)" does no suppor he "Scale measuremen mode", "AL.37" (parameer error) will occur in he servo amplifier. Refer o he servo amplifier insrucion manual for deails of he servo parameer "Scale measuremen mode selecion (PA22)". The synchronous encoder via servo amplifier can be conrolled up o 4. However, here is no resricion for he number of connecions. Therefore, he error check is no execued even when he exernal synchronous encoders are se more han 4 in he "Sysem Seing" using he Simple Moion Module Seing Funcion. The following informaion of he synchronous encoder via servo amplifier can be oupu wih he opional daa monior. The seing deails of he opional daa monior for he synchronous encoder informaion are shown below. 2 Informaion of synchronous encoder Scale posiion wihin one-revoluion Scale absolue couner Seing deail for opional daa monior 24: Load side encoder informaion 1 (Used poin: 2words) 25: Load side encoder informaion 2 (Used poin: 2words) A serial absolue synchronous encoder Q171ENC-W8 can be used in an incremenal sysem by seing "2 _H" in he servo parameer "Scale measuremen mode selecion (PA22)" even if he baery of he servo amplifier is dismouned. 2 INPUT AXIS MODULE 2.3 Synchronous Encoder Axis 57

60 Seing example The following shows an example for seing a serial absolue synchronous encoder Q171ENC-W8 using MR-J4-_B-RJ as synchronous encoder axis 1 of he Simple Moion module. Simple Moion module MR-J4-_B-RJ Axis 1 Axis 2 Axis 3 Synchronous encoder axis 1 Q171ENC-W8 ( pulses/rev) Se he parameers as below. Se "101: Synchronous encoder via servo amplifier (servo amplifier axis 3)" in "[Pr.320] Synchronous encoder axis ype" of synchronous encoder axis 1. Se "32: MR-J4-_B" in "[Pr.100] Servo series" of he axis o connec Q171ENC-W8. Se "1 _H" or "2 _H" in he servo parameer "Scale measuremen mode selecion (PA22)". (Se "ABS" or "INC" from he "Exernal synchronous encoder inpu" lis of he amplifier seing dialog using he Simple Moion Module Seing Funcion.) Se "1 _H" in he servo parameer "Funcion selecion C-8 (PC26)". Resricions The servo amplifier axis seleced as "Synchronous encoder via servo amplifier" in"[pr.320] Synchronous encoder axis ype" does no operae in he fully closed conrol mode even hough " 1_H" is se in he servo parameer "Operaion mode selecion (PA01)". The informaion abou he synchronous encoder is oupu o "[Md.112] Opional daa monior oupu 4" of he servo amplifier axis seleced as "Synchronous encoder via servo amplifier" in "[Pr.320] Synchronous encoder axis ype", and "[Pr.94] Opional daa monior: Daa ype seing 4" is ignored. (Se he oal poins o be wihin 3 words for he opional daa monior. Oherwise, he monior seing is ignored.) When he servo alarms abou he serial absolue synchronous encoder connecion occur in he servo amplifier axis seleced as "Synchronous encoder via servo amplifier" in "[Pr.320] Synchronous encoder axis ype", he saus becomes servo OFF. "AL.25" (Absolue posiion erased), "AL.70" (Load-side encoder iniial communicaion error 1), or "AL.71" (Loadside encoder normal communicaion error 1) occurs in he servo amplifier. The error "Synchronous encoder via servo amplifier invalid error" (error code: 1BAAH) occurs in he following cases. Oher han "32: MR-J4-_B" is se in "[Pr.100] Servo series" of he axis No. seleced as "Synchronous encoder via servo amplifier" in "[Pr.320] Synchronous encoder axis ype". The servo amplifier axis which is no se in he sysem seing is se o he servo amplifier axis No. o connec o "Synchronous encoder via servo amplifier". The servo axis, which "Invalid" is se o from he "Exernal synchronous encoder inpu" lis of he amplifier seing dialog using he Simple Moion Module Seing Funcion, is se o he servo amplifier axis No. o connec o "Synchronous encoder via servo amplifier". A linear scale is conneced INPUT AXIS MODULE 2.3 Synchronous Encoder Axis

61 Synchronous encoder via CPU Seing mehod Used o operae a gray code encoder ha is conneced o he inpu par of he CPU module or he exension inpu module as a synchronous encoder axis. By seing "201: Synchronous encoder via CPU" in "[Pr.320] Synchronous encoder axis ype", he synchronous encoder is conrolled by he encoder value which is he inpu value of "[Cd.325] Inpu value for synchronous encoder via CPU". The encoder value can be used as a cycle couner wihin he range from 0 o (Resoluion of synchronous encoder via CPU - 1). Connecion is invalid jus afer he sysem's power supply is ON. When "1" is se in "[Cd.324] Connecion command of synchronous encoder via CPU", he synchronous encoder axis curren value and he synchronous encoder axis curren value per cycle are resored based on "[Cd.325] Inpu value for synchronous encoder via CPU". Therefore, connecion becomes valid, and will be on he couner enabling saus. The synchronous encoder axis is conrolled based on he amoun of change of "[Cd.325] Inpu value for synchronous encoder via CPU" while i is connecing. 2 Seing example The following shows an example for seing a synchronous encoder via CPU as synchronous encoder axis 4 of he Simple Moion module. (Resoluion of he gray code encoder: 4096 pulses/rev) Simple Moion module Gray code encoder Synchronous encoder axis 4 Se "201: Synchronous encoder via CPU" in "[Pr.320] Synchronous encoder axis ype" of synchronous encoder axis 4. Se "4096" in "[Pr.329] Resoluion of synchronous encoder via CPU" of synchronous encoder axis 4. Read he encoder value of he gray code encoder wih a program, and updae "[Cd.325] Inpu value for synchronous encoder via CPU" of he synchronous encoder axis 4 a every ime. Resricions "[Cd.325] Inpu value for synchronous encoder via CPU" is aken every operaion cycle, bu i is asynchronous wih he scan ime of he CPU module. Therefore, speed flucuaion of he synchronous encoder axis becomes larger if he refresh cycle of "[Cd.325] Inpu value for synchronous encoder via CPU" becomes long. Updae "[Cd.325] Inpu value for synchronous encoder via CPU" in a cycle less han he operaion cycle or use smooh speed flucuaion wih he smoohing funcion. The synchronous encoder curren value ha is resored for he synchronous encoder connecion ges resored ino a convered value from he following range based on he synchronous encoder movemen amoun on disconnecion. Seing value of "[Pr.329] Resoluion of synchronous encoder via CPU" Range of resored synchronous encoder curren value 1 or more -(Resoluion of synchronous encoder via CPU / 2) o (Resoluion of synchronous encoder via CPU / 2-1) [pulse] *1 0 or less o [pulse] Axis 1 Axis 2 Axis 3 *1 If he resoluion of a synchronous encoder via CPU is an odd number, round down a negaive value afer he decimal poin, round up a posiive value afer decimal poin. 2 INPUT AXIS MODULE 2.3 Synchronous Encoder Axis 59

62 Synchronous encoder axis parameers j: Synchronous encoder axis No. - 1 Seing iem Seing deails Seing value Defaul value [Pr.320] Synchronous encoder axis ype [Pr.321] Synchronous encoder axis uni seing Se he synchronous encoder axis ype o be used. Fech cycle: A power supply ON Se he uni of he synchronous encoder axis. Se he posiion uni wihin he range from 1 o 10-9 [conrol uni]. Se he speed uni wihin he range from 1 o 10-9 [conrol uni/s or conrol uni/min]. Fech cycle: A power supply ON Se in decimal. 0: Invalid 1: Incremenal synchronous encoder 101 o 108: Synchronous encoder via servo amplifier (Connecable servo amplifier: Axis 1 o axis 8 *1 ) 201: Synchronous encoder via CPU Buffer memory address j Se in hexadecimal. 0003H j H Conrol uni 0: mm, 1: inch, 2: degree, 3: pulse Number of decimal places for posiion 0 o 9 Speed ime uni 0: second [s], 1: minue [min] Number of decimal places for speed 0 o 9 [Pr.322] Synchronous encoder axis uni conversion: Numeraor [Pr.323] Synchronous encoder axis uni conversion: Denominaor [Pr.324] Synchronous encoder axis lengh per cycle [Pr.325] Synchronous encoder axis smoohing ime consan [Pr.326] Synchronous encoder axis phase compensaion advance ime [Pr.327] Synchronous encoder axis phase compensaion ime consan [Pr.328] Synchronous encoder axis roaion direcion resricion Se he numeraor o conver he uni from he encoder pulse of he synchronous encoder axis ino he synchronous encoder axis uni. Fech cycle: A power supply ON Se he denominaor o conver he uni from he encoder pulse of he synchronous encoder axis ino he synchronous encoder axis uni. Fech cycle: A power supply ON Se he lengh per cycle of he synchronous encoder axis. Fech cycle: A power supply ON Se he ime o smooh for he inpu value. Fech cycle: A power supply ON Se he ime o advance or delay he phase. Fech cycle: Operaion cycle Se he ime consan o affec he phase compensaion. Fech cycle: A power supply ON Se his parameer o resric he inpu movemen amoun o one direcion. Fech cycle: A power supply ON Se in decimal o [Synchronous encoder axis posiion unis *2 ] Se in decimal. 1 o [pulse] Se in decimal. 1 o [Synchronous encoder axis posiion unis *2 ] Se in decimal. 0 o 5000 [ms] Se in decimal o [ s] j j j j j j j j j Se in decimal j 0 o [ms] *3 Se in decimal. 0: Wihou roaion direcion resricion 1: Enable only for curren value increase direcion 2: Enable only for curren value decrease direcion j 60 2 INPUT AXIS MODULE 2.3 Synchronous Encoder Axis

63 Seing iem Seing deails Seing value Defaul value [Pr.329] Resoluion of synchronous encoder via CPU Se he resoluion of he synchronous encoder when he synchronous encoder axis ype is se o synchronous encoder via CPU. If 0 or less is se, he inpu value of synchronous encoder via CPU is processed as 32-bi couner. Fech cycle: A power supply ON Se in decimal o [pulse] *1 The range from axis 1 o 4 is valid in he 4-axis module and from axis 1 o 8 is valid in he 8-axis module. *2 Synchronous encoder axis posiion unis ( Page 53 Synchronous encoder axis posiion unis) *3 Se he value as follows in a program. 0 o 32767: Se as a decimal o 65535: Conver ino a hexadecimal and se Buffer memory address j j 2 2 INPUT AXIS MODULE 2.3 Synchronous Encoder Axis 61

64 [Pr.320] Synchronous encoder axis ype Se he synchronous encoder ype o be generaed of he inpu value for he synchronous encoder axis. Seing value Deails 0: Invalid Synchronous encoder axis is invalid. 1: Incremenal synchronous encoder Generae he inpu value based on he incremenal synchronous encoder inpu. 101 o 108: Synchronous encoder via servo amplifier (Connecable servo amplifier: Axis 1 o axis 8 *1 ) *1 The range from axis 1 o 4 is valid in he 4-axis module and from axis 1 o 8 is valid in he 8-axis module. [Pr.321] Synchronous encoder axis uni seing Se he posiion and speed uni of he synchronous encoder axis. Refer o he following for deails. Page 53 Unis for he synchronous encoder axis [Pr.322] Synchronous encoder axis uni conversion: Numeraor The inpu movemen amoun of synchronous encoder is configured in encoder pulse unis. The unis can be arbirarily convered hrough uni conversaion wih seing [Pr.322] and [Pr.323]. Se [Pr.322] and [Pr.323] according o he conrolled machine. The movemen amoun corresponding o "[Pr.323] Synchronous encoder axis uni conversion: Denominaor" is se in "[Pr.322] Synchronous encoder axis uni conversion: Numeraor" in synchronous encoder axis posiion unis ( Page 53 Synchronous encoder axis posiion unis). The inpu movemen amoun can be reversed by he seing negaive values. Se "[Pr.323] Synchronous encoder axis uni conversion: Denominaor" based on encoder pulse unis from he synchronous encoder. Se a value wihin he range from 1 o [Pr.323] Synchronous encoder axis uni conversion: Denominaor The inpu movemen amoun of synchronous encoder is configured in encoder pulse unis. The unis can be arbirarily convered hrough uni conversaion wih seing [Pr.322] and [Pr.323]. Se [Pr.322] and [Pr.323] according o he conrolled machine. The movemen amoun corresponding o "[Pr.323] Synchronous encoder axis uni conversion: Denominaor" is se in "[Pr.322] Synchronous encoder axis uni conversion: Numeraor" in synchronous encoder axis posiion unis ( Page 53 Synchronous encoder axis posiion unis). The inpu movemen amoun can be reversed by he seing negaive values. Se "[Pr.323] Synchronous encoder axis uni conversion: Denominaor" based on encoder pulse unis from he synchronous encoder. Se a value wihin he range from 1 o [Pr.324] Synchronous encoder axis lengh per cycle Generae he inpu value based on he synchronous encoder inpu via servo amplifier conneced o he specified servo amplifier (axis 1 o axis 8). 201: Synchronous encoder via CPU Generae he inpu value wih he value se in he buffer memory by he CPU module as he encoder value. Synchronous encoder axis movemen amoun (Movemen amoun afer uni conversion) Synchronous encoder axis movemen amoun (Movemen amoun afer uni conversion) Synchronous encoder inpu "[Pr.322] Synchronous encoder axis uni conversion: Numeraor" = movemen amoun (Encoder pulse unis) "[Pr.323] Synchronous encoder axis uni conversion: Denominaor" Synchronous encoder inpu "[Pr.322] Synchronous encoder axis uni conversion: Numeraor" = movemen amoun (Encoder pulse unis) "[Pr.323] Synchronous encoder axis uni conversion: Denominaor" Se he lengh per cycle for he synchronous encoder axis curren value per cycle. The curren value of synchronous encoder axis is sored in "[Md.321] Synchronous encoder axis curren value per cycle" a ring couner based on he seing value. The uni seings are in synchronous encoder axis posiion unis ( Page 53 Synchronous encoder axis posiion unis). Se a value wihin he range from 1 o Seing example of he uni conversion and he lengh per cycle. The following shows an example a roary encoder is conneced which resoluion is 4000 [pulse/rev] o he moor axis side on he roaion able ha drives by 1/5 pulley sysem, and he conrol uni is degree. Posiion uni: 0.1 [degree] 62 2 INPUT AXIS MODULE 2.3 Synchronous Encoder Axis

65 Speed uni: [degree/min] Lengh per cycle: [degree] (1 cycle of he roaion able) Seing iem Seing deails Seing value [Pr.321] Conrol uni 2: degree 3112H Synchronous encoder axis uni Number of decimal places for posiion 1 seing Speed ime uni 1: minue [min] Number of decimal places for speed 3 [Pr.322] Synchronous encoder axis uni conversion: Numeraor [degree] [ 0.1 degree] [Pr.323] Synchronous encoder axis uni conversion: Denominaor 4000 [pulse] [pulse] [Pr.324] Synchronous encoder axis lengh per cycle [degree] 3600 [ 0.1 degree] 2 Synchronous encoder inpu pulse [Pr.322], [Pr.323] Synchronous encoder axis uni conversion [Md.320] Synchronous encoder axis curren value [Md.321] Synchronous encoder axis curren value per cycle [pulse] [ 0.1 degree] [ 0.1 degree] 3600 [Pr.324] Synchronous encoder axis lengh per cycle [Md.322] Synchronous encoder axis speed (Speed afer uni conversion) [ degree/min] [Pr.325] Synchronous encoder axis smoohing ime consan Se he averaging ime o execue a smoohing process for he inpu movemen amoun from synchronous encoder. The smoohing process can moderae speed flucuaion of he synchronous encoder inpu. The inpu response is delayed depending on he ime corresponding o he seing by smoohing process seing. Inpu value speed before smoohing Inpu value speed afer smoohing Averaging by smoohing ime consan [Pr.325] Synchronous encoder axis smoohing ime consan [Pr.325] Synchronous encoder axis smoohing ime consan 2 INPUT AXIS MODULE 2.3 Synchronous Encoder Axis 63

66 [Pr.326] Synchronous encoder axis phase compensaion advance ime Se he ime o advance or delay he phase (inpu response) of he synchronous encoder axis. Refer o he following for he delay ime inheren o he sysem using he synchronous encoder axis. Page 131 Phase Compensaion Funcion Seing value Deails 1 o [ s] Advance he phase (inpu response) according o he seing ime. 0 [ s] Do no execue phase compensaion o -1 [ s] Delay he phase (inpu response) according o he seing ime. If he seing ime is oo long, he sysem experiences overshoo or undershoo a acceleraion/deceleraion of he inpu speed. In his case, se a longer ime o affec he phase compensaion amoun in "[Pr.327] Synchronous encoder axis phase compensaion ime consan". [Pr.327] Synchronous encoder axis phase compensaion ime consan Se he ime consan o affec he phase compensaion amoun for he firs order delay. 63 [%] of he phase compensaion amoun are refleced in he ime consan seing. [Pr.326] Synchronous encoder axis phase compensaion advance ime Synchronous encoder axis curren value Curren value before phase compensaion Curren value afer phase compensaion Speed before phase compensaion Speed afer phase compensaion [Md.323] Synchronous encoder axis phase compensaion amoun 63% Speed before phase compensaion [Pr.327] Synchronous encoder axis phase compensaion ime consan [Pr.326] Synchronous encoder axis phase compensaion advance ime 63% [Pr.327] Synchronous encoder axis phase compensaion ime consan 64 2 INPUT AXIS MODULE 2.3 Synchronous Encoder Axis

67 [Pr.328] Synchronous encoder axis roaion direcion resricion Se his parameer o resric he inpu movemen amoun for he synchronous encoder axis o one direcion. This helps o avoid reverse operaion caused by such as machine vibraion of he synchronous encoder inpu. Seing value 0: Wihou roaion direcion resricion 1: Enable only for curren value increase direcion 2: Enable only for curren value decrease direcion Deails Roaion direcion resricion is no execued. Enable only he inpu movemen amoun in he increasing direcion of he synchronous encoder axis curren value. Enable only he inpu movemen amoun in he decreasing direcion of he synchronous encoder axis curren value. 2 The inpu movemen amoun in he reverse direcion of he enabled direcion accumulaes as a roaion direcion resriced amoun, and i will be refleced when he inpu movemen amoun moves in he enabled direcion again. Therefore, he curren value of synchronous encoder axis does no deviae when he reverse operaion is repeaed. The roaion direcion resriced amoun is se o 0 a he synchronous encoder axis connecion and curren value change. For "1: Enable only for curren value increase direcion" is se in "[Pr.328] Synchronous encoder axis roaion direcion resricion". Speed before roaion direcion resricion [Md.322] Synchronous encoder axis speed (Speed afer roaion direcion resricion) [Md.324] Synchronous encoder axis roaion direcion resricion amoun The inpu movemen amoun is accumulaed as a roaion direcion resriced amoun, and will be refleced when he inpu movemen amoun moves in he enabled direcion. [Pr.329] Resoluion of synchronous encoder via CPU Se he resoluion of conneced synchronous encoder when "201: Synchronous encoder via CPU" is se in "[Pr.320] Synchronous encoder axis ype". If 1 or more is se, "[Cd.325] Inpu value for synchronous encoder via CPU" is processed as he cycle couner wihin he range from 0 o (resoluion of synchronous encoder via CPU - 1). If 0 or less is se, "[Cd.325] Inpu value for synchronous encoder via CPU" is processed as 32 bi couner wihin he range from o If 1 or more is se in "[Pr.329] Resoluion of synchronous encoder via CPU", se he cycle couner from 0 o (resoluion of synchronous encoder via CPU - 1) in "[Cd.325] Inpu value for synchronous encoder via CPU" as he inpu value. 2 INPUT AXIS MODULE 2.3 Synchronous Encoder Axis 65

68 Synchronous encoder axis conrol daa j: Synchronous encoder axis No. - 1 Seing iem Seing deails Seing value Defaul value [Cd.320] Synchronous encoder axis conrol sar [Cd.321] Synchronous encoder axis conrol mehod [Cd.322] Synchronous encoder axis curren value seing address [Cd.323] Synchronous encoder axis error rese [Cd.324] Connecion command of synchronous encoder via CPU [Cd.325] Inpu value for synchronous encoder via CPU If se o "1", he synchronous encoder axis conrol is sared. If se o "101 o 108", he synchronous encoder axis conrol sars based on he highspeed inpu reques (exernal command signal). The Simple Moion module reses he value o "0" auomaically afer compleion of he synchronous encoder axis conrol. Fech cycle: Operaion cycle Se he conrol mehod for he synchronous encoder axis. Fech cycle: A synchronous encoder axis conrol sar Se a new curren value for changing he curren value. Fech cycle: A synchronous encoder axis conrol sar If se o "1" for reseing error and warning for he synchronous encoder axis, he error No. and warning No. are se o 0, and he error deecion and warning deecion bis saus are urned OFF. The Simple Moion module reses he value o "0" auomaically afer compleion of he error rese. In he case of he synchronous encoder axis parameer error, even if he error is rese, he seing valid flag of he synchronous encoder axis saus has been OFF. Fech cycle: Main cycle *2 If se o "1", he synchronous encoder via CPU is conneced. If se o "0", he synchronous encoder via CPU is disconneced. Fech cycle: Main cycle *2 Se a value o be used every ime as he inpu value for he synchronous encoder for he synchronous encoder via CPU. Fech cycle: Operaion cycle Se in decimal. 1: Sar for synchronous encoder axis conrol 101 o 108: High-speed inpu sar for synchronous encoder axis conrol (axis 1 o axis 8 *1 ) Se in decimal. 0: Curren value change 1: Couner disable 2: Couner enable Se in decimal o [Synchronous encoder axis posiion unis *3 ] Se in decimal. 1: Error rese reques Se in decimal. 1: Connec synchronous encoder via CPU 0: Disconnec synchronous encoder via CPU Se in decimal o [pulse] Buffer memory address j j j j j j j j *1 The range from axis 1 o 4 is valid in he 4-axis module and from axis 1 o 8 is valid in he 8-axis module. *2 Wih he excepion of posiioning conrol, main cycle processing is execued during he nex available ime. I changes by saus of axis sar. *3 Synchronous encoder axis posiion unis ( Page 53 Synchronous encoder axis posiion unis) 66 2 INPUT AXIS MODULE 2.3 Synchronous Encoder Axis

69 [Cd.320] Synchronous encoder axis conrol sar If se o "1", he synchronous encoder axis conrol is sared. [Md.320] Synchronous encoder axis curren value [Cd.320] Synchronous encoder axis conrol sar [Cd.321] Synchronous encoder axis conrol mehod 0: Curren value change [Cd.322] Synchronous encoder axis curren value seing address 100 If se o "101 o 108", he synchronous encoder axis conrol sars based on he high-speed inpu reques [DI] for he specified servo amplifier axis. Se "4: High speed inpu reques" in "[Pr.42] Exernal command funcion selecion" and se "1: Validaes an exernal command" in "[Cd.8] Exernal command valid" for he specified servo amplifier axis o sar from a high speed inpu reques [DI]. Also, se he exernal command signal o be used in "[Pr.95] Exernal command signal selecion". Se he conrol mehod for he synchronous encoder axis in "[Cd.321] Synchronous encoder axis conrol mehod". The Simple Moion module reses he value o "0" auomaically afer compleion of he synchronous encoder axis conrol. [Md.320] Synchronous encoder axis curren value 100 [Pr.42] Exernal command funcion selecion (Axis 3) 4: High speed inpu reques [Pr.95] Exernal command signal selecion 3: DI3 [Cd.8] Exernal command valid (Axis 3) 1: Exernal command valid High speed inpu reques [DI] (Axis 3) [Cd.320] Synchronous encoder axis conrol sar [Cd.321] Synchronous encoder axis conrol mehod [Cd.322] Synchronous encoder axis curren value seing address 0 103: Axis 3 0 0: Curren value change 100 [Cd.321] Synchronous encoder axis conrol mehod Se he conrol mehod for he synchronous encoder axis. Seing value Deails 0: Curren value change The synchronous encoder axis curren value and he synchronous encoder axis curren value per cycle are changed as follows. Se he new curren value in "[Cd.322] Synchronous encoder axis curren value seing address". [Md.320] Synchronous encoder axis curren value [Md.321] Synchronous encoder axis curren value per cycle "[Cd.322] Synchronous encoder axis curren value seing address" A value ha is convered "[Cd.322] Synchronous encoder axis curren value seing address" ino he range from 0 o "[Pr.324] Synchronous encoder axis lengh per cycle - 1". 1: Couner disable Inpu from he synchronous encoder is invalid. Smoohing processing, phase compensaion processing and roaion direcion resricion processing are coninued. While hese processes are valid, he inpu axis speed may no sop immediaely when he couner disable is seleced. 2: Couner enable Inpu from he synchronous encoder is valid. 2 INPUT AXIS MODULE 2.3 Synchronous Encoder Axis 67

70 [Cd.322] Synchronous encoder axis curren value seing address Se a new curren value in synchronous encoder axis posiion unis o apply o he curren value change for he synchronous encoder axis ( Page 53 Synchronous encoder axis posiion unis). [Cd.323] Synchronous encoder axis error rese If se o "1", "[Md.326] Synchronous encoder axis error No." and "[Md.327] Synchronous encoder axis warning No." are se o 0 and hen "b4: Error deecion flag" and "b5: Warning deecion flag" of "[Md.325] Synchronous encoder axis saus" are urned OFF. A synchronous encoder connecion becomes valid if here is no error. The Simple Moion module reses he value o "0" auomaically afer compleion of he error rese. However, he seing of he synchronous encoder axis will no be valid even if he error is rese for he seing error of he synchronous encoder axis parameer. Reconfigure he parameer and urn he power supply ON again. [Cd.324] Connecion command of synchronous encoder via CPU Use his daa when "201: Synchronous encoder via CPU" is se in "[Pr.320] Synchronous encoder axis ype". If se o"1", he synchronous encoder axis is conneced. Once conneced, he synchronous encoder curren value is resored based on he "[Cd.325] Inpu value for synchronous encoder via CPU". If se o "0", he synchronous encoder axis is disconneced. [Cd.325] Inpu value for synchronous encoder via CPU Use his daa when "201: Synchronous encoder via CPU" is se in "[Pr.320] Synchronous encoder axis ype". Se a value o be used every ime as he inpu value for he synchronous encoder in encoder pulse unis. If 1 or more is se in "[Pr.329] Resoluion of synchronous encoder via CPU", i is processed as a cycle couner wihin he range from 0 o (resoluion of synchronous encoder via CPU - 1) INPUT AXIS MODULE 2.3 Synchronous Encoder Axis

71 Synchronous encoder axis monior daa j: Synchronous encoder axis No. - 1 Monior iem Sorage deails Monior value Buffer memory address [Md.320] Synchronous encoder axis curren value [Md.321] Synchronous encoder axis curren value per cycle [Md.322] Synchronous encoder axis speed [Md.323] Synchronous encoder axis phase compensaion amoun [Md.324] Synchronous encoder axis roaion direcion resricion amoun [Md.325] Synchronous encoder axis saus The curren value for he synchronous encoder axis is sored. Refresh cycle: Operaion cycle The curren value per cycle for a synchronous encoder axis is sored. Refresh cycle: Operaion cycle The speed for a synchronous encoder axis is sored. Refresh cycle: Operaion cycle The phase compensaion amoun is sored. Refresh cycle: Operaion cycle While he roaion direcion is resriced, he accumulaion for he inpu movemen amoun in he opposie direcion of he enabled direcion is sored. Refresh cycle: Operaion cycle The saus for a synchronous encoder axis is moniored. Refresh cycle: Operaion cycle Monioring is carried ou in decimal o [Synchronous encoder axis posiion unis *1 ] Monioring is carried ou in decimal. 0 o (Synchronous encoder axis lengh per cycle - 1) [Synchronous encoder axis posiion unis *1 ] Monioring is carried ou in decimal o [Synchronous encoder axis speed unis *2 ] Monioring is carried ou in decimal o [Synchronous encoder axis posiion unis *1 ] Monioring is carried ou in decimal o [Synchronous encoder axis posiion unis *1 ] j j j j j j j j j j Monioring is carried ou in hexadecimal j Buffer memory b15 b12 b8 b4 b0 2 No used Sored iems Meaning b0 b1 b2 b3 b4 Seing valid flag Connecing valid flag Couner enable flag 0: OFF Curren value seing reques flag 1: ON Error deecion flag b5 Warning deecion flag [Md.326] Synchronous encoder axis error No. The error code for he synchronous encoder axis is sored. Refresh cycle: Operaion cycle Monioring is carried ou in hexadecimal. ( MELSEC iq-f FX5 Simple Moion Module User's Manual (Applicaion)) j [Md.327] Synchronous encoder axis warning No. The warning code for he synchronous encoder axis is sored. Refresh cycle: Operaion cycle Monioring is carried ou in hexadecimal. ( MELSEC iq-f FX5 Simple Moion Module User's Manual (Applicaion)) j *1 Synchronous encoder axis posiion unis ( Page 53 Synchronous encoder axis posiion unis) *2 Synchronous encoder axis speed unis ( Page 54 Synchronous encoder axis speed unis) [Md.320] Synchronous encoder axis curren value The curren value for he synchronous encoder axis is sored in synchronous encoder axis posiion unis ( Page 53 Synchronous encoder axis posiion unis). The synchronous encoder posiion for an incremenal synchronous encoder is "0" immediaely afer he power supply ON. [Md.321] Synchronous encoder axis curren value per cycle The curren value per cycle for a synchronous encoder axis is sored in he range from 0 o ("[Pr.324] Synchronous encoder axis lengh per cycle" - 1). The uni is synchronous encoder axis posiion unis ( Page 53 Synchronous encoder axis posiion unis). 2 INPUT AXIS MODULE 2.3 Synchronous Encoder Axis 69

72 [Md.322] Synchronous encoder axis speed The speed for a synchronous encoder axis is sored in synchronous encoder axis speed unis ( Page 54 Synchronous encoder axis speed unis). If he speed for a synchronous encoder axis exceeds he monior range ( Page 52 Overview of synchronous encoder axis), he warning "Inpu axis speed display over" (warning code: 0BD2H) will occur. In his case, use a smaller number of decimal places for he speed in "[Pr.321] Synchronous encoder axis uni seing" or se he speed ime unis o "0: second [s]". [Md.323] Synchronous encoder axis phase compensaion amoun The phase compensaion amoun for a synchronous encoder axis is sored in he synchronous encoder axis posiion unis ( Page 53 Synchronous encoder axis posiion unis). The phase compensaion amoun for a synchronous encoder axis is he value afer smoohing processing and phase compensaion processing. [Md.324] Synchronous encoder axis roaion direcion resricion amoun While he roaion direcion is resriced for a synchronous encoder axis, he accumulaion for inpu movemen amoun in he opposie direcion of he enabled direcion is sored in synchronous encoder axis posiion unis ( Page 53 Synchronous encoder axis posiion unis) as follows. Seing value of "[Pr.328] Synchronous encoder axis roaion direcion resricion" Sorage deails 1: Enable only for curren value increase direcion A negaive accumulaion is sored during roaion direcion resricion. 0 is sored if here is no resricion. 2: Enable only for curren value decrease direcion A posiive accumulaion is sored during roaion direcion resricion. 0 is sored if here is no resricion. Roaion direcion resricion is processed afer phase compensaion processing. Therefore, if undershoo occurs from phase compensaion during deceleraion sop, he roaion direcion resricion amoun migh remain. [Md.325] Synchronous encoder axis saus The each saus for a synchronous encoder axis is moniored wih he following each bis. Bi Sorage iem Sorage deails b0 Seing valid flag A power supply ON, his flag urns ON when he synchronous encoder axis parameer ([Pr.320] o [Pr.329]) is normal and he seing of he synchronous encoder axis is valid. I is urned OFF when he seing is invalid or an error occurs. b1 Connecing valid flag When he synchronous encoder axis seing is valid, he synchronous encoder connecion also becomes valid and his flag urns ON. This flag urns OFF when he connecion is invalid. When seing an incremenal synchronous encoder, his flag urns ON simulaneously he power supply urns ON regardless of connecing he curren encoder. b2 Couner enable flag This flag urns ON when inpu from he synchronous encoder is enabled. If he couner disable conrol *1 is execued, i is urned OFF, and inpu from he synchronous encoder becomes invalid. If he couner enable conrol *1 is execued, i is urned ON, and inpu from he synchronous encoder becomes valid. When he synchronous encoder is valid o connec, he iniial saus is ON (enable) saus. b3 Curren value seing reques flag This flag urns ON, when a synchronous encoder axis curren value change is never execued. If he curren value seing reques flag is ON for he synchronous encoder connecion, he synchronous encoder axis curren value sars couning wih 0. This flag urns OFF when a synchronous encoder axis curren value change is execued. b4 Error deecion flag This flag urns ON when an error occurs for he synchronous encoder axis. The error No. is sored in "[Md.326] Synchronous encoder axis error No.". Rese he error in "[Cd.323] Synchronous encoder axis error rese". b5 Warning deecion flag This flag urns ON when a warning occurs for he synchronous encoder axis. The warning No. is sored in "[Md.327] Synchronous encoder axis warning No.". Rese he warning in "[Cd.323] Synchronous encoder axis error rese". b6 o b15 No used Always OFF *1 Se he conrol mehod for synchronous encoder in "[Cd.321] Synchronous encoder axis conrol mehod". ( Page 66 Synchronous encoder axis conrol daa) 70 2 INPUT AXIS MODULE 2.3 Synchronous Encoder Axis

73 [Md.326] Synchronous encoder axis error No. When an error for a synchronous encoder axis is deeced, he error code corresponding o he error deails is sored. If se o "1" in "[Cd.323]Synchronous encoder axis error rese", he value is se o "0". [Md.327] Synchronous encoder axis warning No. When a warning for a synchronous encoder axis is deeced, he warning code corresponding o he warning deails is sored. If se o "1" in "[Cd.323] Synchronous encoder axis error rese", he value is se o "0". 2 2 INPUT AXIS MODULE 2.3 Synchronous Encoder Axis 71

74 3 CAM FUNCTION The deails on cam daa and operaion for cam funcion in oupu axis (cam axis) are explained in his chaper. The cam funcion conrols oupu axis by creaing cam daa ha corresponds o he operaion. The funcions o operae cam daa include "Cam daa operaion funcion", "Cam auo-generaion funcion", and "Cam posiion calculaion funcion". Refer o he following for he seing of he oupu axis. Page 87 SYNCHRONOUS CONTROL Refer o he following for he cam posiion calculaion funcion. Page 150 Cam Posiion Calculaion Funcion 3.1 Conrol Deails for Cam Funcion The oupu axis for synchronous conrol is operaed wih a cam. The following operaions can be performed wih cam funcions. Two-way operaion: Reciprocaing operaion wih a consan cam srokes range. Feed operaion: Cam reference posiion is updaed every cycle. Linear operaion: Linear operaion (cam No.0) in he cycle as he sroke raio is 100%. The oupu axis is conrolled by a value (feed curren value), which is convered from he inpu value (cam axis curren value per cycle) by cam daa. Two-way operaion Cam daa Cam axis curren value per cycle (User creaed cam) Cam conversion processing Feed curren value Feed operaion Cam daa Cam axis curren value per cycle (User creaed cam) Cam conversion processing Feed curren value Cam reference posiion (A 1s cycle) Cam reference posiion (A 2nd cycle) Cam reference posiion (A 3rd cycle) Linear operaion Cam daa Cam axis curren value per cycle (Linear cam: Cam No.0) Cam conversion processing Feed curren value Cam reference posiion (A 1s cycle) Cam reference posiion (A 2nd cycle) Cam reference posiion (A 3rd cycle) Sroke amoun 100% 72 3 CAM FUNCTION 3.1 Conrol Deails for Cam Funcion

75 Cam daa The cam daa used in he cam funcion includes "sorage daa" which is used for reading/wriing wih EM Configuraor and "open daa" which is ransmied o he inernal memory a cam conrol. Sorage daa Open daa (Reading and wriing no possible) Linear cam Sroke raio daa forma Sroke raio daa forma Auo-generaion daa forma Cam for roary cuer Coordinae daa forma Coordinae daa forma Sorage daa and open daa are same for cams using he sroke raio daa forma and he coordinae daa forma. A cam using he auo-generaion daa forma (sorage daa) operaes afer being changed (ransmied) o he sroke raio daa forma. Daa read/wrien wih he engineering ool To re-edi he cam daa read from he Simple Moion module wih he engineering ool, read/wrie boh of "cam daa (edi daa)" and "cam daa (convered daa)" when reading/wriing he cam daa. If only "cam daa (conversion daa)" is read/ wrien, re-ediion may no be execued or he informaion such as unis and srokes may be missed. 3 Linear cam conrol When "0" is se for "[Pr.440] Cam No.", he cam daa operaes as a sraigh line wih a 100% sroke raio a he las poin. The linear cam does no consume he cam open area. Also, i canno be read/wrien as sorage daa. Cam axis curren value per cycle Feed curren value Cam reference posiion (A 1s cycle) Cam reference posiion (A 2nd cycle) Cam reference posiion (A 3rd cycle) Sroke amoun 100% 3 CAM FUNCTION 3.1 Conrol Deails for Cam Funcion 73

76 Sroke raio daa forma The sroke raio daa forma is defined in equal divisions for one cam cycle based on he cam resoluion, and configured wih sroke raio daa from poins wihin he cam resoluion. Refer o he following for seing mehods for cam daa. Page 79 Creae Cam Daa Seing iem Seing deails Seing range Defaul value (Engineering ool) Cam daa operaion funcion Cam No. Se he cam No. 0: Linear cam 1 o 64: User creaed cam for 4-axis module (Cam sorage area) 1 o 128: User creaed cam for 8-axis module (Cam sorage area) 1 o 256: User creaed cam for 4-/8- axis module (Cam open area) 1 [Cd.601] Operaion cam No. Cam daa forma Se "1". (Seing wih he engineering ool is no required.) 1: Sroke raio daa forma 1 [Cd.604] Cam daa forma Cam resoluion Cam daa saring poin Sroke raio daa Se he number of divisions for one cam cycle. Se he cam daa poin corresponding o "Cam axis curren value per cycle = 0". Se he sroke raio from he 1s o he las poin. (The 0h poin seing is no required. I is always 0%.) 256/512/1024/2048/4096/8192/ [Cd.605] Cam resoluion/ coordinae number 0 o (Cam resoluion - 1) 0 [Cd.606] Cam daa saring poin o [ 10-7 %] *1 ( o %) 0 [Cd.607] Cam daa value *1 To display he sroke raio ou of range 100%, selec he "Simple Moion" of "Inelligen Funcion Module" and se "Yes" o he "Display Exended Sroke of Cam Graph" on he "Opions" window displayed by he menu bar of he engineering ool [Tool] [Opions]. Ex. Cam resoluion: 512 Sroke raio [%] (Seing range: % o %) Cam axis lengh per cycle [Cam axis cycle unis] (Cam reference posiion) A he 0h poin A he 512h poin (A he las poin) 74 3 CAM FUNCTION 3.1 Conrol Deails for Cam Funcion

77 Coordinae daa forma The coordinae daa forma is defined in coordinaes of more han 2 poins for one cam cycle. The coordinae daa is represened as "(Inpu value, Oupu value)". Inpu value: Cam axis curren value per cycle Oupu value: Sroke posiion from cam reference posiion Wih his forma, "[Pr.441] Cam sroke amoun" of oupu axis parameer is ignored and oupu value of he coordinae daa becomes cam sroke posiion. Refer o he following for seing mehods for cam daa. Page 79 Creae Cam Daa Seing iem Seing deails Seing range Defaul value (Engineering ool) Cam No. Se he cam No. 0: Linear cam 1 o 64: User creaed cam for 4-axis module (Cam sorage area) 1 o 128: User creaed cam for 8-axis module (Cam sorage area) 1 o 256: User creaed cam for 4-/8- axis module (Cam open area) Cam daa forma Se "2". (Seing wih he engineering ool is no required.) Coordinae number Cam daa saring poin Se he number of coordinae poins in one cam cycle. The coordinaes are included a he 0h poin. Seing is no required wih coordinae daa forma. Coordinae daa Se all coordinae daa (inpu value: X n, oupu value: Y n ). Required o se he coordinae daa (X 0, Y 0 ) from he 0h poin. The inpu value should be larger han he previous coordinae daa (X n < X n + 1). Cam daa operaion funcion 1 [Cd.601] Operaion cam No. 2: Coordinae daa forma 2 [Cd.604] Cam daa forma 2 o [Cd.605] Cam resoluion/ coordinae number [Cd.606] Cam daa saring poin Inpu value: 0 o [Cam axis cycle unis] Oupu value: o [Oupu axis posiion unis] 0 [Cd.607] Cam daa value 3 Oupu value: Y [Oupu axis posiion unis] (X3,Y3) (X4,Y4) (X2,Y2) (X10,Y10) (X5,Y5) (X1,Y1) (X9,Y9) 0 Inpu value: X (Cam reference (X0,Y0) posiion) (X6,Y6) (X8,Y8) (X7,Y7) Cam axis lengh per cycle [Cam axis cycle unis] 3 CAM FUNCTION 3.1 Conrol Deails for Cam Funcion 75

78 When an inpu value ha is 0 or he cam axis lengh per cycle does no exis in he coordinae daa, he coordinae is calculaed from he line segmen beween he neares wo coordinaes (Cam reference posiion) Oupu value: Y [Oupu axis posiion unis] Generaed line segmen from (X0,Y0) and (X1,Y1) (X3,Y3) (X4,Y4) Generaed line segmen from (X9,Y9) and (X10,Y10) (X2,Y2) (X1,Y1) (X5,Y5) (X9,Y9) (X0,Y0) 0 Inpu value: X (X6,Y6) (X8,Y8) (X7,Y7) Cam axis lengh per cycle [Cam axis cycle unis] (X10,Y10) Auo-generaion daa forma A cam paern is creaed based on he specified parameer (daa for auo-generaion). Conrol cam daa is creaed in he sroke raio daa forma in he cam open area. Therefore, he operaion specificaion during he conrol conforms o he cam operaion in he sroke raio daa forma. The ypes of cam paerns for auo-generaion daa forma are as follows. Auo-generaion ype Cam for roary cuer Feaures The cam paern for a roary cuer can be creaed easily. CAUTION If he cam daa is se incorrecly, similarly o he incorrec seing of a arge value and command speed in he posiioning conrol, he posiion and speed command o he servo amplifier increases, and may cause machine inerface and servo alarms such as "Overspeed" and "Command frequency error". When creaing and changing cam daa, execue a rial operaion and provide he appropriae adjusmens. Refer o he following for precauions on es operaions and adjusmens. ( SAFETY PRECAUTIONS) Feed curren value of cam axis The feed curren value is calculaed as shown below. Sroke raio daa forma Feed curren value = Cam reference posiion + (Cam sroke amoun Sroke raio corresponding o cam axis curren value per cycle) Coordinae daa forma Feed curren value = Cam reference posiion + Oupu value corresponding o cam axis curren value per cycle When he cam axis curren value per cycle is in he middle of he defined cam daa (Sroke raio daa/coordinae daa), he middle value is calculaed from he neares cam daa. Cam axis curren value per cycle Calculae he middle value from he neares cam daa. Cam daa 1 resoluion or beween 2 coordinaes 76 3 CAM FUNCTION 3.1 Conrol Deails for Cam Funcion

79 Cam reference posiion The cam reference posiion is calculaed as shown below. Sroke raio daa forma Cam reference posiion = The preceding cam reference posiion + (Cam sroke amoun Sroke raio a he las poin) Coordinae daa forma Cam reference posiion = The preceding cam reference posiion + Oupu value corresponding o "Inpu value = Cam axis lengh per cycle" - Oupu value corresponding o "Inpu value = 0" Cam axis curren value per cycle 3 Feed curren value Cam reference posiion (A 1s cycle) Cam reference posiion (A 2nd cycle) Cam reference posiion (A 3rd cycle) Creae cam daa for wo-way cam operaion as shown below. Sroke raio daa forma Creae cam daa so ha he sroke raio is 0% a he las poin. Coordinae daa forma Creae cam daa wih he same oupu value for he poin where he inpu value is 0 and he inpu value is equal o he cam axis lengh per cycle. Cam axis curren value per cycle Sroke raio daa forma: Cam sroke amoun Sroke raio a las poin Coordinae daa forma: (The oupu value corresponding o "Inpu value = Cam axis lengh per cycle") - (The oupu value corresponding o "Inpu value = 0") Feed curren value Cam reference posiion (Does no change because of he sroke raio 0% and oupu value = 0.) 3 CAM FUNCTION 3.1 Conrol Deails for Cam Funcion 77

80 Cam daa saring poin This seing is only valid for cam daa using he sroke raio daa forma. The cam daa poin corresponding o "Cam axis curren value per cycle = 0" can be se as he cam daa saring poin. The defaul value of he cam daa saring poin is 0. (The cam axis is conrolled wih cam daa saring from he 0h poin (sroke raio 0%).) When a value oher han 0 is se for he cam daa saring poin, cam conrol is sared from he poin where he sroke raio is no 0%. The cam daa saring poin is se for each cam daa. The seing range is from 0 o (cam resoluion - 1). Cam axis curren value per cycle Feed curren value Cam reference posiion (A 2nd cycle) Cam reference posiion (A 3rd cycle) Cam reference posiion (A 1s cycle) Cam daa saring poin A he 0h poin A las poin Timing of applying cam conrol daa Sroke raio daa forma If "[Pr.440] Cam No." or "[Pr.441] Cam sroke amoun" is changed during synchronous conrol, he new value is acceped and applied when he cam axis curren value per cycle passes hrough he 0h poin of cam daa, or is on he 0h poin. The cam reference posiion is updaed when he cam axis curren value per cycle passes hrough he 0h poin of cam daa. Coordinae daa forma If "[Pr.440] Cam No." is changed during synchronous conrol, he new value is acceped and applied when he cam axis curren value per cycle passes hrough 0, or is on 0. The cam reference posiion is updaed when he cam axis curren value per cycle passes hrough CAM FUNCTION 3.1 Conrol Deails for Cam Funcion

81 3.2 Creae Cam Daa Memory configuraion of cam daa Cam daa is arranged in he following 2 areas. Memory configuraion Sorage iem Deails Remark Cam sorage area Cam daa Daa is wrien by he following operaions. Wrie wih he engineering ool When execuing "wrie (Cam sorage area)" wih he cam daa operaion funcion Cam auo-generaion daa Daa is wrien when he cam auogeneraion reques is execued. (Cam auo-generaion funcion) Cam open area Cam daa Cam daa is ransmied from he cam sorage area by he following operaions. Power supply urn ON Wrie o he cam sorage area "[Cd.190] PLC READY signal" OFF o ON When specifying he cam open area wih he cam daa operaion funcion When execuing he cam auogeneraion funcion Daa is preserved even when urning he power supply OFF. Daa is los when urning he power supply OFF. The cam daa ha is used in cam conrol is sored. 3 Previously wrien cam daa can be used afer urning he power supply OFF by wriing daa in he cam sorage area. Cam daa should be wrien in he cam sorage area for normal use. I is possible o wrie direcly o he cam open area via buffer memory when regisering cam daa ha exceeds he memory capaciy in he cam sorage area, ec. ( Page 82 Cam daa operaion funcion) However, wriing mus be execued o he cam open area every ime due o clearing he daa a he power supply OFF. 3 CAM FUNCTION 3.2 Creae Cam Daa 79

82 2) Operaion wih buffer memory Simple Moion module Buffer memory Coordinae daa [Cd.600] Cam daa operaion reques (1: Read) Sroke raio daa [Cd.600] Cam daa operaion reques (1: Read) Auo-generaion daa Roary cuer 1) Operaion wih an engineering ool Engineering ool Wrie *1 Read/ Verify *1 [Cd.608] Cam auogeneraion reques [Cd.600] Cam daa operaion reques (2: Wrie) [Cd.600] Cam daa operaion reques (2: Wrie) Auo-generaion daa Roary cuer Sroke raio daa Coordinae daa [Cd.608] Cam auo-generaion reques *2 *2 Sroke raio daa Coordinae daa [Cd.600] Cam daa operaion reques (3: Wrie) [Cd.600] Cam daa operaion reques (3: Wrie) Cam sorage area Cam open area *3 (1024k byes) Cam conrol *1 The operaion from he engineering ool is execued oward cam sorage area. *2 Wriing o cam sorage area is ransmied in he following iming. - Power supply urn ON - Wrie o cam sorage area - "[Cd.190] PLC READY signal" OFF o ON *3 Daa in he cam sorage area is cleared when he power supply is urned ON again or rese. Cam daa operaion wih an engineering ool Cam daa can be modified while viewing he waveform wih he engineering ool. The cam daa is wrien/read/verified o he cam sorage area wih he engineering ool, however i canno be execued o he cam open area. The waveform generaed by he cam auo-generaion funcion can be confirmed by he "Cam graph" on he "Cam Daa" window from he Navigaion window "Cam Daa" hrough reading wih he engineering ool CAM FUNCTION 3.2 Creae Cam Daa

83 Cam daa operaion wih buffer memory I is possible o specify he area where cam daa is wrien. The cam daa is read from he cam open area. ( Page 82 Cam daa operaion funcion) Wih he cam auo-generaion funcion, auo-generaion daa is saved in he cam sorage area, and he cam daa is generaed ino he cam open area. Cam daa capaciy The size of he creaed cam daa is shown below for he cam sorage area/cam open area. Operaion mehod Daa mehod/auo-generaion ype Cam sorage area (65536 byes) Cam open area ( byes) Creae wih an engineering ool Sroke raio daa forma Cam resoluion 4 byes Cam resoluion 4 byes Creae in cam sorage area wih cam daa operaion funcion Creae in cam open area wih cam daa operaion funcion Coordinae daa forma Coordinae number 8 byes Coordinae number 8 byes Sroke raio daa forma Cam resoluion 4 byes Cam resoluion 4 byes Coordinae daa forma Coordinae number 8 byes Coordinae number 8 byes Sroke raio daa forma 0 bye Cam resoluion 4 byes Coordinae daa forma Coordinae number 8 byes Creae wih cam auo-generaion For a roary cuer 28 byes Cam resoluion 4 byes 3 When wriing wih he cam daa operaion funcion or when he cam auo-generaion funcion is execued, he wriing area free capaciy size may decrease since he size changes depending on he cam resoluion change, ec. In his case, wrie he cam daa wih he engineering ool or delee hem once. Delee mehod of cam daa The daa of cam sorage area/cam open area can be deleed (iniialize) by he parameer iniializaion funcion wih a parameer seing and posiioning daa. The parameer iniializaion funcion is execued by seing "1" in "[Cd.2] Parameer iniializaion reques". Wrie he empy daa in he cam sorage area wih he engineering ool o delee only cam daa. Password proecion for cam daa The cam daa can be proeced as shown below by password seing. Password seing Password for read proecion Password for wrie proecion Cam daa operaion wih an engineering ool Cam daa canno be read wihou password for read proecion. Cam daa canno be wrien wihou password for wrie proecion. Cam daa operaion wih buffer memory Reading cam daa is no operaed. Wriing cam daa and generaing cam daa auogeneraion is no operaed. The password for cam daa is deleed wih cam daa by "[Cd.2] Parameer iniializaion reques". 3 CAM FUNCTION 3.2 Creae Cam Daa 81

84 Cam daa operaion funcion This funcion is used o wrie/read cam daa via buffer memory wih he cam operaion conrol daa. To operae he poins more han he amoun of daa for each operaion (as follows), he operaion should be execued separaely. Cam daa forma Amoun of daa for each operaion Sroke raio daa forma 4096 Coordinae daa forma 2048 Cam operaion conrol daa Seing iem Seing deails Seing value (Read operaion: Sored value) [Cd.600] Cam daa operaion reques [Cd.601] Operaion cam No. [Cd.602] Cam daa firs posiion [Cd.603] Number of cam daa operaion poins [Cd.604] Cam daa forma [Cd.605] Cam resoluion/ coordinae number [Cd.606] Cam daa saring poin [Cd.607] Cam daa value Se he command for operaing cam daa. The Simple Moion module reses he value o "0" auomaically afer compleion of cam daa operaion. Fech cycle: Main cycle *1 Se he operaing cam No. Fech cycle: A requesing cam daa operaion Se he firs posiion for he operaing cam daa. Fech cycle: A requesing cam daa operaion Se he number of operaing cam daa poins. Fech cycle: A requesing cam daa operaion Wrie operaion: Se cam daa forma. Fech cycle: A requesing cam daa operaion Read operaion: The cam daa forma is sored Refresh cycle: A compleing cam daa operaion Wrie operaion: Se he cam resoluion/he coordinae number. Fech cycle: A requesing cam daa operaion Read operaion: The cam resoluion/he coordinae number is sored. Refresh cycle: A compleing cam daa operaion Wrie operaion: Se he cam daa saring poin. Fech cycle: A requesing cam daa operaion Read operaion: The cam daa saring poin is sored. Refresh cycle: A compleing cam daa operaion Seing is no required wih coordinae daa forma. Wrie operaion: Se he cam daa corresponding o he cam daa forma. Fech cycle: A requesing cam daa operaion Read operaion: The cam daa is sored. Refresh cycle: A compleing cam daa operaion Se in decimal. 1: Read (Cam open area) 2: Wrie (Cam sorage area) 3: Wrie (Cam open area) Se in decimal. 4-axis module: 1 o 64 (Cam sorage area) 8-axis module: 1 o 128 (Cam sorage area) 4-axis module/8-axis module: 1 o 256 (Cam open area) Se in decimal. Sroke raio daa forma 1 o cam resoluion Coordinae daa forma 0 o (Coordinae number - 1) Se in decimal. Sroke raio daa forma 1 o 4096 Coordinae daa forma 1 o 2048 Se in decimal. 1: Sroke raio daa forma 2: Coordinae daa forma Se in decimal. Sroke raio daa forma 256/512/1024/ 2048/4096/8192/16384 Coordinae daa forma 2 o 8192 Se in decimal. Sroke raio daa forma 0 o (Cam resoluion - 1) Coordinae daa forma Seing no required Se in decimal. Sroke raio daa forma o [ 10-7 %] Coordinae daa forma Inpu value: 0 o [Cam axis cycle unis *2 ] Oupu value: o [Oupu axis posiion unis *3 ] Defaul value Buffer memory address o *1 Wih he excepion of posiioning conrol, main cycle processing is execued during he nex available ime. I changes by saus of axis sar. *2 Cam axis cycle unis ( Page 118 Unis for he oupu axis) *3 Oupu axis posiion unis ( Page 118 Unis for he oupu axis) 82 3 CAM FUNCTION 3.2 Creae Cam Daa

85 [Cd.600] Cam daa operaion reques Se he following commands o wrie/read cam daa. Seing value Deails 1: Read (Cam open area) The cam is read from he cam open area and sored o he buffer memory. 2: Wrie (Cam sorage area) The cam daa is wrien o he cam sorage area and he cam open area from he buffer memory. 3: Wrie (Cam open area) The cam daa is wrien o he cam open area from he buffer memory. The seing value is rese o "0" auomaically afer compleion of cam daa operaion. If a warning occurs when requesing cam daa operaion, he warning No. is sored in "[Md.24] Axis warning No." of axis 1, and he seing value is rese o "0" auomaically. When anoher reques command is se, he operaion does no ge execued and he seing value is rese o "0" auomaically. 3 [Cd.601] Operaion cam No. Se he cam No. o wrie/read. [Cd.602] Cam daa firs posiion Se he firs posiion of he cam daa o wrie/read. Se he cam daa firs posiion wihin he range from 1 o he cam resoluion in cam resoluion unis using he sroke raio daa forma. The sroke raio of he 0h cam daa is 0% fixed, and his daa canno be wrien/read. Se a value wihin he range from 0 o (Coordinae number - 1) wih he coordinae daa forma. [Cd.603] Number of cam daa operaion poins Se he number of operaion poins o wrie/read saring from he firs posiion of cam daa. Sroke raio daa forma The following shows he operaion deails when he value of "Cam daa firs posiion + Cam daa operaion poins - 1" is larger han he cam resoluion in he sroke raio daa forma. Operaion Reading Wriing Deails The cam daa from he firs posiion o he cam resoluion is read in he buffer memory. The warning "Ouside number of cam daa operaion poins range" (warning code: 0C43H) occurs, and wriing is no execued. Coordinae daa forma The following shows he operaion deails when he value of "Cam daa firs posiion + Cam daa operaion poins" is larger han he coordinae number wih he coordinae daa forma. Operaion Reading Wriing Deails The cam daa from he firs posiion o he las coordinae is read in he buffer memory. The warning "Ouside number of cam daa operaion poins range" (warning code: 0C43H) occurs, and wriing is no execued. [Cd.604] Cam daa forma Se one of he following cam daa formas. Seing value Deails 1 Sroke raio daa forma 2 Coordinae daa forma 3 CAM FUNCTION 3.2 Creae Cam Daa 83

86 [Cd.605] Cam resoluion/coordinae number Se/load he cam resoluion/he coordinae number. Operaion Reading Wriing Deails The cam resoluion/he coordinae number of he se cam daa is read. Se he cam resoluion wih he following values when using he sroke raio daa forma. 256/512/1024/2048/4096/8192/16384 Se he coordinae number wihin he range from 2 o 8192 when using he coordinae daa forma. [Cd.606] Cam daa saring poin Se/load he cam daa saring poin. This is used wih he sroke raio daa forma. Operaion Deails Reading The cam saring poin of he se cam daa is read. Wriing Se he cam daa saring poin wihin he range from 0 o (Cam resoluion - 1). [Cd.607] Cam daa value Se/load he cam daa operaion poins according o one of he following formas. Sroke raio daa forma Buffer memory address Iem Seing value Sroke raio a firs poin o [ 10-7 %] ( o [%]) Sroke raio a second poin Sroke raio a 4096h poin Coordinae daa forma Buffer memory address Iem Seing value A firs poin Inpu value 0 o [Cam axis cycle uni] Oupu value o [Oupu axis posiion uni] A second poin Inpu value 0 o [Cam axis cycle uni] Oupu value o [Oupu axis posiion uni] A 2048h poin Inpu value 0 o [Cam axis cycle uni] Oupu value o [Oupu axis posiion uni] [Cd.601] o [Cd.607] Cam daa No se Se [Cd.600] Cam daa operaion reques CAM FUNCTION 3.2 Creae Cam Daa

87 Cam auo-generaion funcion The cam auo-generaion funcion is used o generae cam daa auomaically for specific purposes based on parameer seings. Wih his funcion, cam daa is generaed in he cam open area. I is possible o generae up o 1 Mbye including he regular cam daa. (Example: 64 cam daa (wih he sroke raio forma, resoluion is 4096) can be auomaically generaed.) The processing ime of cam auo-generaion akes longer if he daa poin is larger. Also, he real processing ime changes by saus of axis sar ec. (Reference) Relaionship beween he cam resoluion and processing ime in he cam auo-generaion (Sroke raio daa forma) 3 Operaion cycle [ms] Cam resoluion [ms] 3.7 [ms] 29 [ms] [ms] 3.5 [ms] 25 [ms] Cam operaion conrol daa Seing iem Seing deails Seing value Defaul value [Cd.608] Cam auo-generaion reques [Cd.609] Cam auo-generaion cam No. [Cd.610] Cam auo-generaion ype [Cd.611] Cam auo-generaion daa *1 Wih he excepion of posiioning conrol, main cycle processing is execued during he nex available ime. I changes by saus of axis sar. [Cd.608] Cam auo-generaion reques Se "1: Cam auo-generaion reques" o execue cam auo-generaion. Cam daa is generaed in he cam open area of he specified cam No. based on he cam auo-generaion daa. The seing value is rese o "0" auomaically afer compleing he process. The cam auo-generaion daa is saved in he cam sorage area. The cam auo-generaion is execued auomaically again when he nex power supply urns ON or "[Cd.190] PLC READY signal" OFF o ON. If a warning occurs when requesing cam auo-generaion, he warning No. is sored in "[Md.24] Axis warning No." of axis 1, and he seing value is rese o "0" auomaically. When anoher reques command is se, his funcion does no ge execued and he seing value is rese o "0" auomaically. [Cd.609] Cam auo-generaion cam No. Se he cam No. o be generaed auomaically. [Cd.610] Cam auo-generaion ype Se he ype of cam auo-generaion. Se he reques for cam auo-generaion. The Simple Moion module reses he value o "0" auomaically afer compleion of he cam auogeneraion. Fech cycle: Main cycle *1 Se he cam No. o be generaed auomaically. Fech cycle: A requesing cam auo-generaion Se he ype of cam auo-generaion. Fech cycle: A requesing cam auo-generaion Se he parameers for each ype of cam auogeneraion. Fech cycle: A requesing cam auo-generaion Se in decimal. 1: Cam auo-generaion reques Se in decimal. 4-axis module: 1 o 64 8-axis module: 1 o 128 Se in decimal. 1: Cam for roary cuer ( Page 86 [Cd.611] Cam auogeneraion daa) Buffer memory address o CAM FUNCTION 3.2 Creae Cam Daa 85

88 [Cd.611] Cam auo-generaion daa Se he cam auo-generaion daa corresponding o "[Cd.610] Cam auo-generaion ype". For a roary cuer The cam daa saring poin for a roary cuer is 0. Buffer memory address Iem Seing value Deails Cam resoluion 256/512/1024/2048/4096/8192/16384 Se he cam resoluion for generaing he cam Shee lengh 1 o [(Opional) Same uni (0.1 mm, ec.)] Shee synchronizaion widh Synchronous axis lengh Synchronizaion saring poin Synchronous secion acceleraion raio 1 o [(Opional) Same uni (0.1 mm, ec.)] 1 o [(Opional) Same uni (0.1 mm, ec.)] 0 o [(Opional) Same uni (0.1 mm, ec.)] Se he shee lengh. Se his value in he cam axis lengh per cycle. Se he shee lengh of he synchronous secion. Se he cycle lengh of he roary cuer shaf. Se he lengh from he beginning of he shee o he sar of he synchronous secion o 5000 [0.01%] Se when he synchronous speed in he synchronous secion needs o be adjused. The speed is "Synchronous speed (100% + Acceleraion raio)" in he synchronous secion. Synchronous axis lengh Synchronous axis cycle lengh Shee synchronizaion widh Synchronous axis (Cam axis) Synchronizaion saring poin Feed shee Cam axis curren value per cycle Shee lengh Shee synchronizaion widh Synchronizaion saring poin Cam axis (Synchronous axis) speed Synchronous speed (Feed shee speed) Shee lengh Synchronous secion acceleraion raio When 0%, i is as fas as synchronous speed. Cam sroke raio (Cam daa by auo-generaion) 100% 86 3 CAM FUNCTION 3.2 Creae Cam Daa

89 4 SYNCHRONOUS CONTROL The parameers and monior daa for synchronous conrol such as "Main shaf module", "Speed change gear module", and "Oupu axis module" are explained in his chaper. Configure he required seings according o he conrol and applicaion requiremens for each module. 4.1 Main Shaf Module Overview of main shaf module For he main shaf module, he inpu value is generaed as a composie value from wo inpu axes (he main and sub inpu axis) hrough he composie main shaf gear. The composie inpu value can be convered by he main shaf gear ha provides he deceleraion raio and he roaion direcion for he machine sysem, ec. Refer o he followings for deails on seing for he main shaf module. Page 87 Main shaf parameers, Page 90 Main shaf cluch parameers 4 [Pr.400] Main inpu axis No. [Pr.402] Composie main shaf gear [Pr.403] Main shaf gear: Numeraor [Pr.404] Main shaf gear: Denominaor Main shaf main inpu axis Composie main shaf gear Main shaf gear [Pr.401] Sub inpu axis No. Main shaf sub inpu axis [Md.400] Curren value afer composie main shaf gear Main shaf cluch *1 [Md.401] Curren value per cycle afer main shaf gear Speed change gear/ Composie auxiliary shaf gear *1 Page 104 Cluch Main shaf parameers n: Axis No. - 1 Seing iem Seing deails Seing value Defaul value Buffer memory address [Pr.400] Main inpu axis No. Se he inpu axis No. on he main inpu side for he main shaf. Fech cycle: A sar of synchronous conrol Se in decimal. 0: Invalid 1 o 8: Servo inpu axis *1 201 o 208: Command generaion axis *1 801 o 804: Synchronous encoder axis n [Pr.401] Sub inpu axis No. Se he inpu axis No. on he sub inpu side for he main shaf. Fech cycle: A sar of synchronous conrol Se in decimal. 0: Invalid 1 o 8: Servo inpu axis *1 201 o 208: Command generaion axis *1 801 o 804: Synchronous encoder axis n 4 SYNCHRONOUS CONTROL 4.1 Main Shaf Module 87

90 Seing iem Seing deails Seing value Defaul value Buffer memory address [Pr.402] Composie main shaf gear [Pr.403] Main shaf gear: Numeraor [Pr.404] Main shaf gear: Denominaor Selec he composie mehod for inpu values from he main inpu axis and sub inpu axis. Fech cycle: Operaion cycle Se he numeraor for he main shaf gear. Fech cycle: A sar of synchronous conrol *1 The range from axis 1 o 4 is valid in he 4-axis module and from axis 1 o 8 is valid in he 8-axis module. [Pr.400] Main inpu axis No., [Pr.401] Sub inpu axis No. Se he main inpu axis No. and he sub inpu axis No. for he main shaf. Seing value Se he denominaor for he main shaf gear. Fech cycle: A sar of synchronous conrol Deails 0: Invalid The inpu value is always 0. Se in hexadecimal. 0001H n Se in decimal o Se in decimal. 1 o n n n n 1 o 8: Servo inpu axis Se he servo inpu axis (axis 1 o axis 8). When he servo inpu axis is no se in he sysem seing, he inpu value is always 0. If he No. is se o he same value as he oupu axis,he following errors occur and synchronous conrol canno be sared. Ouside main inpu axis No. range (error code: 1BE0H) Ouside sub inpu axis No. range (error code: 1BE1H) 201 o 208: Command generaion axis 801 o 804: Synchronous encoder axis H Main inpu mehod 0: No inpu 1: Inpu + 2: Inpu - Sub inpu mehod 0: No inpu 1: Inpu + 2: Inpu - Se he command generaion axis (axis 1 o axis 8). When he command generaion axis is invalid in he command generaion axis parameer seing, he inpu value is always 0. Se he synchronous encoder axis (axis 1 o axis 4). When he synchronous encoder axis is invalid, he inpu value is always 0. [Pr.402] Composie main shaf gear Se he composie mehod for inpu values from he main and sub inpu axes. The seing values for each axis are shown as follows. Seing value Deails 0: No inpu The inpu value from he inpu axis is calculaed as 0. 1: Inpu+ The inpu value from he inpu axis is calculaed as i is. 2: Inpu- The inpu value from he inpu axis is calculaed wih is opposie sign. Operaion assumes "0: No inpu" if he value is se ou of he range from 0 o 2. The composie mehod for he composie main shaf gear can be changed during synchronous conrol. I is used as a cluch o swich inpu values beween he main and he sub inpu axes SYNCHRONOUS CONTROL 4.1 Main Shaf Module

91 [Pr.403] Main shaf gear: Numeraor, [Pr.404] Main shaf gear: Denominaor Se he numeraor and he denominaor for he main shaf gear o conver he inpu value. The inpu value is convered as follows. [Pr.403] Main shaf gear: Numeraor Inpu value afer conversion = Inpu value before conversion [Pr.404] Main shaf gear: Denominaor The inpu value direcion can be reversed by seing a negaive value in he numeraor of he main shaf gear. Se he denominaor of he main shaf gear o a value wihin he range from 1 o Ex. Conver he cam axis per cycle o be conrolled in inervals of 0.1 mm ( inch). The cam axis synchronizes wih a conveyer ha moves 100 mm (3.937 inch) for every ( degree) of he main shaf. "[Pr.403] Main shaf gear: Numeraor": 1000 [ 0.1 mm] "[Pr.404] Main shaf gear: Denominaor": [ 10-5 degree] 4 4 SYNCHRONOUS CONTROL 4.1 Main Shaf Module 89

92 Main shaf cluch parameers n: Axis No. - 1 Seing iem Seing deails Seing value Defaul value [Pr.405] Main shaf cluch conrol seing [Pr.406] Main shaf cluch reference address seing [Pr.407] Main shaf cluch ON address [Pr.408] Movemen amoun before main shaf cluch ON [Pr.409] Main shaf cluch OFF address [Pr.410] Movemen amoun before main shaf cluch OFF [Pr.411] Main shaf cluch smoohing mehod [Pr.412] Main shaf cluch smoohing ime consan Se he conrol mehod for he cluch. Fech cycle: Operaion cycle Se he reference address for he cluch. Fech cycle: A sar of synchronous conrol Se he cluch ON address for address mode. (This seing is invalid excep during address mode.) If he address is ou of he range from 0 o (Cam axis lengh per cycle - 1), he address is convered o a value wihin range. Fech cycle: Operaion cycle Se he movemen amoun beween he cluch ON condiion compleing and he cluch closing. Se a posiive value when he reference address is increasing, and a negaive value when i is decreasing. Fech cycle: A compleing cluch ON condiion Se he cluch OFF address for he address mode. (This seing is invalid excep during address mode.) If he address is ou of he range from 0 o (Cam axis lengh per cycle - 1), he address is convered o a value wihin range. Fech cycle: Operaion cycle Se he movemen amoun beween he cluch OFF condiion compleing and he cluch opening. Se a posiive value when he reference address is increasing, and a negaive value when i is decreasing. Fech cycle: A compleing cluch OFF condiion Se he cluch smoohing mehod. Fech cycle: A sar of synchronous conrol For smoohing wih a ime consan mehod, se he smoohing ime consan. Fech cycle: A sar of synchronous conrol Buffer memory address Se in hexadecimal. 0000H n H Se in decimal. 0: Curren value afer composie main shaf gear 1: Curren value per cycle afer main shaf gear Se in decimal o [Main inpu axis posiion unis *2, or cam axis cycle unis *3 ] Se in decimal o [Main inpu axis posiion unis *2, or cam axis cycle unis *3 ] Se in decimal o [Main inpu axis posiion unis *2, or cam axis cycle unis *3 ] Se in decimal o [Main inpu axis posiion unis *2, or cam axis cycle unis *3 ] Se in decimal. 0: Direc 1: Time consan mehod (Exponen) 2: Time consan mehod (Linear) 3: Slippage mehod (Exponen) 4: Slippage mehod (Linear) 5: Slippage mehod (Linear: Inpu value follow up) Se in decimal. 0 o 5000 [ms] ON conrol mode 0: No cluch 1: Cluch command ON/OFF 2: Cluch command leading edge 3: Cluch command railing edge 4: Address mode 5: High speed inpu reques OFF conrol mode 0: OFF conrol invalid 1: One-sho OFF 2: Cluch command leading edge 3: Cluch command railing edge 4: Address mode 5: High speed inpu reques High speed inpu reques signal 0 o 7: High speed inpu reques signal from axis 1 o axis 8 * n n n n n n n n n n n 90 4 SYNCHRONOUS CONTROL 4.1 Main Shaf Module

93 Seing iem Seing deails Seing value Defaul value [Pr.413] Slippage amoun a main shaf cluch ON [Pr.414] Slippage amoun a main shaf cluch OFF For smoohing wih a slippage mehod, se he slippage amoun a cluch ON. Fech cycle: A urning cluch ON For smoohing wih a slippage mehod, se he slippage amoun a cluch OFF. Fech cycle: A urning cluch OFF *1 The range from axis 1 o 4 is valid in he 4-axis module and from axis 1 o 8 is valid in he 8-axis module. *2 Main inpu axis posiion unis ( Page 25 INPUT AXIS MODULE) *3 Cam axis cycle unis ( Page 118 Unis for he oupu axis) [Pr.405] Main shaf cluch conrol seing Se in decimal. 0 o [Main inpu axis posiion unis *2, or cam axis cycle unis *3 ] Se in decimal. 0 o [Main inpu axis posiion unis *2, or cam axis cycle unis *3 ] Buffer memory address n n n n Se he ON and OFF conrol mehods separaely for he main shaf cluch. The cluch conrol seing can be changed during synchronous conrol, however, he seing "No cluch" (Direc coupled operaion) canno be seleced during synchronous conrol afer already selecing anoher seing. Refer o he following for operaion deails on he cluch conrol. Page 104 Conrol mehod for cluch 4 ON conrol mode Seing value 0: No cluch (Direc coupled operaion) Deails Execue direc coupled operaion wihou cluch conrol. 1: Cluch command ON/OFF The cluch is urned ON/OFF by he operaion of "[Cd.400] Main shaf cluch command" ON/OFF. (Seing in he OFF conrol mode are no applicable in he cluch command ON/OFF mode.) 2: Cluch command leading edge The cluch is urned ON when "[Cd.400] Main shaf cluch command" passes he leading edge (from OFF o ON). 3: Cluch command railing edge The cluch is urned ON when "[Cd.400] Main shaf cluch command" passes he railing edge (from ON o OFF). 4: Address mode The cluch is urned ON when he reference address (he curren value afer composie main shaf gear or he curren value per cycle afer main shaf gear) reaches "[Pr.407] Main shaf cluch ON address". The movemen amoun afer passing hrough he ON address is calculaed as he oupu movemen amoun of he cluch based on he reference address passing hrough, hereby conrolling he cluch wih an accurae movemen amoun. 5: High speed inpu reques The cluch is urned ON when he high speed inpu reques [DI] urns ON. Oher cluch parameers are no applicable during direc coupled operaion by seing "0: No cluch". "[Cd.402] Main shaf cluch forced OFF command" and he change of he cluch conrol seing are ignored during direc coupled operaion. OFF conrol mode Seing value Deails 0: OFF conrol invalid Cluch OFF conrol is no used. This seing is applicable only for execuion wih cluch ON conrol. 1: One-sho OFF The cluch is urned OFF afer moving he disance "[Pr.410] Movemen amoun before main shaf cluch OFF" (Onesho operaion) afer he cluch command urns ON. If "[Pr.410] Movemen amoun before main shaf cluch OFF" is 0, "[Md.420] Main shaf cluch ON/OFF saus" does no urn ON in order o urn back OFF immediaely. 2: Cluch command leading edge The cluch is urned OFF when "[Cd.400] Main shaf cluch command" passes he leading edge (from OFF o ON). 3: Cluch command railing edge The cluch is urned OFF when "[Cd.400] Main shaf cluch command" passes he railing edge (from ON o OFF). 4: Address mode The cluch is urned OFF when he reference address (he curren value afer composie main shaf gear or he curren value per cycle afer main shaf gear) reaches "[Pr.409] Main shaf cluch OFF address". The movemen amoun before passing hrough he OFF address is calculaed as he oupu movemen amoun of he cluch based on he reference address passing hrough, hereby conrolling he cluch wih an accurae movemen amoun. 5: High speed inpu reques The cluch is urned OFF when he high speed inpu reques [DI] urns ON. 4 SYNCHRONOUS CONTROL 4.1 Main Shaf Module 91

94 High speed inpu reques signal Se he high speed inpu reques signal No. for he ON conrol mode (1) and he OFF conrol mode (2) when using he seing "5: High speed inpu reques". Signal No. Seing value (Hexadecimal) Signal No Seing value (Hexadecimal) [Pr.406] Main shaf cluch reference address seing Selec he address ype o be used as he reference address for cluch conrol. Noe ha he processing order of he main shaf gear and he main shaf cluch will change depending on he reference address seing. Seing value 0: Curren value afer composie main shaf gear 1: Curren value per cycle afer main shaf gear Deails The cluch is conrolled by using he curren value afer composie main shaf gear as a reference. Oupu afer he cluch is a convered movemen amoun hrough he main shaf gear. The cluch is conrolled by using he curren value per cycle afer main shaf gear. Oupu afer he cluch is a movemen amoun wihou conversion. The seing values for he following parameers are in unis based on he reference address seing. "[Pr.407] Main shaf cluch ON address" "[Pr.409] Main shaf cluch OFF address" "[Pr.408] Movemen amoun before main shaf cluch ON", "[Pr.410] Movemen amoun before main shaf cluch OFF" "[Pr.413] Slippage amoun a main shaf cluch ON", "[Pr.414] Slippage amoun a main shaf cluch OFF" [Pr.407] Main shaf cluch ON address Se he cluch ON address when address mode is configured for he ON conrol mode of he main shaf cluch. When he reference address is he curren value per cycle afer main shaf gear, he seing address is convered for conrol wihin he range from 0 o (Cam axis lengh per cycle - 1). Ex. Cam axis lengh per cycle: pulses The ON address is conrolled as pulses when he seing value is "-1000". [Pr.408] Movemen amoun before main shaf cluch ON Se he movemen amoun of he reference address wih a signed value beween he cluch ON condiion compleing and he cluch closing. Seing value Deails 1 o (Posiive value) Used when he reference address is increasing in direcion. 0 No movemen amoun (The cluch is immediaely urned ON wih he cluch ON condiion compleing.) o -1 (Negaive value) Used when he reference address is decreasing in direcion. Cluch ON condiion is compleed (Example: [Cd.400] Main shaf cluch command ON) [Md.420] Main shaf cluch ON/OFF saus [Md.400] Curren value afer composie main shaf gear or [Md.401] Curren value per cycle afer main shaf gear Movemen amoun afer cluch [Pr.408] Movemen amoun before main shaf cluch ON (Posiive value) 92 4 SYNCHRONOUS CONTROL 4.1 Main Shaf Module

95 [Pr.409] Main shaf cluch OFF address Se he cluch OFF address when address mode is configured for he OFF conrol mode of he main shaf cluch. When he reference address is he curren value per cycle afer main shaf gear, he seing address is convered for conrol wihin he range from 0 o (Cam axis lengh per cycle - 1). Ex. Cam axis lengh per cycle: pulses The OFF address is conrolled as 60 pulses when he seing value is "40060". [Pr.410] Movemen amoun before main shaf cluch OFF Se he movemen amoun of he reference address wih a signed value beween he cluch OFF condiion compleing and he cluch opening. Seing value Deails 1 o (Posiive value) Used when he reference address is increasing in direcion. 0 No movemen amoun (The cluch is immediaely urned OFF wih he cluch OFF condiion compleing.) o -1 (Negaive value) Used when he reference address is decreasing in direcion. 4 Cluch OFF condiion is compleed (Example: [Cd.400] Main shaf cluch command OFF) [Md.420] Main shaf cluch ON/OFF saus [Md.400] Curren value afer composie main shaf gear or [Md.401] Curren value per cycle afer main shaf gear Movemen amoun afer cluch [Pr.410] Movemen amoun before main shaf cluch OFF (Posiive value) [Pr.411] Main shaf cluch smoohing mehod Se he smoohing mehod for cluch ON/OFF. Refer o he following. Page 109 Smoohing mehod for cluch Seing value Deails 0: Direc No smoohing 1: Time consan mehod (Exponen) Smoohing wih an exponenial curve based on he ime consan seing. 2: Time consan mehod (Linear) Smoohing wih linear acceleraion/deceleraion based on he ime consan seing. 3: Slippage mehod (Exponen) Smoohing wih an exponenial curve based on he slippage amoun seing. 4: Slippage mehod (Linear) Smoohing wih linear acceleraion/deceleraion based on he slippage amoun seing. 5: Slippage mehod (Linear: Inpu Smoohing wih linear acceleraion/deceleraion based on he slippage amoun seing (inpu value follow up). value follow up) [Pr.412] Main shaf cluch smoohing ime consan Se a ime consan when he ime consan mehod is se in "[Pr.411] Main shaf cluch smoohing mehod". The ime consan seing applies for cluch ON/OFF. 4 SYNCHRONOUS CONTROL 4.1 Main Shaf Module 93

96 [Pr.413] Slippage amoun a main shaf cluch ON Se he slippage amoun a cluch ON when he slippage mehod is se in "[Pr.411] Main shaf cluch smoohing mehod". The slippage amoun is se in unis based on he curren value seleced in "[Pr.406] Main shaf cluch reference address seing". If he se amoun is negaive, slippage amoun a cluch ON is conrolled as 0 (direc). [Pr.414] Slippage amoun a main shaf cluch OFF Se he slippage amoun a cluch OFF when he slippage mehod is se in "[Pr.411] Main shaf cluch smoohing mehod". The slippage amoun is se in unis based on he curren value seleced in "[Pr.406] Main shaf cluch reference address seing". If he se amoun is negaive, slippage amoun a cluch OFF is conrolled as 0 (direc) SYNCHRONOUS CONTROL 4.1 Main Shaf Module

97 Main shaf cluch conrol daa n: Axis No. - 1 Seing iem Seing deails Seing value Defaul value Buffer memory address [Cd.400] Main shaf cluch command Se he cluch command ON/OFF. Fech cycle: Operaion cycle Se in decimal. 0: Main shaf cluch command OFF 1: Main shaf cluch command ON n [Cd.401] Main shaf cluch conrol invalid command Se "1" o disable he cluch conrol emporarily. Fech cycle: Operaion cycle Se in decimal. 0: Main shaf cluch conrol valid 1: Main shaf cluch conrol invalid n 4 [Cd.402] Main shaf cluch forced OFF command Se "1" o force he cluch OFF. Fech cycle: Operaion cycle Se in decimal. 0: Main shaf cluch normal conrol 1: Main shaf cluch forced OFF n [Cd.400] Main shaf cluch command Se ON/OFF for he main shaf cluch command. This command is used when he cluch ON conrol mode is "1: Cluch command ON/OFF", "2: Cluch command leading edge" or "3: Cluch command railing edge" and he cluch OFF conrol mode is "2: Cluch command leading edge" or "3: Cluch command railing edge". Saus is considered as cluch command OFF jus before saring synchronous conrol. If synchronous conrol is sared while he cluch command is ON, he condiion is esablished jus afer saring synchronous conrol, by seing "2: Cluch command leading edge". The condiion is no esablished jus afer saring, by seing "3: Cluch command railing edge". [Cd.401] Main shaf cluch conrol invalid command The main shaf cluch conrol is invalid if "1" is se. The previous cluch ON/OFF saus remains before cluch conrol becomes invalid. Cluch conrol will no become invalid during he movemen before cluch ON and cluch OFF. Insead, cluch conrol will become invalid afer movemen is compleed. [Cd.402] Main shaf cluch forced OFF command Se "1" o force he cluch OFF. The oupu value from he cluch becomes 0 immediaely, even during cluch smoohing. The slippage (accumulaive) amoun is se o 0 if smoohing wih a slippage mehod. Rese o "0" o resar he cluch conrol from he cluch OFF saus afer using he cluch forced OFF command. 4 SYNCHRONOUS CONTROL 4.1 Main Shaf Module 95

98 4.2 Auxiliary Shaf Module Overview of auxiliary shaf module For he auxiliary shaf module, he inpu value is generaed from he auxiliary shaf. The inpu value can be convered by he auxiliary shaf gear ha provides he deceleraion raio and he roaion direcion for he machine sysem, ec. Refer o he followings for deails on seing for he auxiliary shaf module. Page 96 Auxiliary shaf parameers, Page 98 Auxiliary shaf cluch parameers Main shaf inpu/speed change gear [Pr.420] Auxiliary shaf gear: Numeraor [Pr.421] Auxiliary shaf gear: Denominaor Auxiliary shaf gear Auxiliary shaf cluch *1 Composie auxiliary shaf gear [Pr.419] Composie auxiliary shaf gear [Pr.418] Auxiliary shaf axis No. Auxiliary shaf axis [Md.402] Curren value per cycle afer auxiliary shaf gear Speed change gear/oupu axis *1 Page 104 Cluch Auxiliary shaf parameers n: Axis No. - 1 Seing iem Seing deails Seing value Defaul value Buffer memory address [Pr.418] Auxiliary shaf axis No. [Pr.419] Composie auxiliary shaf gear [Pr.420] Auxiliary shaf gear: Numeraor [Pr.421] Auxiliary shaf gear: Denominaor Se he inpu axis No. for he auxiliary shaf. Fech cycle: A sar of synchronous conrol Selec he composie mehod for inpu values from he main shaf and he auxiliary shaf. Fech cycle: Operaion cycle Se he numeraor for he auxiliary shaf gear. Fech cycle: A sar of synchronous conrol Se he denominaor for he auxiliary shaf gear. Fech cycle: A sar of synchronous conrol Se in decimal. 0: Invalid 1 o 8: Servo inpu axis *1 201 o 208: Command generaion axis *1 801 o 804: Synchronous encoder axis n Se in hexadecimal. 0001H n H Se in decimal o Se in decimal. 1 o Main shaf inpu mehod 0: No inpu 1: Inpu + 2: Inpu - Auxiliary shaf inpu mehod 0: No inpu 1: Inpu + 2: Inpu n n n n *1 The range from axis 1 o 4 is valid in he 4-axis module and from axis 1 o 8 is valid in he 8-axis module SYNCHRONOUS CONTROL 4.2 Auxiliary Shaf Module

99 [Pr.418] Auxiliary shaf axis No. Se he inpu axis No. for he auxiliary shaf. Seing value Deails 0: Invalid The inpu value is always 0. 1 o 8: Servo inpu axis Se he servo inpu axis (axis 1 o axis 8). When he servo inpu axis is no se in he sysem seing, he inpu value is always 0. If he No. is se o he same value as he oupu axis, he error "Ouside auxiliary shaf axis No. range" (error code: 1BF0H) occurs and synchronous conrol canno be sared. 201 o 208: Command generaion axis 801 o 804: Synchronous encoder axis Se he command generaion axis (axis 1 o axis 8). When he command generaion axis is invalid in he command generaion axis parameer seing, he inpu value is always 0. Se he synchronous encoder axis (axis 1 o axis 4). When he synchronous encoder axis is invalid, he inpu value is always 0. 4 [Pr.419] Composie auxiliary shaf gear Se he composie mehod for inpu values from he main and auxiliary shafs. The seing values for each axis are shown as follows. Seing value Deails 0: No inpu The inpu value from he inpu axis is calculaed as 0. 1: Inpu+ The inpu value from he inpu axis is calculaed as i is. 2: Inpu- The inpu value from he inpu axis is calculaed wih is opposie sign. Operaion assumes "0: No inpu" if he value is se ou of he range from 0 o 2. The composie mehod for he composie auxiliary shaf gear can be changed during synchronous conrol. I is used as a cluch o swich inpu values beween he main and he auxiliary shafs. [Pr.420] Auxiliary shaf gear: Numeraor, [Pr.421] Auxiliary shaf gear: Denominaor Se he numeraor and he denominaor for auxiliary shaf gear o conver he inpu value. The inpu value is convered as follows. [Pr.420] Auxiliary shaf gear: Numeraor Inpu value afer conversion = Inpu value before conversion [Pr.421] Auxiliary shaf gear: Denominaor The inpu value direcion can be reversed by seing a negaive value in he numeraor of he auxiliary shaf gear. Se he denominaor of he auxiliary shaf gear o a value wihin he range from 1 o SYNCHRONOUS CONTROL 4.2 Auxiliary Shaf Module 97

100 Auxiliary shaf cluch parameers n: Axis No. - 1 Seing iem Seing deails Seing value Defaul value [Pr.422] Auxiliary shaf cluch conrol seing Se he conrol mehod for he cluch. Fech cycle: Operaion cycle Buffer memory address Se in hexadecimal. 0000H n H ON conrol mode 0: No cluch 1: Cluch command ON/OFF 2: Cluch command leading edge 3: Cluch command railing edge 4: Address mode 5: High speed inpu reques OFF conrol mode 0: OFF conrol invalid 1: One-sho OFF 2: Cluch command leading edge 3: Cluch command railing edge 4: Address mode 5: High speed inpu reques High speed inpu reques signal 0 o 7: High speed inpu reques signal from axis 1 o axis 8 *1 [Pr.423] Auxiliary shaf cluch reference address seing [Pr.424] Auxiliary shaf cluch ON address [Pr.425] Movemen amoun before auxiliary shaf cluch ON [Pr.426] Auxiliary shaf cluch OFF address [Pr.427] Movemen amoun before auxiliary shaf cluch OFF [Pr.428] Auxiliary shaf cluch smoohing mehod [Pr.429] Auxiliary shaf cluch smoohing ime consan Se he reference address for he cluch. Fech cycle: A sar of synchronous conrol Se he cluch ON address for address mode. (This seing is invalid excep during address mode.) If he address is ou of he range from 0 o (Cam axis lengh per cycle - 1), he address is convered o a value wihin range. Fech cycle: Operaion cycle Se he movemen amoun beween he cluch ON condiion compleing and he cluch closing. Se a posiive value when he reference address is increasing, and a negaive value when i is decreasing. Fech cycle: A compleing cluch ON condiion Se he cluch OFF address for he address mode. (This seing is invalid excep during address mode.) If he address is ou of he range from 0 o (Cam axis lengh per cycle - 1), he seing address is convered o a value wihin range. Fech cycle: Operaion cycle Se he movemen amoun beween he cluch OFF condiion compleing and he cluch opening. Se a posiive value when he reference address is increasing, and a negaive value when i is decreasing. Fech cycle: A compleing cluch OFF condiion Se he cluch smoohing mehod. Fech cycle: A sar of synchronous conrol For smoohing wih a ime consan mehod, se he smoohing ime consan. Fech cycle: A sar of synchronous conrol Se in decimal. 0: Auxiliary shaf curren value 1: Curren value per cycle afer auxiliary shaf gear Se in decimal o [Auxiliary shaf posiion unis *2, or cam axis cycle unis *3 ] Se in decimal o [Auxiliary shaf posiion unis *2, or cam axis cycle unis *3 ] Se in decimal o [Auxiliary shaf posiion unis *2, or cam axis cycle unis *3 ] Se in decimal o [Auxiliary shaf posiion unis *2, or cam axis cycle unis *3 ] Se in decimal. 0: Direc 1: Time consan mehod (Exponen) 2: Time consan mehod (Linear) 3: Slippage mehod (Exponen) 4: Slippage mehod (Linear) 5: Slippage mehod (Linear: Inpu value follow up) Se in decimal. 0 o 5000 [ms] n n n n n n n n n n n 98 4 SYNCHRONOUS CONTROL 4.2 Auxiliary Shaf Module

101 Seing iem Seing deails Seing value Defaul value [Pr.430] Slippage amoun a auxiliary shaf cluch ON [Pr.431] Slippage amoun a auxiliary shaf cluch OFF For smoohing wih a slippage mehod, se he slippage amoun a cluch ON. Fech cycle: A urning cluch ON For smoohing wih a slippage mehod, se he slippage amoun a cluch OFF. Fech cycle: A urning cluch OFF *1 The range from axis 1 o 4 is valid in he 4-axis module and from axis 1 o 8 is valid in he 8-axis module. *2 Auxiliary shaf posiion unis ( Page 25 INPUT AXIS MODULE) *3 Cam axis cycle unis ( Page 118 Unis for he oupu axis) [Pr.422] Auxiliary shaf cluch conrol seing Se in decimal. 0 o [Auxiliary shaf posiion unis *2, or cam axis cycle unis *3 ] Se in decimal. 0 o [Auxiliary shaf posiion unis *2, or cam axis cycle unis *3 ] Buffer memory address n n n n Se he ON and OFF conrol mehods separaely for he auxiliary shaf. The cluch conrol seing can be changed during synchronous conrol, however he seing o "No cluch" (Direc coupled operaion) canno be seleced during synchronous conrol afer already selecing anoher seing. Refer o he following for operaion deails on he cluch conrol. Page 104 Conrol mehod for cluch 4 ON conrol mode Seing value 0: No cluch (Direc coupled operaion) Deails Execue direc coupled operaion wihou cluch conrol. 1: Cluch command ON/OFF The cluch is urned ON/OFF by he operaion of "[Cd.403] Auxiliary shaf cluch command" ON/OFF. (Seing in he OFF conrol mode are no applicable in he cluch command ON/OFF mode.) 2: Cluch command leading edge The cluch is urned ON when "[Cd.403] Auxiliary shaf cluch command" passes he leading edge (from OFF o ON). 3: Cluch command railing edge The cluch is urned ON when "[Cd.403] Auxiliary shaf cluch command" passes he railing edge (from ON o OFF). 4: Address mode The cluch is urned ON when he reference address (he auxiliary shaf curren value or he curren value per cycle afer auxiliary shaf gear) reaches "[Pr.424] Auxiliary shaf cluch ON address". The movemen amoun afer passing hrough he ON address is calculaed as he oupu movemen amoun of he cluch based on he reference address passing hrough, hereby conrolling he cluch wih an accurae movemen amoun. 5: High speed inpu reques The cluch is urned ON when he high speed inpu reques [DI] urns ON. Oher cluch parameers are no applicable during direc coupled operaion by seing "0: No cluch". "[Cd.405] Auxiliary shaf cluch forced OFF command" and he change of he cluch conrol seing are ignored during direc coupled operaion. OFF conrol mode Seing value Deails 0: OFF conrol invalid Cluch OFF conrol is no used. This seing is applicable only for execuion wih cluch ON conrol. 1: One-sho OFF The cluch is urned OFF afer moving he disance "[Pr.427] Movemen amoun before auxiliary shaf cluch OFF" (Onesho operaion) afer he cluch command urns ON. If "[Pr.427] Movemen amoun before auxiliary shaf cluch OFF" is 0, "[Md.423] Auxiliary shaf cluch ON/OFF saus" does no urn ON in order o urn back OFF immediaely. 2: Cluch command leading edge The cluch is urned OFF when "[Cd.403] Auxiliary shaf cluch command" passes he leading edge (from OFF o ON). 3: Cluch command railing edge The cluch is urned OFF when "[Cd.403] Auxiliary shaf cluch command" passes he railing edge (from ON o OFF). 4: Address mode The cluch is urned OFF when he reference address (he auxiliary shaf curren value or he curren value per cycle afer auxiliary shaf gear) reaches "[Pr.426] Auxiliary shaf cluch OFF address". The movemen amoun before passing hrough he OFF address is calculaed as he oupu movemen amoun of he cluch based on he reference address passing hrough, hereby conrolling he cluch wih an accurae movemen amoun. 5: High speed inpu reques The cluch is urned OFF when he high speed inpu reques [DI] urns ON. 4 SYNCHRONOUS CONTROL 4.2 Auxiliary Shaf Module 99

102 High speed inpu reques signal Se he high speed inpu reques signal No. for he ON conrol mode (1) and he OFF conrol mode (2) when using he seing "5: High speed inpu reques". Signal No. Seing value (Hexadecimal) Signal No Seing value (Hexadecimal) [Pr.423] Auxiliary shaf cluch reference address seing Selec he address ype o be used as he reference address for cluch conrol. Noe ha he processing order of he auxiliary shaf gear and he auxiliary shaf cluch will change depending on he reference address seing. Seing value Deails 0: Auxiliary shaf curren value The cluch is conrolled by using he curren value for he servo inpu axis/synchronous encoder axis ha is se for he auxiliary shaf. Oupu afer he cluch is a convered movemen amoun hrough he auxiliary shaf gear. 1: Curren value per cycle afer auxiliary shaf gear The seing values for he following parameers are in unis based on he reference address seing. "[Pr.424] Auxiliary shaf cluch ON address" "[Pr.426] Auxiliary shaf cluch OFF address" "[Pr.425] Movemen amoun before auxiliary shaf cluch ON", "[Pr.427] Movemen amoun before auxiliary shaf cluch OFF" "[Pr.430] Slippage amoun a auxiliary shaf cluch ON", "[Pr.431] Slippage amoun a auxiliary shaf cluch OFF" [Pr.424] Auxiliary shaf cluch ON address The cluch is conrolled by using he curren value per cycle afer auxiliary shaf gear. Oupu afer he cluch is a movemen amoun wihou conversion. Se he cluch ON address when address mode is configured for he ON conrol mode of he auxiliary shaf cluch. When he reference address is he curren value per cycle afer auxiliary shaf gear, he seing address is convered for conrol wihin he range from 0 o (Cam axis lengh per cycle - 1). Ex. Cam axis lengh per cycle: pulses The ON address is conrolled as pulses when he seing value is "-1000". [Pr.425] Movemen amoun before auxiliary shaf cluch ON Se he movemen amoun of he reference address wih a signed value beween he cluch ON condiion compleing and he cluch closing. Seing value Deails 1 o (Posiive value) Used when he reference address is increasing in direcion. 0 No movemen amoun (The cluch is immediaely urned ON wih he cluch ON condiion compleing.) o -1 (Negaive value) Used when he reference address is decreasing in direcion. Cluch ON condiion is compleed (Example: [Cd.403] Auxiliary shaf cluch command ON) [Md.423] Auxiliary shaf cluch ON/OFF saus Auxiliary shaf curren value or [Md.402] Curren value per cycle afer auxiliary shaf gear [Pr.425] Movemen amoun before auxiliary shaf cluch ON (Posiive value) Movemen amoun afer cluch SYNCHRONOUS CONTROL 4.2 Auxiliary Shaf Module

103 [Pr.426] Auxiliary shaf cluch OFF address Se he cluch OFF address when address mode is configured for he OFF conrol mode of he auxiliary shaf cluch. When he reference address is he curren value per cycle afer auxiliary shaf gear, he seing address is convered for conrol wihin he range from 0 o (Cam axis lengh per cycle - 1). Ex. Cam axis lengh per cycle: pulses The OFF address is conrolled as 60 pulses when he seing value is "40060". [Pr.427] Movemen amoun before auxiliary shaf cluch OFF Se he movemen amoun of he reference address wih a signed value beween he cluch OFF condiion compleing and he cluch opening. 4 Seing value Deails 1 o (Posiive value) Used when he reference address is increasing in direcion. 0 No movemen amoun (The cluch is immediaely urned OFF wih he cluch OFF condiion compleing.) o -1 (Negaive value) Used when he reference address is decreasing in direcion. Cluch OFF condiion is compleed (Example: [Cd.403] Auxiliary shaf cluch command OFF) [Md.423] Auxiliary shaf cluch ON/OFF saus [Pr.427] Movemen amoun before auxiliary shaf cluch OFF (Posiive value) Auxiliary shaf curren value or [Md.402] Curren value per cycle afer auxiliary shaf gear Movemen amoun afer cluch [Pr.428] Auxiliary shaf cluch smoohing mehod Se he smoohing mehod for cluch ON/OFF. Refer o he following. Page 109 Smoohing mehod for cluch Seing value Deails 0: Direc No smoohing. 1: Time consan mehod (Exponen) Smoohing wih an exponenial curve based on he ime consan seing. 2: Time consan mehod (Linear) Smoohing wih linear acceleraion/deceleraion based on he ime consan seing. 3: Slippage mehod (Exponen) Smoohing wih an exponenial curve based on he slippage amoun seing. 4: Slippage mehod (Linear) Smoohing wih linear acceleraion/deceleraion based on he slippage amoun seing. 5: Slippage mehod (Linear: Inpu Smoohing wih linear acceleraion/deceleraion based on he slippage amoun seing (inpu value follow up). value follow up) [Pr.429] Auxiliary shaf cluch smoohing ime consan Se a ime consan when he ime consan mehod is se in "[Pr.428] Auxiliary shaf cluch smoohing mehod". The ime consan seing applies for cluch ON/OFF. 4 SYNCHRONOUS CONTROL 4.2 Auxiliary Shaf Module 101

104 [Pr.430] Slippage amoun a auxiliary shaf cluch ON Se he slippage amoun a cluch ON when he slippage mehod is se in "[Pr.428] Auxiliary shaf cluch smoohing mehod". The slippage amoun is se in unis based on he curren value seleced in "[Pr.423] Auxiliary shaf cluch reference address seing". If he se amoun is negaive, he slippage amoun a cluch ON is conrolled as 0 (direc). [Pr.431] Slippage amoun a auxiliary shaf cluch OFF Se he slippage amoun a cluch OFF when he slippage mehod is se in "[Pr.428] Auxiliary shaf cluch smoohing mehod". The slippage amoun is se in unis based on he curren value seleced in "[Pr.423] Auxiliary shaf cluch reference address seing". If he se amoun is negaive, he slippage amoun a cluch OFF is conrolled as 0 (direc) SYNCHRONOUS CONTROL 4.2 Auxiliary Shaf Module

105 Auxiliary shaf cluch conrol daa n: Axis No. - 1 Seing iem Seing deails Seing value Defaul value Buffer memory address [Cd.403] Auxiliary shaf cluch command Se he cluch command ON/OFF. Fech cycle: Operaion cycle Se in decimal. 0: Auxiliary shaf cluch command OFF 1: Auxiliary shaf cluch command ON n [Cd.404] Auxiliary shaf cluch conrol invalid command Se "1" o disable he cluch conrol emporarily. Fech cycle: Operaion cycle Se in decimal. 0: Auxiliary shaf cluch conrol valid 1: Auxiliary shaf cluch conrol invalid n 4 [Cd.405] Auxiliary shaf cluch forced OFF command Se "1" o force he cluch OFF. Fech cycle: Operaion cycle Se in decimal. 0: Auxiliary shaf cluch normal conrol 1: Auxiliary shaf cluch forced OFF n [Cd.403] Auxiliary shaf cluch command Se ON/OFF for he auxiliary shaf cluch command. This command is used when he cluch ON conrol mode is "1: Cluch command ON/OFF", "2: Cluch command leading edge" or "3: Cluch command railing edge" and he cluch OFF conrol mode is "2: Cluch command leading edge" or "3: Cluch command railing edge". Saus is considered as cluch command OFF jus before saring synchronous conrol. If synchronous conrol is sared while he cluch command is ON, he condiion is esablished jus afer saring synchronous conrol, by seing "2: Cluch command leading edge". The condiion is no esablished afer saring, by seing "3: Cluch command railing edge." [Cd.404] Auxiliary shaf cluch conrol invalid command The auxiliary shaf cluch conrol is invalid if "1" is se. The previous cluch ON/OFF saus remains before cluch conrol becomes invalid. Cluch conrol will no become invalid during he movemen before cluch ON and cluch OFF. Insead, cluch conrol will become invalid afer he movemen is compleed. [Cd.405] Auxiliary shaf cluch forced OFF command Se "1" o force he cluch OFF. The oupu value from he cluch becomes 0 immediaely, even during cluch smoohing. The slippage (accumulaive) amoun is se o 0 if smoohing wih a slippage mehod. Rese o "0" o resar he cluch conrol from he cluch OFF saus afer using he cluch forced OFF command. 4 SYNCHRONOUS CONTROL 4.2 Auxiliary Shaf Module 103

106 4.3 Cluch Overview of cluch The cluch is used o ransmi/disengage command pulses from he main/auxiliary shaf inpu side o he oupu axis module hrough urning he cluch ON/OFF, which conrols he operaion/sop of he servomoor. A cluch can be configured for he main and auxiliary shafs. Conrol mehod for cluch Se he ON and OFF conrol mehods separaely in "[Pr.405] Main shaf cluch conrol seing" and "[Pr.422] Auxiliary shaf cluch conrol seing". Alhough he cluch conrol seing can be changed during synchronous conrol, however, he seing "No cluch" (Direc coupled operaion) canno be seleced during synchronous conrol afer already selecing anoher seing. Iem Seing iem Seing deails/seing value Main shaf cluch Auxiliary shaf cluch Cluch conrol seing [Pr.405] Main shaf cluch conrol seing [Pr.422] Auxiliary shaf cluch conrol seing *1 The range from axis 1 o 4 is valid in he 4-axis module and from axis 1 o 8 is valid in he 8-axis module. When he cluch ON condiion and he cluch OFF condiion are compleed simulaneously wihin one operaion cycle, boh cluch ON and OFF processing are execued wihin one operaion cycle. Therefore, he cluch is from OFF o ON and again o OFF a he cluch OFF saus, and i is from ON o OFF and again o ON a he cluch ON saus. The following shows he operaions for he cluch ON/OFF by he seing of he ON conrol mode and he OFF conrol mode. ON conrol mode No cluch (Direc coupled operaion) Execue direc coupled operaion wihou cluch conrol. Se he cluch conrol mehod. Se in hexadecimal. H ON conrol mode 0: No cluch 1: Cluch command ON/OFF 2: Cluch command leading edge 3: Cluch command railing edge 4: Address mode 5: High speed inpu reques OFF conrol mode 0: OFF conrol invalid 1: One-sho OFF 2: Cluch command leading edge 3: Cluch command railing edge 4: Address mode 5: High speed inpu reques High speed inpu reques signal 0 o 7: High speed inpu reques signal from axis 1 o axis 8 *1 Oher cluch parameers are no applicable during direc coupled operaion by seing "0: No cluch". "Cluch forced OFF command" and he change of he cluch conrol seing are ignored during direc coupled operaion SYNCHRONOUS CONTROL 4.3 Cluch

107 Cluch command ON/OFF The cluch is urned ON/OFF by he operaion of cluch command ON/OFF. (Seing in he OFF conrol mode are no applicable in his mode.) Cluch command Cluch ON/OFF saus Curren value before cluch Movemen amoun afer cluch 4 Iem Main shaf cluch Auxiliary shaf cluch Cluch command [Cd.400] Main shaf cluch command [Cd.403] Auxiliary shaf cluch command Cluch ON/OFF saus [Md.420] Main shaf cluch ON/OFF saus [Md.423] Auxiliary shaf cluch ON/OFF saus Cluch command leading edge The cluch is urned ON when he cluch command passes he leading edge (from OFF o ON). Cluch command Cluch ON/OFF saus Curren value before cluch Movemen amoun afer cluch Cluch command railing edge The cluch is urned ON when he cluch command passes he railing edge (from ON o OFF). Cluch command Cluch ON/OFF saus Curren value before cluch Movemen amoun afer cluch 4 SYNCHRONOUS CONTROL 4.3 Cluch 105

108 Address mode The cluch is urned ON when he reference address reaches "Cluch ON address". The movemen amoun afer passing hrough he ON address is calculaed as he oupu movemen amoun of he cluch based on he reference address passing hrough, hereby conrolling he cluch wih an accurae movemen amoun. Cluch ON/OFF saus Curren value specified in cluch reference address seing Cluch ON address Movemen amoun afer cluch Iem Main shaf cluch Auxiliary shaf cluch Reference address The curren value specified in "[Pr.406] Main shaf cluch reference address seing" ("[Md.400] Curren value afer composie main shaf gear" or "[Md.401] Curren value per cycle afer main shaf gear") The curren value specified in "[Pr.423] Auxiliary shaf cluch reference address seing" (Auxiliary shaf curren value (servo inpu axis curren value/synchronous encoder axis curren value) or "[Md.402] Curren value per cycle afer auxiliary shaf gear") Cluch ON address [Pr.407] Main shaf cluch ON address [Pr.424] Auxiliary shaf cluch ON address Cluch ON/OFF saus [Md.420] Main shaf cluch ON/OFF saus [Md.423] Auxiliary shaf cluch ON/OFF saus High speed inpu reques The cluch is urned ON when he high speed inpu reques [DI] urns ON. The following acions are required when using he high speed inpu reques. Se he signal No. for he "High speed inpu reques signal" cluch conrol seing Se he exernal command signal used in "[Pr.95] Exernal command signal selecion", "4: High speed inpu reques" in "[Pr.42] Exernal command funcion selecion" and "1: Validaes an exernal command" in "[Cd.8] Exernal command valid" for he applicable axis. [Cd.8] Exernal command valid High speed inpu reques [DI] Cluch ON/OFF saus Curren value before cluch Movemen amoun afer cluch SYNCHRONOUS CONTROL 4.3 Cluch

109 OFF conrol mode OFF conrol invalid Cluch OFF conrol is no used. This seing is applicable only for execuion wih cluch ON conrol. One-sho OFF The cluch is urned OFF afer moving he disance "Movemen amoun before cluch OFF" (One-sho operaion) afer he cluch command urn ON. If "Movemen amoun before cluch OFF" is 0, "Cluch ON/OFF saus" does no urn ON in order o urn back OFF immediaely. Cluch command Cluch ON/OFF saus 4 Curren value before cluch Movemen amoun afer cluch Movemen amoun before cluch OFF Iem Main shaf cluch Auxiliary shaf cluch Cluch command [Cd.400] Main shaf cluch command [Cd.403] Auxiliary shaf cluch command Cluch ON/OFF saus [Md.420] Main shaf cluch ON/OFF saus [Md.423] Auxiliary shaf cluch ON/OFF saus Movemen amoun before cluch OFF [Pr.410] Movemen amoun before main shaf cluch OFF Cluch command leading edge The cluch is urned OFF when he cluch command passes he leading edge (from OFF o ON). Cluch command [Pr.427] Movemen amoun before auxiliary shaf cluch OFF Cluch ON/OFF saus Curren value before cluch Movemen amoun afer cluch Cluch command railing edge The cluch is urned OFF when he cluch command passes he railing edge (from ON o OFF). Cluch command Cluch ON/OFF saus Curren value before cluch Movemen amoun afer cluch 4 SYNCHRONOUS CONTROL 4.3 Cluch 107

110 Address mode The cluch is urned OFF when he reference address reaches "Cluch OFF address". The movemen amoun before passing hrough he OFF address is calculaed as he oupu movemen amoun of he cluch based on he reference address passing hrough, hereby conrolling he cluch wih an accurae movemen amoun. Cluch ON/OFF saus Curren value specified in cluch reference address seing Cluch OFF address Movemen amoun afer cluch Iem Main shaf cluch Auxiliary shaf cluch Reference address The curren value specified in "[Pr.406] Main shaf cluch reference address seing" ("[Md.400] Curren value afer composie main shaf gear" or "[Md.401] Curren value per cycle afer main shaf gear") The curren value specified in "[Pr.423] Auxiliary shaf cluch reference address seing" (Auxiliary shaf curren value (servo inpu axis curren value/synchronous encoder axis curren value) or "[Md.402] Curren value per cycle afer auxiliary shaf gear") Cluch OFF address [Pr.409] Main shaf cluch OFF address [Pr.426] Auxiliary shaf cluch OFF address Cluch ON/OFF saus [Md.420] Main shaf cluch ON/OFF saus [Md.423] Auxiliary shaf cluch ON/OFF saus High speed inpu reques The cluch is urned OFF when he high speed inpu reques [DI] urns ON. The following acions are required when using he high speed inpu reques. Se he signal No. for he "High speed inpu reques signal" cluch conrol seing. Se he exernal command signal used in "[Pr.95] Exernal command signal selecion", "4: High speed inpu reques" in "[Pr.42] Exernal command funcion selecion" and "1: Validaes an exernal command" in "[Cd.8] Exernal command valid" for he applicable axis. [Cd.8] Exernal command valid High speed inpu reques [DI] Cluch ON/OFF saus Curren value before cluch Movemen amoun afer cluch SYNCHRONOUS CONTROL 4.3 Cluch

111 Smoohing mehod for cluch Se he cluch smoohing mehod in "[Pr.411] Main shaf cluch smoohing mehod" and "[Pr.428] Auxiliary shaf cluch smoohing mehod". The 2 ypes of cluch smoohing include he following. Time consan mehod smoohing Slippage mehod smoohing When no using cluch smoohing, se "0: Direc" in he cluch smoohing mehod. Iem Seing iem Seing deails/seing value Main shaf cluch Auxiliary shaf cluch Cluch smoohing mehod [Pr.411] Main shaf cluch smoohing mehod [Pr.428] Auxiliary shaf cluch smoohing mehod Se he cluch smoohing mehod. Se in decimal. 0: Direc 1: Time consan mehod (Exponen) 2: Time consan mehod (Linear) 3: Slippage mehod (Exponen) 4: Slippage mehod (Linear) 5: Slippage mehod (Linear: Inpu value follow up) 4 The operaion of each smoohing mehod is shown below. Time consan mehod smoohing Smoohing is processed wih he ime consan seing value in he smoohing ime consan a cluch ON/OFF. Afer cluch ON smoohing is complee, smoohing is processed wih he ime consan seing value when he speed of he inpu values changes. The movemen amoun beween he cluch urning ON and OFF is no changed wih smoohing. Movemen amoun afer cluch smoohing = Movemen amoun before cluch smoohing Iem Seing iem Seing deails Seing value Main shaf cluch Auxiliary shaf cluch Cluch smoohing ime consan [Pr.412] Main shaf cluch smoohing ime consan [Pr.429] Auxiliary shaf cluch smoohing ime consan Time consan mehod exponenial curve smoohing Se "1: Time consan mehod (Exponenial)" in he cluch smoohing mehod. Cluch ON/OFF saus Cluch smoohing saus For smoohing wih a ime consan mehod, se he smoohing ime consan. Se in decimal. 0 o 5000 [ms] Speed before cluch processing Speed afer cluch smoohing 63% 63% Cluch smoohing ime consan Iem Main shaf cluch Auxiliary shaf cluch Cluch ON/OFF saus [Md.420] Main shaf cluch ON/OFF saus [Md.423] Auxiliary shaf cluch ON/OFF saus Cluch smoohing saus [Md.421] Main shaf cluch smoohing saus [Md.424] Auxiliary shaf cluch smoohing saus 4 SYNCHRONOUS CONTROL 4.3 Cluch 109

112 Time consan mehod linear acceleraion/deceleraion smoohing Se "2: Time consan mehod (Linear)" in he cluch smoohing mehod. Cluch ON/OFF saus Cluch smoohing saus Speed before cluch processing Speed afer cluch smoohing Cluch smoohing ime consan Slippage mehod smoohing Smoohing is processed wih he value in slippage a cluch ON when he cluch urns ON, and wih slippage a cluch OFF when he cluch urns OFF. Smoohing is also processed wih he slippage amoun seing when he inpu speed o he cluch changes, herefore, posiioning conrol a cluch ON/OFF is no affeced by speed changes. Processing proceeds wih direc operaion afer compleing cluch ON smoohing. The movemen amoun beween he cluch urning ON and OFF is as follows afer cluch smoohing. Movemen amoun afer cluch smoohing = Movemen amoun before cluch smoohing + (Slippage amoun a OFF - Slippage amoun a ON) Iem Seing iem Seing deails Seing value Main shaf cluch Auxiliary shaf cluch Slippage amoun a cluch ON Slippage amoun a cluch OFF [Pr.413] Slippage amoun a main shaf cluch ON [Pr.414] Slippage amoun a main shaf cluch OFF [Pr.430] Slippage amoun a auxiliary shaf cluch ON [Pr.431] Slippage amoun a auxiliary shaf cluch OFF *1 Main inpu axis posiion unis ( Page 25 INPUT AXIS MODULE) *2 Auxiliary shaf posiion unis ( Page 25 INPUT AXIS MODULE) *3 Cam axis cycle unis ( Page 118 Unis for he oupu axis) Slippage mehod exponenial curve smoohing Se "3: Slippage (Exponenial)" in he cluch smoohing mehod. Cluch ON/OFF saus Cluch smoohing saus For smoohing wih a slippage mehod, se he slippage amoun a cluch ON. For smoohing wih a slippage mehod, se he slippage amoun a cluch OFF. Se in decimal. 0 o [Main inpu axis posiion unis *1 / auxiliary shaf posiion unis *2 or cam axis cycle unis *3 ] Speed before cluch processing Speed afer cluch smoohing Slippage amoun a cluch ON Slippage amoun a cluch OFF Iem Main shaf cluch Auxiliary shaf cluch Cluch ON/OFF saus [Md.420] Main shaf cluch ON/OFF saus [Md.423] Auxiliary shaf cluch ON/OFF saus Cluch smoohing saus [Md.421] Main shaf cluch smoohing saus [Md.424] Auxiliary shaf cluch smoohing saus SYNCHRONOUS CONTROL 4.3 Cluch

113 Slippage mehod linear acceleraion/deceleraion smoohing Se "4: Slippage mehod (Linear)" or "5: Slippage mehod (Linear: Inpu value follow up)" in he cluch smoohing mehod. The differences beween "4: Slippage mehod (Linear)" and "5: Slippage mehod (Linear: Inpu value follow up)" are shown below. Inpu speed during smoohing Smoohing mehod 4: Slippage mehod (Linear) 5: Slippage mehod (Linear: Inpu value follow up) When he speed is fixed No differences When he speed is changed coninuously and slighly Smoohing secion is changed. Smoohing secion is fixed. When he speed is changed largely The oupu speed is changed slighly. (The average speed migh be faser han he speed before saring smoohing.) The oupu speed is changed depending on he inpu speed. (When he inpu speed is deceleraed and acceleraed again, he speed migh be acceleraed rapidly.) 4 When he inpu speed o he cluch is fixed The operaions of "4: Slippage mehod (Linear)" and "5: Slippage mehod (Linear: Inpu value follow up)" are same. Cluch ON/OFF saus Cluch smoohing saus OFF OFF ON ON Speed before cluch processing Speed afer cluch smoohing Slippage amoun a cluch ON Slippage amoun a cluch OFF When he inpu speed o he cluch is changed coninuously and slighly ["4: Slippage mehod (Linear)" is se.] The cluch smoohing saus ON secion is changed. When he cluch smoohing saus ON secion is exended ON Cluch ON/OFF saus Cluch smoohing saus OFF OFF ON ON secion is exended. Inpu speed (Speed before cluch processing) Oupu speed (Speed afer cluch processing) Slippage amoun a cluch ON Slippage amoun a cluch OFF Clamped a low speed 4 SYNCHRONOUS CONTROL 4.3 Cluch 111

114 When he cluch smoohing saus ON secion is shorened Cluch ON/OFF saus Cluch smoohing saus OFF OFF ON ON ON secion is shorened. Inpu speed (Speed before cluch processing) Oupu speed (Speed afer cluch processing) Slippage amoun a cluch ON Slippage amoun a cluch OFF Clamped a high speed ["5: Slippage mehod (Linear: Inpu value follow up)" is se.] The cluch smoohing saus ON secion is fixed. Cluch ON/OFF saus Cluch smoohing saus OFF OFF ON ON ON secion is fixed. Inpu speed (Speed before cluch processing) Oupu speed (Speed afer cluch processing) Slippage amoun a cluch ON Slippage amoun a cluch OFF When he inpu speed is changed largely during smoohing ["4: Slippage mehod (Linear)" is se.] The oupu speed is changed slighly compared o he change of he inpu speed. (The average speed migh be faser han he speed before saring smoohing.) Cluch ON/OFF saus Cluch smoohing saus OFF OFF ON ON Inpu speed (Speed before cluch processing) Oupu speed (Speed afer cluch processing) Slippage amoun a cluch ON Slippage amoun a cluch OFF The speed changes slighly SYNCHRONOUS CONTROL 4.3 Cluch

115 ["5: Slippage mehod (Linear: Inpu value follow up)" is se.] The oupu speed is changed depending on he inpu speed. (When he inpu speed is deceleraed and acceleraed again, he speed migh be acceleraed rapidly.) Cluch ON/OFF saus Cluch smoohing saus OFF OFF ON ON Inpu speed (Speed before cluch processing) Oupu speed (Speed afer cluch processing) Slippage amoun a cluch ON Slippage amoun a cluch OFF The speed changes depending on he inpu speed. Operaion a inpu speed deceleraion during slippage mehod smoohing When he speed before cluch processing decreases, he speed afer cluch smoohing is conrolled wihou exceeding he speed before cluch processing. If slippage amoun remains when he speed before cluch processing becomes 0, he smoohing process will be coninued. Then, he cluch smoohing process will be execued wih he remaining slippage amoun when he speed before cluch processing ges faser han he speed afer cluch smoohing. 4 Cluch ON/OFF saus Cluch smoohing saus OFF OFF ON ON Speed before cluch processing Speed afer cluch smoohing Slippage amoun a cluch ON Slippage amoun a cluch OFF Deceleraion wihou exceeding he speed before cluch processing. Cluch smoohing is execued wih he remaining slippage amoun a cluch OFF since he speed before cluch processing ges faser. 4 SYNCHRONOUS CONTROL 4.3 Cluch 113

116 Use example of cluch The following machine shows an example using cluch conrol for a flying shear cuing sysem ha synchronizes off a sar signal from a sensor inpu. Sensor inpu (High speed inpu reques [DI]) Main shaf gear 100 mm (3.94 inch) Synchronous encoder Waiing posiion Sensor posiion M Oupu axis Main shaf main inpu axis (Synchronous encoder axis) Oupu axis (Linear cam) Main shaf cluch Main shaf cluch seing iem [Pr.405] Main shaf cluch conrol seing [Pr.406] Main shaf cluch reference address seing [Pr.408] Movemen amoun before main shaf cluch ON [Pr.410] Movemen amoun before main shaf cluch OFF [Pr.411] Main shaf cluch smoohing mehod [Pr.413] Slippage amoun a main shaf cluch ON [Pr.414] Slippage amoun a main shaf cluch OFF ON conrol mode OFF conrol mode High speed inpu reques signal Seing value 5: High speed inpu reques 1: One-sho OFF (Specify he high speed inpu reques signal No., used for sensor inpu.) 0: Curren value afer composie main shaf gear 0 mm 380 mm (14.96 inch) 4: Slippage mehod (Linear) 100 mm (3.94 inch) (Disance beween he sensor and he waiing posiion) 20 mm (0.79 inch) Synchronous encoder axis and oupu axis in synchronizaion High speed inpu reques [DI] Cluch smoohing saus Cluch ON/OFF saus Synchronous encoder axis speed Oupu axis speed Cuing...Afer cluch smoohing All movemen amoun of oupu axis mm + (20 mm mm) = 300 mm (14.96 inch + (0.79 inch inch) = inch) Slippage amoun a cluch ON...Disance beween he sensor and Slippage amoun a cluch OFF...Se as 20 mm (0.79 inch) he waiing posiion (100 mm (3.94 inch)) o sop early. Complee synchronous conrol and reurn o he waiing posiion by posiioning conrol. (I can be reurned by auxiliary shaf wihou changing synchronous conrol.) SYNCHRONOUS CONTROL 4.3 Cluch

117 4.4 Speed Change Gear Module Overview of speed change gear module A speed change gear module is used o change he inpu speed from he main shaf/auxiliary shaf/composie auxiliary shaf gear during operaion. When no using a speed change gear module, se "0: No speed change gear" in "[Pr.434] Speed change gear". Wih speed change from a speed change gear module, operaion is execued wih linear acceleraion/deceleraion based on he seing for he speed change gear smoohing ime consan. Inpu value [Arrangemen he speed change gear] Arranged on one of "Main shaf side", "Auxiliary shaf side" or "Afer composie auxiliary shaf gear". Main shaf cluch 4 [Pr.434] Speed change gear [Pr.435] Speed change gear smoohing ime consan [Pr.436] Speed change raio: Numeraor [Pr.437] Speed change raio: Denominaor Speed change gear Auxiliary shaf cluch Speed change gear Speed change gear Composie auxiliary shaf gear Speed change gear Oupu value Oupu axis Cam Inpu value speed before speed change [Pr.436] Speed change raio: Numeraor [Pr.437] Speed change raio: Denominaor Inpu value speed before speed change [Pr.435] Speed change gear smoohing ime consan [Pr.435] Speed change gear smoohing ime consan 4 SYNCHRONOUS CONTROL 4.4 Speed Change Gear Module 115

118 Speed change gear parameers n: Axis No. - 1 Seing iem Seing deails Seing value Defaul value Buffer memory address [Pr.434] Speed change gear Se he arrangemen for he speed change gear. Fech cycle: A sar of synchronous conrol Se in decimal. 0: No speed change gear 1: Main shaf side 2: Auxiliary shaf side 3: Afer composie auxiliary shaf gear n [Pr.435] Speed change gear smoohing ime consan Se he smoohing ime consan for he speed change gear. Fech cycle: A sar of synchronous conrol Se in decimal. 0 o 5000 [ms] n [Pr.436] Speed change raio: Numeraor Se he numeraor for he speed change raio. Fech cycle: Operaion cycle Se in decimal o n n [Pr.437] Speed change raio: Denominaor Se he denominaor for he speed change raio. Fech cycle: Operaion cycle Se in decimal. 1 o n n [Pr.434] Speed change gear Se he arrangemen for he speed change gear. Seing value Deails 0: No speed change gear Speed change is no processed, and he inpu value is ransmied as is. 1: Main shaf side Speed change is processed for inpu value afer main shaf cluch based on he speed change raio seings. 2: Auxiliary shaf side Speed change is processed for inpu value afer auxiliary shaf cluch based on he speed change raio seings. 3: Afer composie auxiliary shaf gear Speed change is processed for inpu value afer composie auxiliary shaf gear based on he speed change raio seings. [Pr.435] Speed change gear smoohing ime consan Se he averaging ime o execue a smoohing process for he speed change for he speed change gear. The inpu response is delayed depending on he ime se in he speed change gear smoohing ime consan. Speed is changed direcly when "0" is se. [Pr.436] Speed change raio: Numeraor, [Pr.437] Speed change raio: Denominaor Se he numeraor and he denominaor for he speed change raio. "[Pr.436] Speed change raio: Numeraor" and "[Pr.437] Speed change raio: Denominaor" can be changed during synchronous conrol. Inpu values for speed change are processed as follows. [Pr.436] Speed change raio: Numeraor Inpu value afer change = Inpu value before change X [Pr.437] Speed change raio: Denominaor The inpu speed can be reversed by seing a negaive value in " [Pr.436] Speed change raio: Numeraor". "[Pr.437] Speed change raio: Denominaor" is se wihin he range from 1 o SYNCHRONOUS CONTROL 4.4 Speed Change Gear Module

119 4.5 Oupu Axis Module Overview of oupu axis module For he oupu axis module, he cam axis curren value per cycle is calculaed based on he inpu value (he oupu value from a speed change gear), and is convered based on he se cam daa. The feed curren value which is a command is oupu o he servo amplifier. Inpu value [Pr.438] Cam axis cycle uni seing (No influence on conrol) [Pr.446] Synchronous conrol deceleraion ime (Use only a deceleraion sop) 4 [Pr.444] Cam axis phase compensaion advance ime [Pr.445] Cam axis phase compensaion ime consan [Pr.439] Cam axis lengh per cycle [Pr.440] Cam No. [Pr.441] Cam sroke amoun Cam daa [Pr.447] Oupu axis smoohing ime consan Cam axis phase compensaion processing Cam conversion processing Oupu axis smoohing processing [Md.406] Cam axis phase compensaion amoun [Md.410] Execue cam No. [Md.411] Execue cam sroke amoun [Md.407] Cam axis curren value per cycle [Md.408] Cam reference posiion [Md.409] Cam axis feed curren value [Md.20] Feed curren value 4 SYNCHRONOUS CONTROL 4.5 Oupu Axis Module 117

120 Unis for he oupu axis The posiion unis for he oupu axis are shown below based on he seing "[Pr.1] Uni seing". Seing value of "[Pr.1] Uni seing" Oupu axis posiion uni Range 0: mm 10-4 mm ( 10-1 m) Cam axis cycle unis are shown below based on he seing "[Pr.438] Cam axis cycle uni seing" o [mm] ( o [ m]) 1: inch 10-5 inch o [inch] 2: degree 10-5 degree o [degree] 3: pulse pulse o [pulse] Seing value of "[Pr.438] Cam axis cycle uni seing" Uni seing selecion 0: Use unis of main inpu axis Conrol uni Number of decimal places Cam axis cycle uni Range Servo inpu axis posiion uni ( Page 26 Servo inpu axis posiion unis) Synchronous encoder axis posiion uni ( Page 53 Synchronous encoder axis posiion unis) 1: Use unis of his seing 0: mm 0 mm o [mm] mm o [mm] 1: inch 0 inch o [inch] inch o [inch] 2: degree 0 degree o [degree] degree o [degree] 3: pulse 0 pulse o [pulse] pulse o [pulse] SYNCHRONOUS CONTROL 4.5 Oupu Axis Module

121 Oupu axis parameers n: Axis No. - 1 Seing iem Seing deails Seing value Defaul value [Pr.438] Cam axis cycle uni seing Se he unis for he cam axis lengh per cycle. There is no influence on he conrol for he parameer for monior display. Fech cycle: A sar of synchronous conrol Buffer memory address Se in hexadecimal. 0000H n H Conrol uni 0: mm, 1: inch, 2: degree, 3: pulse Number of decimal places 0 o 9 Uni seing selecion 0: Use unis of main inpu axis 1: Use unis of his seing 4 [Pr.439] Cam axis lengh per cycle [Pr.440] Cam No. [Pr.441] Cam sroke amoun [Pr.444] Cam axis phase compensaion advance ime [Pr.445] Cam axis phase compensaion ime consan [Pr.446] Synchronous conrol deceleraion ime [Pr.447] Oupu axis smoohing ime consan Se he required inpu amoun wih he cam per cycle. Fech cycle: A sar of synchronous conrol Se he cam No. Fech cycle: A sar of synchronous conrol, A passing hrough he 0h poin of cam daa Se he cam sroke amoun corresponding o he sroke raio 100% for cam wih sroke raio daa forma. This is ignored for cams using he coordinae daa forma. Fech cycle: A sar of synchronous conrol, A passing hrough he 0h poin of cam daa Se he ime o advance or delay he phase of he cam axis. Fech cycle: Operaion cycle Se he ime consan o affec he phase compensaion of he cam axis. Fech cycle: A sar of synchronous conrol Se he deceleraion ime for he synchronous conrol. Fech cycle: A sar of synchronous conrol Se o smooh he oupu axis. Fech cycle: A sar of synchronous conrol Se in decimal. 1 o [Cam axis cycle unis *1 ] Se in decimal. 0: Linear cam (Prese) 1 o 256: User creaed cam Se in decimal o [Oupu axis posiion unis *2 ] Se in decimal o [ s] n n n n n n n Se in decimal n 0 o [ms] *3 Se in decimal n 0 o [ms] *3 Se in decimal. 0 o 5000 [ms] n *1 Cam axis cycle unis ( Page 118 Unis for he oupu axis) *2 Oupu axis posiion unis ( Page 118 Unis for he oupu axis) *3 Se he value as follows in a program. 0 o 32767: Se as a decimal o 65535: Conver ino a hexadecimal and se [Pr.438] Cam axis cycle uni seing Se he command unis for he cam axis inpu per cycle o be used for cam conrol. These unis are used for seing he cam axis lengh per cycle and he cam axis curren value per cycle. There is no influence on he conrol for he parameer for monior display. Refer o he following. Page 117 Overview of oupu axis module [Pr.439] Cam axis lengh per cycle Se he lengh per cycle of he cam axis o generae he cam axis curren value per cycle. The uni seings are in he cam axis cycle unis ( Page 118 Unis for he oupu axis). Se a value wihin he range from 1 o SYNCHRONOUS CONTROL 4.5 Oupu Axis Module 119

122 [Pr.440] Cam No. Se he cam No. for cam conrol. Cam No.0 operaes as a linear cam for 100% of is sroke raio along he cam axis lengh per cycle. The cam No. can be changed during synchronous conrol. The value se in "[Pr.440] Cam No." is valid when he cam axis curren value per cycle passes hrough he 0h poin of cam daa, or is on he 0h poin. [Pr.441] Cam sroke amoun Se he cam sroke amoun corresponding o a 100% sroke raio in oupu axis posiion unis ( Page 118 Unis for he oupu axis) for cam conrol using he sroke raio daa forma. The cam sroke amoun can be changed during synchronous conrol. The value se in "[Pr.441] Cam sroke amoun" is valid when he cam axis curren value per cycle passes hrough he 0h poin of cam daa, or is on he 0h poin. The seing value is ignored for a cam using he coordinae daa forma. [Pr.444] Cam axis phase compensaion advance ime Se he ime o advance or delay he phase of he cam axis curren value per cycle in he cam conrol. Seing value Deails 1 o [ s] Advance he phase according o he seing ime. 0 [ s] Do no execue phase compensaion o -1 [ s] Delay he phase according o he seing ime. If he seing ime is oo long, he sysem experiences overshoo or undershoo a acceleraion/deceleraion of he inpu speed. In his case, se a longer ime o affec he phase compensaion amoun in "[Pr.445] Cam axis phase compensaion ime consan". [Pr.445] Cam axis phase compensaion ime consan Se he ime consan o affec he phase compensaion amoun for he firs order delay. 63 [%] of he phase compensaion amoun is refleced in he ime consan seing. Cam axis curren value per cycle Cam axis feed curren value Inpu speed before phase compensaion [Pr.444] Cam axis phase compensaion advance ime Curren value per cycle afer phase compensaion Curren value per cycle before phase compensaion Inpu speed afer phase compensaion [Md.406] Cam axis phase compensaion amoun 63% Speed before phase compensaion [Pr.444] Cam axis phase compensaion advance ime 63% [Pr.445] Cam axis phase compensaion ime consan [Pr.445] Cam axis phase compensaion ime consan SYNCHRONOUS CONTROL 4.5 Oupu Axis Module

123 [Pr.446] Synchronous conrol deceleraion ime Se he ime o decelerae o a sop when deceleraion sop occurs during synchronous conrol. Se he ime from "[Pr.8] Speed limi value" unil he speed becomes 0 in unis of ms. Operaion assumes an immediae sop when "0" is se. [Pr.447] Oupu axis smoohing ime consan Se he averaging ime o execue a smoohing process for he movemen amoun of he oupu axis afer cam daa conversion. The smoohing process can moderae rapid speed flucuaion for cams using he coordinae daa forma, ec. The inpu response is delayed depending on he ime corresponding o he seing by smoohing process seing. [Md.407] Cam axis curren value per cycle 4 [Md.20] Feed curren value [Md.22] Feedrae [Md.409] Cam axis feed curren value [Md.20] Feed curren value Speed before smoohing Speed afer smoohing [Pr.447] Oupu axis smoohing ime consan 4 SYNCHRONOUS CONTROL 4.5 Oupu Axis Module 121

124 4.6 Synchronous Conrol Change Funcion Overview of synchronous conrol change funcion This funcion can change he cam reference posiion, he cam axis curren value per cycle and he curren value per cycle afer he main/auxiliary shaf gear during he synchronous conrol. The following 5 mehods exis for he synchronous conrol change funcion. Refer o he following on each change command. Page 122 Synchronous conrol change conrol daa Synchronous conrol change command Applicaion Oupu axis operaion Cam reference posiion movemen Synchronous conrol change conrol daa n: Axis No. - 1 *1 Se he value as follows in a program. 0 o 32767: Se as a decimal o 65535: Conver ino a hexadecimal and se. Adjus he cam reference posiion by he movemen amoun. Change cam axis curren value per cycle Change he cam axis curren value per cycle. None Change curren value per cycle afer main shaf gear Change curren value per cycle afer auxiliary shaf gear Cam axis curren value per cycle movemen Change he curren value per cycle afer main shaf gear. Change he curren value per cycle afer auxiliary shaf gear. Adjus he phase of he cam axis by he movemen amoun. [Cd.406] Synchronous conrol change reques Operaed Se "1" o iniiae "[Cd.407] Synchronous conrol change command". The Simple Moion module reses he value o "0" auomaically afer compleion of he synchronous conrol change. The seing is iniialized o "0" when saring synchronous conrol. None None Operaed Seing iem Seing deails Seing value Defaul value [Cd.406] Synchronous conrol change reques [Cd.407] Synchronous conrol change command [Cd.408] Synchronous conrol change value [Cd.409] Synchronous conrol reflecion ime Se "1" o iniiae a synchronous conrol change command reques. The value is rese o "0" auomaically afer compleion of he synchronous conrol change. Fech cycle: Operaion cycle Se he synchronous conrol change command. Fech cycle: A requesing synchronous conrol change Se he change value for synchronous conrol change processing. Fech cycle: A requesing synchronous conrol change Se he reflecion ime for synchronous conrol change processing. Fech cycle: A requesing synchronous conrol change Se in decimal. 1: Synchronous conrol change reques Se in decimal. 0: Cam reference posiion movemen 1: Change cam axis curren value per cycle 2: Change curren value per cycle afer main shaf gear 3: Change curren value per cycle afer auxiliary shaf gear 4: Cam axis curren value per cycle movemen Se in decimal o (Refer o he deailed explanaion for unis.) Buffer memory address n n n n Se in decimal n 0 o 65535[ms] * SYNCHRONOUS CONTROL 4.6 Synchronous Conrol Change Funcion

125 [Cd.407] Synchronous conrol change command Se he synchronous conrol change command. Seing value Deails Reference 0 Cam reference posiion movemen Page 123 Cam reference posiion movemen 1 Change cam axis curren value per cycle Page 123 Change cam axis curren value per cycle 2 Change curren value per cycle afer main shaf gear Page 124 Change curren value per cycle afer main shaf gear 3 Change curren value per cycle afer auxiliary shaf gear Page 124 Change curren value per cycle afer auxiliary shaf gear 4 Cam axis curren value per cycle movemen Page 124 Cam axis curren value per cycle movemen Cam reference posiion movemen This command is execued o move he cam reference posiion hrough adding he seing movemen amoun of "[Cd.408] Synchronous conrol change value". The movemen amoun o be added is averaged in "[Cd.409] Synchronous conrol reflecion ime" for is oupu. Se a long reflecion ime when a large movemen amoun is used since he cam axis feed curren value moves wih he movemen amoun. 4 [Md.407] Cam axis curren value per cycle [Md.409] Cam axis feed curren value (Feed curren value) [Cd.406] Synchronous conrol change reques [Cd.408] Synchronous conrol change value [Md.408] Cam reference posiion [Cd.409] Synchronous conrol reflecion ime [Cd.407] Synchronous conrol 0: Cam reference posiion movemen change command When "[Cd.406] Synchronous conrol change reques" is rese o "0" while execuing he cam reference posiion movemen insrucion, operaion is sopped midway. If he cam reference posiion movemen insrucion is execued again, he remainder movemen amoun is no refleced, and he operaion sars wih "[Cd.408] Synchronous conrol change value" o be used again. If synchronous conrol is sopped while he cam reference posiion movemen insrucion is being execued, operaion also sops midway. If synchronous conrol is resared, he remainder movemen amoun is no refleced. Change cam axis curren value per cycle The cam axis curren value per cycle is changed o "[Cd.408] Synchronous conrol change value". The cam reference posiion will be also changed o correspond o he changed cam axis curren value per cycle. This operaion is compleed wihin one operaion cycle. [Md.407] Cam axis curren value per cycle [Cd.408] Synchronous conrol change value [Md.409] Cam axis feed curren value (Feed curren value) [Md.408] Cam reference posiion [Cd.406] Synchronous conrol change reques (Before being changed) (Afer being changed) Changed o new cam reference posiion [Cd.407] Synchronous 1: Change cam axis curren value per cycle conrol change command 4 SYNCHRONOUS CONTROL 4.6 Synchronous Conrol Change Funcion 123

126 Change curren value per cycle afer main shaf gear The curren value per cycle afer main shaf gear is changed o he value se in "[Cd.408] Synchronous conrol change value". This operaion is compleed wihin one operaion cycle. Cluch conrol is no execued if he curren value per cycle afer main shaf gear (he value before being changed and afer being changed) has already passed hrough he ON/OFF address in address mode. Change curren value per cycle afer auxiliary shaf gear The curren value per cycle afer auxiliary shaf gear is changed o he value se in "[Cd.408] Synchronous conrol change value". This operaion is compleed wihin one operaion cycle. Cluch conrol is no execued if he curren value per cycle afer he auxiliary shaf gear (he value before being changed and afer being changed) has already passed hrough he ON/OFF address in address mode. Cam axis curren value per cycle movemen This command is execued o move he cam axis curren value per cycle hrough adding he seing movemen amoun of "[Cd.408] Synchronous conrol change value". The movemen amoun o be added is averaged in "[Cd.409] Synchronous conrol reflecion ime" for is oupu. Se a long reflecion ime when a large movemen amoun is used since he cam axis feed curren value moves wih he movemen amoun. [Md.407] Cam axis curren value per cycle [Md.409] Cam axis feed curren value (Feed curren value) [Cd.408] Synchronous conrol change value [Md.408] Cam reference [Cd.409] Synchronous conrol reflecion ime posiion [Cd.406] Synchronous conrol change reques [Cd.407] Synchronous 4: Cam axis curren value per cycle movemen conrol change command [Cd.408] Synchronous conrol change value Se he change value for synchronous conrol change processing as follows. [Cd.407] Synchronous conrol change command 0: Cam reference posiion movemen o : Change cam axis curren value per cycle 2: Change curren value per cycle afer main shaf gear 3: Change curren value per cycle afer auxiliary shaf gear 4: Cam axis curren value per cycle movemen [Cd.408] Synchronous conrol change value Seing range Uni Seing deails Oupu axis posiion uni Cam axis cycle uni Se he movemen amoun of he cam reference posiion. I moves wihin he range from o Se he change curren value per cycle. The seing value is convered wihin he range from 0 o (Cam axis lengh per cycle - 1). Se he movemen amoun of he cam axis curren value per cycle. I moves wihin he range from o SYNCHRONOUS CONTROL 4.6 Synchronous Conrol Change Funcion

127 [Cd.409] Synchronous conrol reflecion ime Se he reflecion ime for synchronous conrol change processing as follows. [Cd.407] Synchronous conrol change command Seing deails for "[Cd.409] Synchronous conrol reflecion ime 0: Cam reference posiion movemen The ime o reflec he movemen amoun o he cam reference posiion. 1: Change cam axis curren value per cycle Seing no required. 2: Change curren value per cycle afer main shaf gear 3: Change curren value per cycle afer auxiliary shaf gear 4: Cam axis curren value per cycle movemen The ime o reflec he movemen amoun o he cam axis curren value per cycle. 4 4 SYNCHRONOUS CONTROL 4.6 Synchronous Conrol Change Funcion 125

128 4.7 Synchronous Conrol Monior Daa Synchronous conrol monior daa is updaed only during synchronous conrol. The monior values ([Md.400], [Md.401], [Md.402], [Md.407], [Md.408], and [Md.409]) from he las synchronous conrol session are resored he nex ime he sysem's power supply urns ON. Resaring operaion saus from he las synchronous conrol session is possible hrough reurning o he las posiion via posiioning conrol ( Page 133 SYNCHRONOUS CONTROL INITIAL POSITION). "The las synchronous conrol session" indicaes saus jus before he las synchronous conrol session was sopped as follows. These are lised wih he las synchronizaion saus. Jus before "[Cd.380] Synchronous conrol sar" urns from ON o OFF. Jus before deceleraion sop by a sop command or an error, ec. Jus before he sysem's power supply urned OFF o he Simple Moion module. n: Axis No. - 1 Monior iem Sorage deails Monior value Buffer memory address [Md.400] Curren value afer composie main shaf gear The curren value afer combining he main inpu and sub inpu values from he main shaf is sored. Value is sored even afer sysem's power supply OFF. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display o [Main inpu axis posiion unis *1 ] n n [Md.401] Curren value per cycle afer main shaf gear The curren value per cycle afer he main shaf gear is sored. One cycle is considered he cam axis lengh per cycle. Value is sored even afer sysem's power supply OFF. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display. 0 o (Cam axis lengh per cycle - 1) [Cam axis cycle unis *2 ] n n [Md.402] Curren value per cycle afer auxiliary shaf gear The curren value per cycle afer he auxiliary shaf gear is sored. One cycle is considered he cam axis lengh per cycle. Value is sored even afer sysem's power supply OFF. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display. 0 o (Cam axis lengh per cycle - 1) [Cam axis cycle unis *2 ] n n [Md.406] Cam axis phase compensaion amoun The curren phase compensaion amoun is sored. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display o [Cam axis cycle unis *2 ] n n [Md.407] Cam axis curren value per cycle The curren value per cycle is sored, which is calculaed from he inpu movemen amoun o he cam axis. (The value afer phase compensaion) Value is sored even afer sysem's power supply OFF. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display. 0 o (Cam axis lengh per cycle - 1) [Cam axis cycle unis *2 ] n n [Md.408] Cam reference posiion The feed curren value as he cam reference posiion is sored. Value is sored even afer sysem's power supply OFF. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display o [Oupu axis posiion unis *3 ] n n [Md.409] Cam axis feed curren value The feed curren value while conrolling he cam axis is sored. Value is sored even afer sysem's power supply OFF. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display o [Oupu axis posiion unis *3 ] n n SYNCHRONOUS CONTROL 4.7 Synchronous Conrol Monior Daa

129 Monior iem Sorage deails Monior value Buffer memory address [Md.410] Execue cam No. The execuing cam No. is sored. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display. 0 o n [Md.411] Execue cam sroke amoun The execuing cam sroke amoun is sored. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display o [Oupu axis posiion unis *3 ] n n [Md.420] Main shaf cluch ON/OFF saus The ON/OFF saus of main shaf cluch is sored. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display. 0: Cluch OFF saus 1: Cluch ON saus n [Md.421] Main shaf cluch smoohing saus The smoohing saus of main shaf cluch is sored. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display. 0: No on cluch smoohing 1: On cluch smoohing n 4 [Md.422] Main shaf cluch slippage (accumulaive) The accumulaive slippage of he main shaf cluch smoohing wih slippage mehod is sored as a signed value. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display o [Main inpu axis posiion unis *1 or Cam axis cycle unis *2 ] n n [Md.423] Auxiliary shaf cluch ON/ OFF saus The ON/OFF saus of he auxiliary shaf cluch is sored. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display. 0: Cluch OFF saus 1: Cluch ON saus n [Md.424] Auxiliary shaf cluch smoohing saus The smoohing saus of he auxiliary shaf cluch is sored. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display. 0: No on cluch smoohing 1: On cluch smoohing n [Md.425] Auxiliary shaf cluch slippage (accumulaive) The accumulaive slippage on he auxiliary shaf cluch smoohing wih slippage mehod is sored as a signed value. Refresh cycle: Operaion cycle (During synchronous conrol only) Monioring is carried ou in decimal display o [Auxiliary shaf posiion unis *4 or Cam axis cycle unis *2 ] n n *1 Main inpu axis posiion unis ( Page 25 INPUT AXIS MODULE) *2 Cam axis cycle unis ( Page 118 Unis for he oupu axis) *3 Oupu axis posiion unis ( Page 118 Unis for he oupu axis) *4 Auxiliary shaf posiion unis ( Page 25 INPUT AXIS MODULE) [Md.400] Curren value afer composie main shaf gear The curren value afer combining he main inpu and he sub inpu values going ino he composie main shaf gear is sored as an accumulaive value. Unis are in posiion unis of he main inpu axis ( Page 25 INPUT AXIS MODULE). The uni is pulse if he main inpu axis is invalid. The curren value afer composie main shaf gear will be changed when he following operaions are execued in he main inpu axis during synchronous conrol. Operaions of main inpu axis (Synchronous conrol) Servo inpu axis Absolue posiion deecion sysem: valid Absolue posiion deecion sysem: invalid Command generaion axis Home posiion reurn Change mehod 1) Synchronous encoder axis Curren value change Change mehod 1) Change mehod 1) Change mehod 1) Speed conrol *1 Change mehod 1) Change mehod 1) Fixed-pich feed conrol Change mehod 1) Speed-posiion swiching conrol *1 Change mehod 1) Change mehod 1) Posiion-speed swiching conrol *1 Change mehod 1) Connecion o servo amplifier Change mehod 2) Change mehod 1) Connecion o synchronous encoder Change mehod 1) *1 When "2: Clear feed curren value o zero" is se in "[Pr.21] Feed curren value during speed conrol" only. Change mehod 1): The new curren value afer composie main shaf gear is calculaed based on he curren value of he main inpu axis. 4 SYNCHRONOUS CONTROL 4.7 Synchronous Conrol Monior Daa 127

130 Curren value afer composie main shaf gear = Main inpu direcion of composie main shaf gear Main inpu axis curren value Change mehod 2): The movemen amoun of he main inpu axis from he las synchronous conrol session is refleced o he curren value afer composie main shaf gear. Curren value afer composie main shaf gear = Curren value afer composie main shaf gear Movemen amoun of main inpu axis from he las synchronous conrol session [Md.401] Curren value per cycle afer main shaf gear The inpu movemen amoun afer he main shaf gear is sored wihin he range from 0 o (Cam axis lengh per cycle - 1). The uni is in cam axis cycle unis ( Page 118 Unis for he oupu axis). The value is resored according o "[Pr.460] Seing mehod of curren value per cycle afer main shaf gear" when saring synchronous conrol. ( Page 133 Synchronous Conrol Iniial Posiion) [Md.402] Curren value per cycle afer auxiliary shaf gear The inpu movemen amoun afer he auxiliary shaf gear is sored wihin he range from 0 o (Cam axis lengh per cycle - 1). The uni is in cam axis cycle unis ( Page 118 Unis for he oupu axis). The value is resored according o "[Pr.461] Seing mehod of curren value per cycle afer auxiliary shaf gear" when saring synchronous conrol. ( Page 133 Synchronous Conrol Iniial Posiion) [Md.406] Cam axis phase compensaion amoun The phase compensaion amoun for he cam axis is sored wih cam axis cycle unis ( Page 118 Unis for he oupu axis). The phase compensaion amoun afer smoohing processing wih " [Pr.445] Cam axis phase compensaion ime consan" is sored. [Md.407] Cam axis curren value per cycle The cam axis curren value per cycle is sored wihin he range from 0 o (Cam axis lengh per cycle - 1). The curren value afer cam axis phase compensaion processing can be moniored. The uni is in cam axis cycle unis ( Page 118 Unis for he oupu axis). The value is resored according o "[Pr.462] Cam axis posiion resoraion objec" when saring synchronous conrol. ( Page 133 Synchronous Conrol Iniial Posiion) SYNCHRONOUS CONTROL 4.7 Synchronous Conrol Monior Daa

131 [Md.408] Cam reference posiion The feed curren value is sored as he cam reference posiion. The uni is in oupu axis posiion unis ( Page 118 Unis for he oupu axis). When he uni is in degrees, a range from 0 o is used. The value is resored according o "[Pr.462] Cam axis posiion resoraion objec" when saring synchronous conrol. ( Page 133 Synchronous Conrol Iniial Posiion) [Md.409] Cam axis feed curren value The feed curren value of he cam axis is sored. The value is he same as "[Md.20] Feed curren value" during synchronous conrol. [Md.410] Execue cam No. The execuing cam No. is sored. When "[Pr.440] Cam No." is changed during synchronous conrol, his is updaed when he conrolling cam No. swiches. 4 [Md.411] Execue cam sroke amoun The execuing cam sroke amoun is sored. When "[Pr.441] Cam sroke amoun" is changed during synchronous conrol, his is updaed when he conrolling cam sroke amoun swiches. [Md.420] Main shaf cluch ON/OFF saus The cluch ON/OFF saus is sored. [Md.421] Main shaf cluch smoohing saus The smoohing saus of he cluch is sored. The saus is updaed by he cluch smoohing mehod as follows. Mehod Time consan mehod Slippage mehod Deails The saus is always "1: On cluch smoohing" during he cluch ON saus. The saus will be "0: No on cluch smoohing" when he cluch is urned OFF and smoohing is compleed. The saus is "1: On cluch smoohing" ill he cluch accumulaive slippage amoun reaches he slippage a cluch ON when he cluch is urned ON. The saus will change o "0: No on cluch smoohing" when he cluch accumulaive slippage amoun reaches he slippage a cluch ON. The saus is "1: On cluch smoohing" ill he cluch accumulaive slippage amoun reaches 0 when he cluch is urned OFF. The saus will change o "0: No on cluch smoohing" when he cluch accumulaive slippage amoun reaches 0. [Md.422] Main shaf cluch slippage (accumulaive) The accumulaive slippage amoun wih he slippage mehod is sored as a signed value. The absolue value of he accumulaive slippage increases o reach he slippage a cluch ON during cluch ON. The absolue value of he accumulaive slippage decreases o reach 0 during cluch OFF. Monioring of he accumulaive slippage is used o check he smoohing progress wih he slippage mehod. [Md.423] Auxiliary shaf cluch ON/OFF saus The cluch ON/OFF saus is sored. [Md.424] Auxiliary shaf cluch smoohing saus The smoohing saus of he cluch is sored. The saus is updaed by he cluch smoohing mehod as follows. Mehod Time consan mehod Slippage mehod Deails The saus is always "1: On cluch smoohing" during he cluch ON saus. The saus will be "0: No on cluch smoohing" when he cluch is urned OFF and smoohing is compleed. The saus is "1: On cluch smoohing" ill he cluch accumulaive slippage amoun reaches he slippage a cluch ON when he cluch is urned ON. The saus will change o "0: No on cluch smoohing" when he cluch accumulaive slippage amoun reaches he slippage a cluch ON. The saus is "1: On cluch smoohing" ill he cluch accumulaive slippage amoun reaches 0 when he cluch is urned OFF. The saus will change o "0: No on cluch smoohing" when he cluch accumulaive slippage amoun reaches 0. 4 SYNCHRONOUS CONTROL 4.7 Synchronous Conrol Monior Daa 129

132 [Md.425] Auxiliary shaf cluch slippage (accumulaive) The accumulaive slippage amoun wih he slippage mehod is sored as a signed value. The absolue value of he accumulaive slippage increases o reach he slippage a cluch ON during cluch ON. The absolue value of he accumulaive slippage decreases o reach 0 during cluch OFF. Monioring of he accumulaive slippage is used o check he smoohing progress wih he slippage mehod SYNCHRONOUS CONTROL 4.7 Synchronous Conrol Monior Daa

133 4.8 Phase Compensaion Funcion In synchronous conrol, delays in progresses, ec. cause he phase o deviae a he oupu axis moor shaf end wih respec o he inpu axis (servo inpu axis or synchronous encoder axis). The phase compensaion funcion compensaes in his case so ha he phase does no deviae. Phase compensaion can be se for he inpu and he oupu axis. I is possible o compensae using he delay ime inheren o he sysem based on he servo inpu axis or he synchronous encoder axis on he inpu axis side. I is also possible o use a compensaion delay ime equivalen o he posiion deviaion for each servo amplifier on he oupu axis side. Phase compensaion of delay ime of he inpu axis Se delay ime inheren o he sysem in he phase compensaion advance ime of he inpu axis ("[Pr.302] Servo inpu axis phase compensaion advance ime", "[Pr.326] Synchronous encoder axis phase compensaion advance ime"). The delay ime inheren o he sysem is shown below. 4 Delay ime inheren o he sysem for a servo inpu axis Operaion cycle [ms] [Pr.300] Servo inpu axis ype Feed curren value Real curren value Command o servo amplifier [ s] 1833 [ s] 0 [ s] 3611 [ s] [ s] 1833 [ s] 0 [ s] 5389 [ s] Delay ime inheren o he sysem for a synchronous encoder axis Operaion cycle [ms] [Pr.320] Synchronous encoder axis ype Incremenal synchronous encoder Synchronous encoder via servo amplifier Feedback value Synchronous encoder via CPU [ s] 3653 [ s] Scan ime [ s] [ s] 5413 [ s] Scan ime [ s] Phase compensaion of delay ime of he oupu axis Se delay ime equivalen o he posiion deviaion on he servo amplifier in "[Pr.444] Cam axis phase compensaion advance ime" for he oupu axis. The delay ime equivalen o posiion deviaion of he servo amplifier is calculaed using he following formula. (When using MR-J3(W)-B, MR-J4(W)-B, and MR-JE-B) Delay ime [ s] = / Servo parameer "Model loop gain (PB07)" When he feed forward gain is se, he delay ime is se o a smaller value han he value lised above. The model loop gain will change when he gain adjusmen mehod is auo uning mode 1 or 2. The model loop gain mus no be changed on he axis execuing phase compensaion hrough prevening change wih he manual mode or inerpolaion mode seing. Seing example When axis 1 is synchronized wih an incremenal synchronous encoder axis, he phase compensaion advance ime is se as follows. (If he operaion cycle is as 1.77 [ms] and model loop gain of axis 1 is as 80.) Seing iem [Pr.326] Synchronous encoder axis phase compensaion advance ime [Pr.444] Cam axis phase compensaion advance ime Seing value 4036 [ s] (Reference: Delay ime inheren o sysem for a synchronous encoder axis) / 80 = [ s] When overshoo or undershoo occurs during acceleraion/deceleraion, se a longer ime for he phase compensaion ime consan. 4 SYNCHRONOUS CONTROL 4.8 Phase Compensaion Funcion 131

134 4.9 Oupu Axis Sub Funcions The following shows which sub funcions apply for he oupu axis in synchronous conrol. : Valid, : Invalid Sub funcion Oupu axis Deails Backlash compensaion funcion The same conrol as oher mehods. Elecronic gear funcion Speed limi funcion Seing is ignored. ("[Pr.8] Speed limi value" mus be se o use "[Pr.446] Synchronous conrol deceleraion ime".) Torque limi funcion Conrolled wih "[Pr.17] Torque limi seing value" or "[Cd.101] Torque oupu seing value" similar o oher mehods. Sofware sroke limi funcion The axis sops immediaely when exceeding he sofware sroke limi range. To disable he sofware sroke limi, se he seing value so ha "Upper limi value = Lower limi value". Hardware sroke limi funcion Conrolled he same as posiioning conrol. Forced sop funcion Same conrol as oher mehods. Speed change funcion Seing is ignored. Override funcion Acceleraion/deceleraion ime change funcion Torque change funcion Same conrol as oher mehods. Absolue sysem Sep funcion Seing is ignored. Skip funcion M code oupu funcion M code is no able o oupu. Teaching funcion Same conrol as oher mehods. Targe posiion change funcion Seing is ignored. Command in-posiion funcion Acceleraion/deceleraion processing funcion Pre-reading sar funcion Seing is ignored. Deceleraion sar flag funcion Sop command processing for deceleraion sop funcion Speed conrol 10 muliplier seing for degree axis funcion Operaion seing for incompleion of home posiion reurn funcion Valid a deceleraion sop only. Deceleraion ime is se in "[Pr.446] Synchronous conrol deceleraion ime". Refleced on monior daa. Conrolled he same as posiioning conrol. For a sysem ha needs alignmen, sar synchronous conrol afer esablishing an a home posiion. Servo ON/OFF Servo OFF reques is ignored during synchronous conrol s imilar o posiioning conrol. Sub funcions for an inpu axis in synchronous conrol conform o he specificaion of each conrol (Home posiion reurn conrol, Posiioning conrol, Manual conrol, Speed orque conrol). Refer o he following for deails. MELSEC iq-f FX5 Simple Moion Module User's Manual (Applicaion) The delay ime inheren o he sysem of a command generaion axis is 0, so ha he phase compensaion funcion does no exis SYNCHRONOUS CONTROL 4.9 Oupu Axis Sub Funcions

135 5 SYNCHRONOUS CONTROL INITIAL POSITION The iniial posiion for synchronous conrol is explained in his chaper. Configure hese seings for siuaions ha require iniial posiion alignmen for synchronous conrol. 5.1 Synchronous Conrol Iniial Posiion The following synchronous conrol monior daa can be aligned o a se posiion when saring synchronous conrol, as he iniial posiion for synchronous conrol. The alignmen o a synchronous conrol iniial posiion is useful for resoring a sysem based on he las conrol saus along wih resaring synchronous conrol afer canceling midway. Synchronous conrol monior daa [Md.400] Curren value afer composie main shaf gear [Md.401] Curren value per cycle afer main shaf gear [Md.402] Curren value per cycle afer auxiliary shaf gear [Md.407] Cam axis curren value per cycle [Md.408] Cam reference posiion [Md.409] Cam axis feed curren value The posiion when saring synchronous conrol Resored o a posiion based on he main inpu axis of he main shaf. Resored according o "[Pr.460] Seing mehod of curren value per cycle afer main shaf gear". Resored according o "[Pr.461] Seing mehod of curren value per cycle afer auxiliary shaf gear". Resored according o "[Pr.462] Cam axis posiion resoraion objec". 5 [Md.400] Curren value afer composie main shaf gear Main shaf main inpu axis Composie main shaf gear Main shaf gear Auxiliary shaf gear Main shaf sub inpu axis Auxiliary shaf cluch [Md.401] Curren value per cycle afer main shaf gear Main shaf cluch Composie auxiliary shaf gear [Pr.460] Seing mehod of curren value per cycle afer main shaf gear 0: Previous value 1: Iniial seing value of curren value per cycle afer main shaf gear 2: Calculae from inpu axis [Md.407] Cam axis curren value per cycle Auxiliary shaf axis Oupu axis [Md.402] Curren value per cycle afer auxiliary shaf gear [Md.408] Cam reference posiion [Md.409] Cam axis feed curren value [Pr.461] Seing mehod of curren value per cycle afer auxiliary shaf gear 0: Previous value 1: Iniial seing value of curren value per cycle afer auxiliary shaf gear 2: Calculae from inpu axis [Pr.462] Cam axis posiion resoraion objec 0: Cam axis curren value per cycle resoraion 1: Cam reference posiion resoraion 2: Cam axis feed curren value resoraion 5 SYNCHRONOUS CONTROL INITIAL POSITION 5.1 Synchronous Conrol Iniial Posiion 133

136 Curren value afer composie main shaf gear a synchronous conrol sar The curren value afer composie main shaf gear is resored as follows according o he main inpu axis operaion execued before saring synchronous conrol. Operaion of main inpu axis (Before synchronous conrol sar) Servo inpu axis Absolue posiion deecion sysem valid Absolue posiion deecion sysem invalid Command generaion axis Home posiion reurn Resoraion mehod 1) Synchronous encoder axis Curren value change Resoraion mehod 1) Resoraion mehod 1) Resoraion mehod 1) Speed conrol *1 Resoraion mehod 1) Resoraion mehod 1) Fixed-pich feed conrol Resoraion mehod 1) Speed-posiion swiching conrol *1 Resoraion mehod 1) Resoraion mehod 1) Posiion-speed swiching conrol *1 Resoraion mehod 1) Connecion o servo amplifier Resoraion mehod 2) Resoraion mehod 1) Connecion o synchronous encoder Resoraion mehod 1) Ohers Resoraion mehod 2) Resoraion mehod 2) Resoraion mehod 2) *1 When "[Pr.300] Servo inpu axis ype" is eiher "1: Feed curren value" or "2: Real curren value", and when "[Pr.21] Feed curren value during speed conrol" is "2: Clear feed curren value o zero" only. Resoraion mehod 1): The new curren value afer composie main shaf gear is calculaed based on he curren value of he main inpu axis. Curren value afer composie main shaf gear = Main inpu direcion of composie main shaf gear Main inpu axis curren value Resoraion mehod 2): The movemen amoun of he main inpu axis from he las synchronous conrol session is refleced o he curren value afer composie main shaf gear. Curren value afer composie main shaf gear = Curren value afer composie main shaf gear a he las synchronous conrol session + Main inpu direcion of composie main shaf gear Amoun of change of main inpu axis curren value from he las synchronous conrol session The curren value afer composie main shaf gear a he las synchronous conrol session is resored when "0: Invalid" is se in "[Pr.400] Main inpu axis No.", or when a servo inpu axis or a synchronous encoder axis as he main inpu axis is no conneced. "The las synchronous conrol session" indicaes saus jus before he las synchronous conrol session was sopped as follows. These are lised wih he las synchronizaion saus. Jus before "[Cd.380] Synchronous conrol sar" urns from ON o OFF. Jus before deceleraion sop by a sop command or an error, ec. Jus before he sysem's power supply urned OFF o he Simple Moion module SYNCHRONOUS CONTROL INITIAL POSITION 5.1 Synchronous Conrol Iniial Posiion

137 Curren value per cycle afer main/auxiliary shaf gear a synchronous conrol sar The curren value per cycle afer main shaf gear/curren value per cycle afer auxiliary shaf gear is resored as follows according o he main inpu axis/auxiliary shaf operaion execued before saring synchronous conrol. Operaion of main inpu axis/ auxiliary shaf (Before synchronous conrol sar) Servo inpu axis Absolue posiion deecion sysem valid Absolue posiion deecion sysem invalid Command generaion axis Home posiion reurn Resoraion mehod 1) Synchronous encoder axis Curren value change Resoraion mehod 1) Resoraion mehod 1) Resoraion mehod 1) Speed conrol *1 Resoraion mehod 1) Resoraion mehod 1) Fixed-pich feed conrol Resoraion mehod 1) Speed-posiion swiching conrol *1 Resoraion mehod 1) Resoraion mehod 1) Posiion-speed swiching conrol *1 Resoraion mehod 1) Connecion o servo amplifier Resoraion mehod 2) Resoraion mehod 1) Connecion o synchronous encoder Resoraion mehod 1) Ohers Resoraion mehod 2) Resoraion mehod 2) Resoraion mehod 2) 5 *1 When "[Pr.300] Servo inpu axis ype" is eiher "1: Feed curren value" or "2: Real curren value", and when "[Pr.21] Feed curren value during speed conrol" is "2: Clear feed curren value o zero" only. Resoraion mehod 1): The new value of he curren value per cycle afer main shaf gear/curren value per cycle afer auxiliary shaf gear is calculaed based on he curren value afer composie main shaf gear/auxiliary shaf curren value. [Main shaf] Curren value per cycle afer main shaf gear = Main shaf gear raio Curren value afer composie main shaf gear [Auxiliary shaf] Curren value per cycle afer auxiliary shaf gear = Auxiliary shaf gear raio Auxiliary shaf curren value Resoraion mehod 2): The movemen amoun from he las synchronous conrol session is refleced o he curren value per cycle afer main shaf gear/curren value per cycle afer auxiliary shaf gear. [Main shaf] Curren value per cycle afer main shaf gear = Curren value per cycle afer main shaf gear a he las synchronous conrol session + Main shaf gear raio Amoun of change of curren value afer composie main shaf gear from he las synchronous conrol session [Auxiliary shaf] Curren value per cycle afer auxiliary shaf gear = Curren value per cycle afer auxiliary shaf gear a he las synchronous conrol session + Auxiliary shaf gear raio Amoun of change of auxiliary shaf curren value from he las synchronous conrol session The curren value per cycle afer main shaf gear/curren value per cycle afer auxiliary shaf gear a he las synchronous conrol session is resored when "0: Invalid" is se in "[Pr.400] Main inpu axis No."/"[Pr.418] Auxiliary shaf axis No.", or when a servo inpu axis or a synchronous encoder axis as he main inpu axis/auxiliary shaf is no conneced. 5 SYNCHRONOUS CONTROL INITIAL POSITION 5.1 Synchronous Conrol Iniial Posiion 135

138 Cam axis posiion a synchronous conrol sar The cam axis posiion is composed of he relaionship of 3 posiions "Cam axis curren value per cycle", "Cam reference posiion" and "Cam axis feed curren value". One of posiions can be resored by defining 2 posiions when saring synchronous conrol. Cam axis curren value per cycle Cam axis feed curren value Cam reference posiion Selec from 3 objecs as follows in "[Pr.462] Cam axis posiion resoraion objec" which posiion is o be resored. (Refer o Page 140 Cam Axis Posiion Resoraion Mehod for deails on he resoraion mehod.) Cam axis curren value per cycle resoraion Cam reference posiion resoraion Cam axis feed curren value resoraion Various parameers need o be se for he cam axis posiion resoraion as shown below. (Refer o Page 137 Synchronous Conrol Iniial Posiion Parameers for he seing deails.) : Required, : Required for iniial seing value, : No required [Pr.462] Cam axis posiion resoraion objec 0: Cam axis curren value per cycle resoraion 1: Cam reference posiion resoraion 2: Cam axis feed curren value resoraion [Pr.463] Seing mehod of cam reference posiion [Pr.467] Cam reference posiion (Iniial seing) [Pr.464] Seing mehod of cam axis curren value per cycle [Pr.468] Cam axis curren value per cycle (Iniial seing) (Used as search saring poin) Resoraion processing deails Resore "Cam axis curren value per cycle" based on "Cam reference posiion" and "Cam axis feed curren value". Resore "Cam reference posiion" based on "Cam axis curren value per cycle" and "Cam axis feed curren value". Resore "Cam axis feed curren value" based on "Cam axis curren value per cycle" and "Cam reference posiion" SYNCHRONOUS CONTROL INITIAL POSITION 5.1 Synchronous Conrol Iniial Posiion

139 5.2 Synchronous Conrol Iniial Posiion Parameers n: Axis No. - 1 Seing iem Seing deails Seing value Defaul value [Pr.460] Seing mehod of curren value per cycle afer main shaf gear [Pr.461] Seing mehod of curren value per cycle afer auxiliary shaf gear [Pr.462] Cam axis posiion resoraion objec [Pr.463] Seing mehod of cam reference posiion [Pr.464] Seing mehod of cam axis curren value per cycle [Pr.465] Curren value per cycle afer main shaf gear (Iniial seing) [Pr.466] Curren value per cycle afer auxiliary shaf gear (Iniial seing) [Pr.467] Cam reference posiion (Iniial seing) [Pr.468] Cam axis curren value per cycle (Iniial seing) Selec he seing mehod for he curren value per cycle afer main shaf gear. Fech cycle: A sar of synchronous conrol Selec he seing mehod for he curren value per cycle afer auxiliary shaf gear. Fech cycle: A sar of synchronous conrol Selec he objec o resore he cam axis posiion. Fech cycle: A sar of synchronous conrol Selec he seing mehod for he cam reference posiion. Se for he cam axis curren value per cycle resoraion or he cam axis feed curren value resoraion. Fech cycle: A sar of synchronous conrol Selec he seing mehod for he cam axis curren value per cycle. Se for he cam reference posiion resoraion or he cam axis feed curren value resoraion. Fech cycle: A sar of synchronous conrol Se he iniial value of he curren value per cycle afer main shaf gear. Fech cycle: A sar of synchronous conrol Se he iniial value of he curren value per cycle afer auxiliary shaf gear. Fech cycle: A sar of synchronous conrol Se he iniial value of he cam reference posiion. Fech cycle: A sar of synchronous conrol Se he iniial value for he cam axis curren value per cycle. The resoraion value for he cam axis curren value per cycle is searched from he seing value wih he cam axis curren value per cycle resoraion. Fech cycle: A sar of synchronous conrol Se in decimal. 0: Previous value 1: Iniial seing value of curren value per cycle afer main shaf gear ([Pr.465]) 2: Calculae from inpu axis Se in decimal. 0: Previous value 1: Iniial seing value of curren value per cycle afer auxiliary shaf gear ([Pr.466]) 2: Calculae from inpu axis Se in decimal. 0: Cam axis curren value per cycle resoraion 1: Cam reference posiion resoraion 2: Cam axis feed curren value resoraion Se in decimal. 0: Previous value 1: Iniial seing value of cam reference posiion 2: Feed curren value Se in decimal. 0: Previous value 1: Iniial seing value of cam axis curren value per cycle 2: Curren value per cycle afer main shaf gear 3: Curren value per cycle afer auxiliary shaf gear Se in decimal. 0 o (Cam axis lengh per cycle - 1) [Cam axis cycle unis *1 ] Se in decimal. 0 o (Cam axis lengh per cycle - 1) [Cam axis cycle unis *1 ] Se in decimal o [Oupu axis posiion unis *2 ] Se in decimal. 0 o (Cam axis lengh per cycle - 1) [Cam axis cycle unis *1 ] Buffer memory address n n n n n n n n n n n n n 5 *1 Cam axis cycle unis ( Page 118 Unis for he oupu axis) *2 Oupu axis posiion unis ( Page 118 Unis for he oupu axis) [Pr.460] Seing mehod of curren value per cycle afer main shaf gear Selec he seing mehod of "[Md.401] Curren value per cycle afer main shaf gear" when saring synchronous conrol. Seing value Deails 0: Previous value The curren value per cycle afer main shaf gear from he las synchronous conrol session is sored. 1: Iniial seing value of curren value per cycle afer main shaf gear The value se in "[Pr.465] Curren value per cycle afer main shaf gear (Iniial seing)" is sored. 2: Calculae from inpu axis The value calculaed based on he curren value afer composie main shaf gear is sored. 5 SYNCHRONOUS CONTROL INITIAL POSITION 5.2 Synchronous Conrol Iniial Posiion Parameers 137

140 [Pr.461] Seing mehod of curren value per cycle afer auxiliary shaf gear Selec he seing mehod of "[Md.402] Curren value per cycle afer auxiliary shaf gear" when saring synchronous conrol. Seing value Deails 0: Previous value The curren value per cycle afer auxiliary shaf gear from he las synchronous conrol session is sored. 1: Iniial seing value of curren value per cycle afer auxiliary shaf gear The value se in "[Pr.466] Curren value per cycle afer auxiliary shaf gear (Iniial seing)" is sored. 2: Calculae from inpu axis The value calculaed based on he auxiliary shaf curren value is sored. [Pr.462] Cam axis posiion resoraion objec Selec he objec o be resored from "Cam axis curren value per cycle", "Cam reference posiion" or "Cam axis feed curren value" when saring synchronous conrol. Seing value Deails 0: Cam axis curren value per cycle resoraion Resore he cam axis curren value per cycle from "Cam reference posiion" and "Cam axis feed curren value". 1: Cam reference posiion resoraion Resore he cam reference posiion from "Cam axis curren value per cycle" and "Cam axis feed curren value". 2: Cam axis feed curren value resoraion Resore he cam axis feed curren value from "Cam axis curren value per cycle" and "Cam reference posiion". [Pr.463] Seing mehod of cam reference posiion Selec he mehod for he cam reference posiion o be resored when "[Pr.462] Cam axis posiion resoraion objec" is se o "0: Cam axis curren value per cycle resoraion" or "2: Cam axis feed curren value resoraion". Seing value Deails 0: Previous value The cam reference posiion from he las synchronous conrol session is sored. The feed curren value is sored when he cam reference posiion from he las synchronous conrol session is no saved. 1: Iniial seing value of cam reference posiion The value se in "[Pr.467] Cam reference posiion (Iniial seing)" is sored. 2: Feed curren value The value se in "[Md.20] Feed curren value" is sored. [Pr.464] Seing mehod of cam axis curren value per cycle Selec he mehod for he cam axis curren value per cycle o be resored when "[Pr.462] Cam axis posiion resoraion objec" is se o "1: Cam reference posiion resoraion" or "2: Cam axis feed curren value resoraion". Seing value Deails 0: Previous value The cam axis curren value per cycle from he las synchronous conrol session is sored as is. 1: Iniial seing value of cam axis curren value per cycle The value se in "[Pr.468] Cam axis curren value per cycle (Iniial seing)" is sored. 2: Curren value per cycle afer main shaf gear The curren value per cycle afer main shaf gear is sored. 3: Curren value per cycle afer auxiliary shaf gear The curren value per cycle afer auxiliary shaf gear is sored. [Pr.465] Curren value per cycle afer main shaf gear (Iniial seing) Se he iniial seing value of he curren value per cycle afer main shaf gear when "[Pr.460] Seing mehod of curren value per cycle afer main shaf gear" is se o "1: Curren value per cycle afer main shaf gear (Iniial seing)". The uni seings are in cam axis cycle unis ( Page 118 Unis for he oupu axis). Se wihin he range from 0 o (Cam axis lengh per cycle - 1). [Pr.466] Curren value per cycle afer auxiliary shaf gear (Iniial seing) Se he iniial seing value of he curren value per cycle afer auxiliary shaf gear when "[Pr.461] Seing mehod of curren value per cycle afer auxiliary shaf gear" is se o "1: Curren value per cycle afer auxiliary shaf gear (Iniial seing)". The uni seings are in cam axis cycle unis ( Page 118 Unis for he oupu axis). Se wihin he range from 0 o (Cam axis lengh per cycle - 1) SYNCHRONOUS CONTROL INITIAL POSITION 5.2 Synchronous Conrol Iniial Posiion Parameers

141 [Pr.467] Cam reference posiion (Iniial seing) Se he iniial seing value of he cam reference posiion in oupu axis posiion unis ( Page 118 Unis for he oupu axis) when "[Pr.463] Seing mehod of cam reference posiion" is se o "1: Cam reference posiion (Iniial seing)". [Pr.468] Cam axis curren value per cycle (Iniial seing) Se a value according o he seing for "[Pr.462] Cam axis posiion resoraion objec". The uni seings are in cam axis cycle unis ( Page 118 Unis for he oupu axis). Se wihin he range from 0 o (Cam axis lengh per cycle - 1). [Pr.462] Cam axis posiion resoraion objec Seing value 0: Cam axis curren value per cycle resoraion Se he saring poin for search processing o resore he cam axis curren value per cycle. Se o resore he posiion on he reurn pah in wo-way cam paern operaion. Refer o he following for deails on search processing. Page 140 Cam axis curren value per cycle resoraion 1: Cam reference posiion resoraion Se he iniial seing value for he cam axis curren value per cycle when "[Pr.464] Seing mehod of cam 2: Cam axis feed curren value resoraion axis curren value per cycle" is se o "1: Cam axis curren value per cycle (Iniial seing)". 5 5 SYNCHRONOUS CONTROL INITIAL POSITION 5.2 Synchronous Conrol Iniial Posiion Parameers 139

142 5.3 Cam Axis Posiion Resoraion Mehod Cam axis curren value per cycle resoraion If "[Pr.462] Cam axis posiion resoraion objec" is se o "0: Cam axis curren value per cycle resoraion" when saring synchronous conrol, he cam axis curren value per cycle is resored based on he cam reference posiion and he cam axis feed curren value. Selec he mehod for he cam reference posiion o be resored. The feed curren value when saring synchronous conrol is used as he cam axis feed curren value. The cam axis curren value per cycle is resored by searching for he corresponding value from he beginning o he end of he cam paern. Se he saring poin from where o search he cam paern in "[Pr.468] Cam axis curren value per cycle (Iniial seing)". (I is also possible o search he reurn pah in a wo-way cam paern operaion.) [Md.20] Feed curren value (A synchronous conrol sar) [Pr.463] Seing mehod of cam reference posiion 0: Previous value 1: Iniial seing value of cam reference posiion 2: Feed curren value [Md.409] Cam axis feed curren value [Md.408] Cam reference posiion The cam axis curren value per cycle is resored based on he cam reference posiion and cam axis feed curren value. [Md.407] Cam axis curren value per cycle Cam axis curren value per cycle Cam axis feed curren value Cam reference posiion Search he cam paern (I is also possible o search from he middle of he cam axis curren value per cycle.) Wih wo-way cam paern operaion, if he corresponding cam axis curren value per cycle is no found, he error "Cam axis curren value per cycle resoraion disable" (error code: 1C28H) will occur and synchronous conrol will no be sared. When saring synchronous conrol, he feed curren value may change slighly from is original posiion a saring synchronous conrol. This is due o he readjusmen of he posiion based on he resored cam axis curren value per cycle. This does no resul in he posiion mismach. Wih a feed operaion cam paern, if he corresponding cam axis curren value per cycle is no found on he firs cycle, he cam reference posiion is changed auomaically and he paern is searched again. If he cam resoluion is large, search processing may ake a long ime when saring synchronous conrol. (Cam resoluion 256: Up o abou 1.0 ms, Cam resoluion 16384: Up o abou 40 ms) SYNCHRONOUS CONTROL INITIAL POSITION 5.3 Cam Axis Posiion Resoraion Mehod

143 Cam axis curren value per cycle resoraion operaion Wih a wo-way cam paern operaion Search from "Cam axis curren value per cycle = 0". (Cam daa saring poin = 0) Cam axis curren value per cycle Search from "Cam axis curren value per cycle=0". Cam axis feed curren value (Feed curren value) Cam reference posiion Resore o he firs feed curren value ha maches. (Oher values are no resored.) Search from a value in he middle of he cam axis curren value per cycle. (Cam daa saring poin 0) Cam axis curren value per cycle [Pr.468] Cam axis curren value per cycle (Iniial seing) 5 Cam axis feed curren value (Feed curren value) Cam reference posiion Search from he value in he middle. (Preceding values are searched laer.) Resore o he firs feed curren value ha maches. (The resoraion is done on he second.) Search from a value in he middle of he cam axis curren value per cycle. (Cam daa saring poin 0) Cam axis curren value per cycle [Pr.468] Cam axis curren value per cycle (Iniial seing) Cam axis feed curren value (Feed curren value) Cam reference posiion The search fails. Cam daa saring poin Search from he value in he middle. Resore o he firs feed curren value ha maches. Cam axis curren value per cycle Cam axis feed curren value (Feed curren value) Cam reference posiion Resoraion fails. No mach is found for he feed curren value wihin 1 cycle. Wih a feed operaion cam paern Search from "Cam axis curren value per cycle = 0". (Cam daa saring poin = 0) Cam axis curren value per cycle Search from "Cam axis curren value per cycle=0". Cam axis feed curren value (Feed curren value) Resore o he firs feed curren value ha maches. (Oher values are no resored.) Cam reference posiion 5 SYNCHRONOUS CONTROL INITIAL POSITION 5.3 Cam Axis Posiion Resoraion Mehod 141

144 Search from a value in he middle of he cam axis curren value per cycle. (Cam daa saring poin = 0) [Pr.468] Cam axis curren value per cycle (Iniial seing) Cam axis curren value per cycle Cam axis feed curren value (Feed curren value) New cam reference posiion Cam reference posiion a saring he resoraion Updae he cam reference posiion in he nex cycle auomaically. Resore o he firs feed curren value ha maches. Search from a value in he middle of he cam axis curren value per cycle. (Cam daa saring poin 0) Cam axis curren value per cycle [Pr.468] Cam axis curren value per cycle (Iniial seing) Cam axis feed curren value (Feed curren value) Search from he value in he middle. New cam reference posiion Cam reference posiion a saring he resoraion Cam daa saring poin Updae he cam reference posiion in he nex cycle auomaically. (Updae he cam daa on 0h poin.) The firs search is fails and a search begins for he second ime. Resore o he firs feed curren value ha maches. Cam axis curren value per cycle Cam axis feed curren value (Feed curren value) New cam reference posiion Cam reference posiion a saring he resoraion Feed sroke Resore o he firs feed curren value ha is found in he second search. Once he resoraion fails in he firs search, he new cam reference posiion is auomaically updaed o se "Feed curren value - New cam reference posiion" o be wihin he feed sroke amoun, and he search process sars again. If he firs search fails, a second search may no be processed on he nex cycle for a cam paern wih a feed sroke ha is smaller han 100% of he sroke as above. The inended cam axis curren value per cycle can be found in he firs search, by seing or posiioning he cam reference posiion in advance SYNCHRONOUS CONTROL INITIAL POSITION 5.3 Cam Axis Posiion Resoraion Mehod

145 Example The following shows an example of resaring he cam (a cam similar o a cam wih a linear feed where wo idenical posiioning poins do no exis on he cam) from he feed curren value afer a forced sop, when he forced sop has sopped operaion. If he following seings are used in a wo-way cam or a cam where idenical posiioning poins exis on he same cam, similar o he cam axis curren value per cycle resoraion operaion ( Page 141 Cam axis curren value per cycle resoraion operaion), he firs maching feed curren value (ouward roue) is resored, herefore resoraion may sar from an uninended cam paern posiion. To avoid resoring he firs maching feed curren value, use cam axis feed curren value resoraion ( Page 146 Cam axis feed curren value resoraion). Seing iem [Pr.439] Cam axis lengh per cycle [Pr.441] Cam sroke amoun [Pr.462] Cam axis posiion resoraion objec [Pr.463] Seing mehod of cam reference posiion [Pr.464] Seing mehod of cam axis curren value per cycle [Pr.467] Cam reference posiion (Iniial seing) [Pr.468] Cam axis curren value per cycle (Iniial seing) Synchronous conrol operaion Feed curren value [pulse] Seing value 1000 [pulse] 200 [pulse] 0: Cam axis curren value per cycle resoraion 1: Iniial seing value of cam reference posiion 0: Previous value 0 [pulse] 0 [pulse] Feed curren value afer free run Time [ms] 0 Forced sop occurred during operaion, and he cam deceleraes o a sop. (Synchronous conrol mode is cancelled) Resore operaion a resar of synchronous conrol Feed curren value [pulse] Cam reference posiion = 0 [pulse] 0 Cam axis curren value per cycle [pulse] Time [ms] Cam operaion Cam is deermined o resar a he posiion where cam axis curren value per cycle is "Feed curren value = 123 [pulse]". Time [ms] Feed curren value [pulse] 200 (peak) 123 Cam operaion resars from "Feed curren value = 123 [pulse]" when he previous forced sop occurred. 0 Cam axis curren value per cycle [pulse] Time [ms] Time [ms] 5 SYNCHRONOUS CONTROL INITIAL POSITION 5.3 Cam Axis Posiion Resoraion Mehod 143

146 Cam reference posiion resoraion If "[Pr.462] Cam axis posiion resoraion objec" is se o "1: cam reference posiion resoraion" when saring synchronous conrol, he cam reference posiion is resored based on he cam axis curren value per cycle and he cam axis feed curren value. Selec he mehod for he cam axis curren value per cycle o be resored. The feed curren value when saring synchronous conrol is used as he cam axis feed curren value. [Pr.464] Seing mehod of cam axis curren value per cycle 0: Previous value 1: Iniial seing value of cam axis curren value per cycle 2: Curren value per cycle afer main shaf gear 3: Curren value per cycle afer auxiliary shaf gear [Md.20] Feed curren value (A synchronous conrol sar) [Md.407] Cam axis curren value per cycle [Md.409] Cam axis feed curren value The cam reference posiion is resored based on he cam axis curren value per cycle and he cam axis feed curren value. [Md.408] Cam reference posiion Cam axis curren value per cycle Cam axis feed curren value Cam reference posiion Resored by he equaion of "Feed curren value - Cam axis curren value per cycle" Example The following shows an example of saring operaion from a posiion of "cam axis curren value per cycle=0" by resoring he cam reference posiion when saring from "feed curren value=0 [pulse]", in he cam when he cam daa saring poin is no 0. Seing iem [Pr.439] Cam axis lengh per cycle [Pr.441] Cam sroke amoun [Pr.462] Cam axis posiion resoraion objec [Pr.463] Seing mehod of cam reference posiion [Pr.464] Seing mehod of cam axis curren value per cycle [Pr.467] Cam reference posiion (Iniial seing) [Pr.468] Cam axis curren value per cycle (Iniial seing) Seing value 1000 [pulse] 200 [pulse] 1: Cam reference posiion resoraion None 1: Iniial seing value of cam axis curren value per cycle None 0 [pulse] Operaion before saring synchronous conrol Feed curren value [pulse] Sroke raio [%] "Feed curren value = 0" due o home posiion reurn, ec. 100 (200 [pulse]) Cam paern for "cam daa saring poin seing = 200 [pulse]" 0 Time [ms] Cam axis lengh per cycle [pulse] SYNCHRONOUS CONTROL INITIAL POSITION 5.3 Cam Axis Posiion Resoraion Mehod

147 Resore operaion a sar of synchronous conrol Cam saring poin is se o "feed curren value = 0 [pulse]". Cam reference posiion becomes "0-200 = -200 [pulse]". Feed curren value [pulse] 0 Cam axis curren value per cycle [pulse] 1000 The esimaed cam paern for "Cam axis curren value per cycle = 0" as he origin is deermined. Time [ms] Cam axis lengh per cycle = 0 [pulse] Cam operaion Feed curren value [pulse] 0 0 Time [ms] Cam operaion sars from 0 poin which is now "Cam reference posiion = -200 [pulse]". Time [ms] Cam axis curren value per cycle [pulse] Time [ms] 5 SYNCHRONOUS CONTROL INITIAL POSITION 5.3 Cam Axis Posiion Resoraion Mehod 145

148 Cam axis feed curren value resoraion If "[Pr.462] Cam axis posiion resoraion objec" is se o "2: Cam axis feed curren value resoraion" when saring synchronous conrol, he cam axis feed curren value is resored based on he cam axis curren value per cycle and he cam reference posiion. Selec he mehod for he cam axis curren value per cycle and he mehod for he cam reference posiion o be resored. [Pr.464] Seing mehod of cam axis curren value per cycle 0: Previous value 1: Iniial seing value of cam axis curren value per cycle 2: Curren value per cycle afer main shaf gear 3: Curren value per cycle afer auxiliary shaf gear [Pr.463] Seing mehod of cam reference posiion 0: Previous value 1: Iniial seing value of cam reference posiion 2: Feed curren value [Md.407] Cam axis curren value per cycle [Md.408] Cam reference posiion The cam axis feed curren value is resored based on he cam axis curren value per cycle and he cam reference posiion. [Md.409] Cam axis feed curren value Cam axis curren value per cycle Cam axis feed curren value Cam reference posiion The cam axis feed curren value moves o is resored value jus afer saring synchronous conrol when he cam axis feed curren value o be resored is differen from he feed curren value a synchronous conrol sar. If he difference is larger han "In-posiion widh (PA10)" of servo amplifier in pulse command unis, he error "Cam axis feed curren value resoraion disable" (error code: 1C29H) will occur and synchronous conrol canno be sared. Noe ha, if he seing value of "In-posiion widh" is large, a rapid operaion may occur. Wih cam axis feed curren value resoraion, calculae he cam axis feed curren value wih he cam posiion calculaion funcion ( Page 150 Cam Posiion Calculaion Funcion) or wih synchronous conrol analysis mode ( Page 148 Synchronous Conrol Analysis Mode) before saring synchronous conrol. Then sar synchronous conrol afer posiioning o he correc cam axis feed curren value. Example The following shows an example of saring a cam paern from he zero poin of he cam axis curren value per cycle wih he curren feed curren value posiion as he origin when reurning o a specified poin, or home posiion reurn is compleed afer a forced sop. Seing iem [Pr.439] Cam axis lengh per cycle [Pr.441] Cam sroke amoun [Pr.462] Cam axis posiion resoraion objec [Pr.463] Seing mehod of cam reference posiion [Pr.464] Seing mehod of cam axis curren value per cycle [Pr.467] Cam reference posiion (Iniial seing) [Pr.468] Cam axis curren value per cycle (Iniial seing) Seing value 1000 [pulse] 200 [pulse] 2: Cam axis feed curren value resoraion 2: Feed curren value 1: Iniial seing value of cam axis curren value per cycle None 0 [pulse] SYNCHRONOUS CONTROL INITIAL POSITION 5.3 Cam Axis Posiion Resoraion Mehod

149 Move o synchronous conrol saring poin Feed curren value [pulse] Resore operaion Time [ms] Move o he posiion of 150 [pulse] by reurn o cam saring posiion, or by home posiion reurn. Feed curren value [pulse] Sar synchronous conrol. The cam reference posiion (feed curren value = 150 [pulse]) becomes he equivalen for he posiion where "Cam axis curren value per cycle = 0" Cam axis curren value per cycle [pulse] Time [ms] Operaion sars from he posiion "Iniial seing = 0 [pulse]" of he seing mehod of cam axis curren value per cycle. 0 Cam operaion Feed curren value [pulse] 350 Time [ms] Wih he "feed curren value = 150 [pulse]" posiion as he sar poin, he cam operaes for he amoun of "Cam reference posiion + cam sroke amoun" Cam axis curren value per cycle [pulse] Time [ms] The ime when cam axis curren value per cycle is "0 [pulse]" Time [ms] 5 SYNCHRONOUS CONTROL INITIAL POSITION 5.3 Cam Axis Posiion Resoraion Mehod 147

150 5.4 Synchronous Conrol Analysis Mode Wih synchronous conrol analysis mode, synchronous conrol parameers are only analyzed when here is a command o sar synchronous conrol. This mode is used o confirm he synchronous posiions of he oupu axes in order o align axes wih posiion conrol before saring synchronous conrol. If he arge axis bi is ON in "[Cd.381] Synchronous conrol analysis mode" when saring synchronous conrol (urning he arge axis bi from OFF o ON for "[Cd.380] Synchronous conrol sar"), operaion eners synchronous conrol analysis mode. When he synchronizaion posiion analysis is compleed, he synchronous conrol monior daa ([Md.400] o [Md.425]) is updaed, and he arge axis bi in "[Cd.380] Synchronous conrol sar" urns OFF. "[Md.141] BUSY signal" is no urned ON during synchronous conrol analysis mode. When saring synchronous conrol wih synchronous conrol analysis mode, he following error does no occur. Cam axis feed curren value resoraion disable (error code: 1C29H) [Cd.380] Synchronous conrol sar (Targe axis bi) [Cd.381] Synchronous conrol analysis mode (Targe axis bi) Synchronous conrol monior daa ([Md.400] o [Md.425]) [Cd.184] Posiioning sar signal [Md.141] BUSY signal (Targe axis bi) (OFF during analyzing) [Md.26] Axis operaion saus The las monior value Sandby (0) Analyzing (5) Monior value a synchronous conrol sar Sar posiioning on he cam axis feed curren value a he beginning afer checking he arge axis bi of "[Cd.380] Synchronous conrol sar" is OFF. Sandby (0) Posiion conrol (8) Sandby (0) Analyzing (5) Synchronous conrol (15) Check synchronizaion posiion in synchronous conrol analysis mode. Move o he synchronizaion posiion wih posiioning conrol. Sar synchronous conrol Synchronous conrol sysem conrol daa Seing iem Seing deails Seing value Defaul value [Cd.380] Synchronous conrol sar [Cd.381] Synchronous conrol analysis mode Synchronous conrol begins if he arge axis bi is urned ON. Synchronous conrol ends if he bi is urned OFF during synchronous conrol. Fech cycle: Operaion cycle If he arge axis bi is urned ON and synchronous conrol is sared, he analysis is only execued and he conrol does no sar. Fech cycle: A sar of synchronous conrol Se he arge axis in 16 bis. (bi0: axis 1 o bi7: axis 8 *1 ) OFF: Synchronous conrol end ON: Synchronous conrol sar Se he arge axis in 16 bis. (bi0: axis 1 o bi7: axis 8 *1 ) OFF: Synchronous conrol analysis mode OFF ON: Synchronous conrol analysis mode ON *1 The range from axis 1 o 4 is valid in he 4-axis module and from axis 1 o 8 is valid in he 8-axis module. Buffer memory address SYNCHRONOUS CONTROL INITIAL POSITION 5.4 Synchronous Conrol Analysis Mode

151 Example The following shows a procedure of aligning he synchronous posiion of an oupu axis ha references he inpu axis. 1. Se he following values in he synchronous conrol iniial posiion parameers. Seing iem [Pr.460] Seing mehod of curren value per cycle afer main shaf gear [Pr.462] Cam axis posiion resoraion objec [Pr.463] Seing mehod of cam reference posiion [Pr.464] Seing mehod of cam axis curren value per cycle Seing value 2: Calculae from inpu axis 2: Cam axis feed curren value resoraion 0: Previous value 2: Curren value per cycle afer main shaf gear 2. Turn ON he arge axis bi of "[Cd.381] Synchronous conrol analysis mode", and hen urn he arge axis bi from OFF o ON in "[Cd.380] Synchronous conrol sar" o sar he synchronous conrol analysis mode. 3. Verify he arge axis bi is OFF for "[Cd.380] Synchronous conrol sar", and execue posiioning for he oupu axis o be updaed o "[Md.409] Cam axis feed curren value". 4. Turn OFF he arge axis bi of "[Cd.381] Synchronous conrol analysis mode", and hen urn he arge axis bi from OFF o ON in "[Cd.380] Synchronous conrol sar" o sar synchronous conrol. 5 5 SYNCHRONOUS CONTROL INITIAL POSITION 5.4 Synchronous Conrol Analysis Mode 149

152 5.5 Cam Posiion Calculaion Funcion The cam posiion is calculaed by he program wih his funcion. This funcion can be used o calculae he cam posiion for he synchronous conrol iniial posiion before saring synchronous conrol. Example The following shows he procedure for synchronous posiion alignmen, in a synchronous sysem where cam axes 2 and 3 are synchronized wih he cam axis curren value per cycle of axis Calculae he cam axis curren value per cycle using his funcion based on he feed curren value and he cam reference posiion of axis Calculae he cam axis feed curren value of axis 2 wih his funcion based on he cam axis curren value per cycle ha was calculaed in 1). 3. Calculae he cam axis feed curren value of axis 3 wih his funcion based on he cam axis curren value per cycle ha was calculaed in 1). 4. Execue posiioning on axis 2 o he cam axis feed curren value which was calculaed in 2), and also on axis 3 o he cam axis feed curren value which was calculaed in 3). 5. Sar synchronous conrol on axis 1, 2 and 3 wih he feed curren value resoraion mode. Use he cam axis curren value per cycle ha was calculaed in 1) for he cam axis curren value per cycle (Iniial seing). Cam posiion calculaion conrol daa Seing iem Seing deails Seing value Defaul value Buffer memory address [Cd.612] Cam posiion calculaion reques Se he cam posiion calculaion reques. The Simple Moion module reses he value o "0" auomaically afer compleion of he cam posiion calculaion. Fech cycle: Main cycle *1 Se in decimal. 1: Cam axis feed curren value calculaion reques 2: Cam axis curren value per cycle calculaion reques [Cd.613] Cam posiion calculaion: Cam No. Se he cam No. for he cam posiion calculaion. Fech cycle: A requesing cam posiion calculaion Se in decimal. 0 o [Cd.614] Cam posiion calculaion: Sroke amoun Se he cam sroke amoun for he cam posiion calculaion. Fech cycle: A requesing cam posiion calculaion Se in decimal o [Oupu axis posiion unis *2 ] [Cd.615] Cam posiion calculaion: Cam axis lengh per cycle Se he cam axis lengh per cycle for he cam posiion calculaion. Fech cycle: A requesing cam posiion calculaion Se in decimal. 1 o [Cam axis cycle unis *3 ] [Cd.616] Cam posiion calculaion: Cam reference posiion Se he cam reference posiion for he cam posiion calculaion. Fech cycle: A requesing cam posiion calculaion Se in decimal o [Oupu axis posiion unis *2 ] [Cd.617] Cam posiion calculaion: Cam axis curren value per cycle Se he cam axis curren value per cycle for he cam posiion calculaion. Fech cycle: A requesing cam posiion calculaion Se in decimal. 0 o (Cam axis lengh per cycle) [Cam axis cycle unis *3 ] [Cd.618] Cam posiion calculaion: Cam axis feed curren value Se he cam axis feed curren value for he cam posiion calculaion. (Se when calculaing he cam axis curren value per cycle.) Fech cycle: A requesing cam posiion calculaion Se in decimal o [Oupu axis posiion unis *2 ] *1 Wih he excepion of posiioning conrol, main cycle processing is execued during he nex available ime. I changes by saus of axis sar. *2 Oupu axis posiion unis ( Page 118 Unis for he oupu axis) *3 Cam axis cycle unis ( Page 118 Unis for he oupu axis) SYNCHRONOUS CONTROL INITIAL POSITION 5.5 Cam Posiion Calculaion Funcion

153 [Cd.612] Cam posiion calculaion reques Se he following commands o calculae he cam posiion. Seing value Deails 1 Cam axis feed curren value calculaion reques 2 Cam axis curren value per cycle calculaion reques The resul is sored in "[Md.600] Cam posiion calculaion resul" and he seing value is rese o "0" auomaically afer compleion of cam posiion calculaion. If warnings occur when requesing he cam posiion calculaion, he warning No. is sored in "[Md.24] Axis warning No." of axis 1 and he seing value is rese o "0" auomaically. When a value oher han he reques command values lised above is se, his calculaion does no ge execued and he seing value is rese o "0" auomaically. [Cd.613] Cam posiion calculaion: Cam No. Se he cam No. for he cam posiion calculaion. If 0 is se for he cam No., he cam posiion is calculaed as a linear cam. 5 [Cd.614] Cam posiion calculaion: Sroke amoun Se he cam sroke amoun for he cam posiion calculaion. [Cd.615] Cam posiion calculaion: Cam axis lengh per cycle Se he cam axis lengh per cycle for he cam posiion calculaion. [Cd.616] Cam posiion calculaion: Cam reference posiion Se he cam reference posiion for he cam posiion calculaion. [Cd.617] Cam posiion calculaion: Cam axis curren value per cycle Se he cam axis curren value per cycle for he cam posiion calculaion when calculaing he cam axis feed curren value. Se he cam axis curren value per cycle as he saring poin o search when calculaing he cam axis curren value per cycle and he cam posiion. [Cd.618] Cam posiion calculaion: Cam axis feed curren value Se he cam axis feed curren value for he cam posiion calculaion when calculaing he cam axis curren value per cycle. This is no used when calculaing he cam axis feed curren value. 5 SYNCHRONOUS CONTROL INITIAL POSITION 5.5 Cam Posiion Calculaion Funcion 151

154 Cam posiion calculaion monior daa Monior iem Sorage deails Monior value Buffer memory address [Md.600] Cam posiion calculaion resul The resul of he cam posiion calculaion is sored. Refresh cycle: A cam posiion calculaion compleion Monioring is carried ou in decimal. When calculaing he cam axis feed curren value: o [Oupu axis posiion unis *1 ] When calculaing he cam axis curren value per cycle: 0 o (Cam axis lengh per cycle - 1) [Cam axis cycle unis *2 ] *1 Oupu axis posiion unis ( Page 118 Unis for he oupu axis) *2 Cam axis cycle unis ( Page 118 Unis for he oupu axis) [Md.600] Cam posiion calculaion resul The resul of he cam posiion calculaion is sored. Cam posiion calculaion When calculaing he cam axis feed curren value When calculaing he cam axis curren value per cycle Sorage deails Calculaed value of he cam axis feed curren value is sored. Calculaed value of he cam axis curren value per cycle is sored. The cam reference posiion is no updaed auomaically by he cam posiion calculaion funcion. Search for he cam axis curren value per cycle When calculaing he cam axis curren value per cycle using cam daa, he posiion corresponding o "[Cd.618] Cam posiion calculaion: Cam axis feed curren value" is searched using cam daa based on he posiion specified by "[Cd.617] Cam posiion calculaion: Cam axis curren value per cycle". The following shows he order of he search for "[Cd.618] Cam posiion calculaion: Cam axis feed curren value" SYNCHRONOUS CONTROL INITIAL POSITION 5.5 Cam Posiion Calculaion Funcion

155 Sroke raio daa forma When "he nh poin of cam daa [Cd.617] Cam posiion calculaion: Cam axis curren value per cycle < he n + 1s poin of cam daa", he posiion corresponding o "[Cd.618] Cam posiion calculaion: Cam axis feed curren value" is searched from he nh poin of cam daa. If "[Cd.617] Cam posiion calculaion: Cam axis curren value per cycle" is in he middle of he cam daa and he corresponding posiion is no found unil he las poin of he cam daa, reurn o he 0h poin and search unil he search saring poin. If he corresponding posiion is no found even hough he whole area of he cam daa has been searched, he warning "Cam posiion calculaion cam axis 1 cycle curren value calculaion disable" (warning code: 0C64H) will occur in reciprocaed cam paern. For he feed cam, calculaes "[Cd.618] Cam posiion calculaion: Cam axis feed curren value" by he sroke difference and searches again from he 0h poin o he whole range. If he corresponding posiion is no found even hough he search process sars again, he warning "Cam posiion calculaion cam axis 1 cycle curren value calculaion disable" (warning code: 0C64H) will occur. Ex. When "[Cd.617] Cam posiion calculaion: Cam axis curren value per cycle" is corresponding o he 0h poin of cam daa 5 1 Search order 0 (Cam reference posiion) [Cd.617] Cam posiion calculaion: Cam axis curren value per cycle Search saring poin Cam axis lengh per cycle [Cam axis cycle unis] A he 0h poin A he 256h poin Searches unil beween he 255h poin and he 256h poin (las poin) in order of he cam daa beween he 0h poin and he 1s poin and beween he 1s poin and he 2nd poin. Ex. When "[Cd.617] Cam posiion calculaion: Cam axis curren value per cycle" is corresponding o he 128h poin of cam daa 2 1 Search order 0 (Cam reference posiion) [Cd.617] Cam posiion calculaion: Cam axis curren value per cycle Search saring poin A he 128h poin Cam axis lengh per cycle [Cam axis cycle unis] A he 0h poin A he 256h poin Searches unil beween he 255h poin and he 256h poin (las poin) in order of he cam daa beween he 128h poin and he 129h poin and beween he 130h poin and he 131h poin. If he corresponding posiion is no found unil he las poin of he cam daa, searches from he 0h poin of he cam daa. Searches unil beween he 127h poin and he 128h poin in order of he cam daa beween he 0h poin and he 1s poin and beween he 1s poin and he 2nd poin. 5 SYNCHRONOUS CONTROL INITIAL POSITION 5.5 Cam Posiion Calculaion Funcion 153

156 Coordinae daa forma (1) The range before he 1s poin of cam daa When he 1s poin of he cam daa is larger han 0 and "[Cd.617] Cam posiion calculaion: Cam axis curren value per cycle < he 1s poin of cam daa", he posiion corresponding o "[Cd.618] Cam posiion calculaion: Cam axis feed curren value" is searched from he range before he 1s poin of he cam daa. If he corresponding posiion is no found in he range of (1), searches in he range of (2). If he corresponding posiion is no found in he range of (2) eiher, searches in he range of (3). If he corresponding posiion is no found even hough he range of (1) o (3) has been searched, he warning "Cam posiion calculaion cam axis 1 cycle curren value calculaion disable" (warning code: 0C64H) will occur in reciprocaed cam paern. For he feed cam, calculaes "[Cd.618] Cam posiion calculaion: Cam axis feed curren value" by he sroke difference and searches again from he 0h poin o he whole range. If he corresponding posiion is no found even hough he search process sars again, he warning "Cam posiion calculaion cam axis 1 cycle curren value calculaion disable" (warning code: 0C64H) will occur. Ex. When "[Cd.617] Cam posiion calculaion: Cam axis curren value per cycle" is se before he 1s poin of cam daa 1 A he 2nd poin 2 3 Search order Search saring poin A he 0h poin 0 (Cam reference posiion) A he 1s poin A he 3rd poin [Cd.617] Cam posiion calculaion: Cam axis curren value per cycle A he 5h poin A he 4h poin (1) (2) (3) Cam axis lengh per cycle [Cam axis cycle unis] Searches from he range of (1). If he corresponding posiion is no found in he range of (1), searches from he 1s poin of he cam daa in he range of (2). (2) The range wihin he cam daa When "[Cd.617] Cam posiion calculaion: Cam axis curren value per cycle < he las poin of cam daa", he posiion corresponding o "[Cd.618] Cam posiion calculaion: Cam axis feed curren value" is searched from he range of he cam daa. When "he nh poin of cam daa [Cd.617] Cam posiion calculaion: Cam axis curren value per cycle < he n + 1s poin of cam daa", he posiion corresponding o "[Cd.618] Cam posiion calculaion: Cam axis feed curren value" is searched from he nh poin of cam daa. If "[Cd.617] Cam posiion calculaion: Cam axis curren value per cycle" is in he middle of he cam daa and he corresponding posiion is no found unil he las poin of he cam daa, reurns o he 1s poin and searches unil he search saring poin. If he corresponding posiion is no found in he range of (2), searches in he range of (3). If he corresponding posiion is no found even hough he range of (2) and (3) has been searched, he warning "Cam posiion calculaion cam axis 1 cycle curren value calculaion disable" (warning code: 0C64H) will occur in reciprocaed cam paern. For he feed cam, calculaes "[Cd.618] Cam posiion calculaion: Cam axis feed curren value" by he sroke difference and searches again from he 0h poin o he whole range. If he corresponding posiion is no found even hough he search process sars again, he warning "Cam posiion calculaion cam axis 1 cycle curren value calculaion disable" (warning code: 0C64H) will occur SYNCHRONOUS CONTROL INITIAL POSITION 5.5 Cam Posiion Calculaion Funcion

157 Ex. When "[Cd.617] Cam posiion calculaion: Cam axis curren value per cycle" is corresponding o he 1s poin of cam daa Search saring poin A he 1s poin 1 2 A he 2nd poin A he 3rd poin Search order A he 0h poin 0 (Cam reference posiion) [Cd.617] Cam posiion calculaion: Cam axis curren value per cycle A he 5h poin A he 4h poin (1) (2) (3) Cam axis lengh per cycle [Cam axis cycle unis] 5 Searches unil beween he 4h poin and he 5h poin (las poin) in order of he cam daa beween he 1s poin and he 2nd poin and beween he 2nd poin and he 3rd poin. If he corresponding posiion is no found unil he las poin of he cam daa, searches from he range of (3). Ex. When "[Cd.617] Cam posiion calculaion: Cam axis curren value per cycle" is corresponding o he 3rd poin of cam daa A he 2nd poin Search saring poin Search order A he 1s poin A he 3rd poin A he 0h poin 0 (Cam reference posiion) [Cd.617] Cam posiion calculaion: Cam axis curren value per cycle A he 5h poin A he 4h poin (1) (2) (3) Cam axis lengh per cycle [Cam axis cycle unis] Searches in order of he cam daa beween he 3rd poin and he 4h poin and beween he 4h poin and he 5h poin (las poin). If he corresponding posiion is no found unil he las poin of he cam daa, searches from he 1s poin of he cam daa. If he corresponding posiion is no found in he cam daa beween he 1s poin and he 2nd poin and beween he 2nd poin and he 3rd poin, searches from he range of (3). 5 SYNCHRONOUS CONTROL INITIAL POSITION 5.5 Cam Posiion Calculaion Funcion 155

158 (3) The range from he las poin of cam daa o he cam axis lengh per cycle When "he las poin of cam daa [Cd.617] Cam posiion calculaion: Cam axis curren value per cycle < cam axis lengh per cycle", he posiion corresponding o "[Cd.618] Cam posiion calculaion: Cam axis feed curren value" is searched from he las poin of he cam daa or laer. If he corresponding posiion is no found even hough he range of (3) has been searched, he warning "Cam posiion calculaion cam axis 1 cycle curren value calculaion disable" (warning code: 0C64H) will occur in reciprocaed cam paern. For he feed cam, calculaes "[Cd.618] Cam posiion calculaion: Cam axis feed curren value" by he sroke difference and searches again from he 0h poin o he whole range. If he corresponding posiion is no found even hough he search process sars again, he warning "Cam posiion calculaion cam axis 1 cycle curren value calculaion disable" (warning code: 0C64H) will occur. Ex. When "[Cd.617] Cam posiion calculaion: Cam axis curren value per cycle" is corresponding o he las poin of cam daa A he 2nd poin 1 Search order A he 0h poin 0 (Cam reference posiion) A he 1s poin (1) (2) A he 3rd poin Search saring poin A he 5h poin A he 4h poin (3) Searches from he range of (3). Cam axis lengh per cycle [Cam axis cycle unis] [Cd.617] Cam posiion calculaion: Cam axis curren value per cycle SYNCHRONOUS CONTROL INITIAL POSITION 5.5 Cam Posiion Calculaion Funcion

159 5.6 Mehod o Resar Synchronous Conrol The relaionship of he synchronous posiion for synchronous conrol is always saved in he Simple Moion module. Synchronous conrol can be resared wihou reurning all axes o heir saring poins by resoring he synchronized relaionship hrough he synchronous conrol iniial posiion parameers ( Page 137 Synchronous Conrol Iniial Posiion Parameers). The reference axis used o resar synchronous conrol is differen for each sysem. The following procedure shows an example of how o resore synchronized values based on he servo inpu axis as reference posiion. Example Resoring 2 oupu axes (axis 2, axis 3) based on he servo inpu axis (axis 1) as he reference posiion. (Press conveyance device) Pressing posiion (Axis 1) Main shaf gear Main shaf gear 5 Y axis of workpiece conveyance (Axis 3) Axis 1 X axis of workpiece conveyance (Axis 2) Procedure for synchronous conrol (firs ime) 1. Execue home posiion reurn for axis 1, 2 and 3, and posiion o he synchronizaion saring poin. 2. Se he synchronous conrol iniial posiion parameers for axis 2 and 3 as follows. Axis 2 Axis 1 Axis 3 Seing iem [Pr.460] Seing mehod of curren value per cycle afer main shaf gear [Pr.462] Cam axis posiion resoraion objec [Pr.463] Seing mehod of cam reference posiion Seing value 2: Calculae from inpu axis 0: Cam axis curren value per cycle resoraion 2: Feed curren value [Pr.468] Cam axis curren value per cycle (Iniial seing) 0 3. Turn ON he bis for axis 2 and 3 in "[Cd.380] Synchronous conrol sar" o sar synchronous conrol. Procedure for resaring synchronous conrol 1. Se he synchronous conrol iniial posiion parameers for axis 2 and 3 as follows. Seing iem [Pr.460] Seing mehod of curren value per cycle afer main shaf gear [Pr.462] Cam axis posiion resoraion objec [Pr.463] Seing mehod of cam reference posiion [Pr.464] Seing mehod of cam axis curren value per cycle Seing value 2: Calculae from inpu axis 2: Cam axis feed curren value resoraion 0: Previous value 2: Curren value per cycle afer main shaf gear 2. Turn ON he bis for axes 2 and 3 in "[Cd.381] Synchronous conrol analysis mode", and hen urn ON he bis for axes 2 and 3 in "[Cd.380] Synchronous conrol sar" o execue he synchronous conrol analysis. The analyzed resul is updaed in [Md.400] o [Md.425]. 3. Posiion axes 2 and 3 o "[Md.409] Cam axis feed curren value" which has been updaed in Turn OFF he bis for axes 2 and 3 in "[Cd.381] Synchronous conrol analysis mode", and hen urn ON he bis for axes 2 and 3 in "[Cd.380] Synchronous conrol sar" o sar synchronous conrol. 5 SYNCHRONOUS CONTROL INITIAL POSITION 5.6 Mehod o Resar Synchronous Conrol 157

160 APPENDICES Appendix 1 Lis of Buffer Memory Addresses (for Synchronous Conrol) The following shows he relaion beween he buffer memory addresses and he various iems. Refer o he following for he lis of general buffer memory addresses. MELSEC iq-f FX5 Simple Moion Module User's Manual (Applicaion) Parameers Servo inpu axis parameers n: Axis No. - 1 Iem [Pr.300] Servo inpu axis ype n [Pr.301] Servo inpu axis smoohing ime consan n [Pr.302] Servo inpu axis phase compensaion advance ime n n [Pr.303] Servo inpu axis phase compensaion ime consan n [Pr.304] Servo inpu axis roaion direcion resricion n Synchronous encoder axis parameers j: Synchronous encoder axis No. - 1 Command generaion axis parameers *1 I is no in he buffer memory. Refer o he following. Page 36 Command generaion axis parameers Buffer memory address Iem Buffer memory address [Pr.320] Synchronous encoder axis ype j [Pr.321] Synchronous encoder axis uni seing j [Pr.322] Synchronous encoder axis uni conversion: Numeraor j j [Pr.323] Synchronous encoder axis uni conversion: Denominaor j j [Pr.324] Synchronous encoder axis lengh per cycle j j [Pr.325] Synchronous encoder axis smoohing ime consan j [Pr.326] Synchronous encoder axis phase compensaion advance ime j j [Pr.327] Synchronous encoder axis phase compensaion ime consan j [Pr.328] Synchronous encoder axis roaion direcion resricion j [Pr.329] Resoluion of synchronous encoder via CPU j j Iem Buffer memory address [Pr.340] Command generaion axis valid seing *1 [Pr.346] Command generaion axis lengh per cycle *1 158 APPENDICES Appendix 1 Lis of Buffer Memory Addresses (for Synchronous Conrol)

161 Synchronous parameers: Main shaf n: Axis No. - 1 Iem [Pr.400] Main inpu axis No n [Pr.401] Sub inpu axis No n [Pr.402] Composie main shaf gear n [Pr.403] Main shaf gear: Numeraor n n [Pr.404] Main shaf gear: Denominaor n n [Pr.405] Main shaf cluch conrol seing n [Pr.406] Main shaf cluch reference address seing n [Pr.407] Main shaf cluch ON address n n [Pr.408] Movemen amoun before main shaf cluch ON n n [Pr.409] Main shaf cluch OFF address n n [Pr.410] Movemen amoun before main shaf cluch OFF n n [Pr.411] Main shaf cluch smoohing mehod n [Pr.412] Main shaf cluch smoohing ime consan n [Pr.413] Slippage a main shaf cluch ON n n [Pr.414] Slippage a main shaf cluch OFF n n Buffer memory address Synchronous parameers: Auxiliary shaf n: Axis No. - 1 Iem Buffer memory address [Pr.418] Auxiliary shaf axis No n [Pr.419] Composie auxiliary shaf gear n [Pr.420] Auxiliary shaf gear: Numeraor n n [Pr.421] Auxiliary shaf gear: Denominaor n n [Pr.422] Auxiliary shaf cluch conrol seing n [Pr.423] Auxiliary shaf cluch reference address seing n [Pr.424] Auxiliary shaf cluch ON address n n [Pr.425] Movemen amoun before auxiliary shaf cluch ON n n [Pr.426] Auxiliary shaf cluch OFF address n n [Pr.427] Movemen amoun before auxiliary shaf cluch OFF n n [Pr.428] Auxiliary shaf cluch smoohing mehod n [Pr.429] Auxiliary shaf cluch smoohing ime consan n [Pr.430] Slippage a auxiliary shaf cluch ON n n [Pr.431] Slippage a auxiliary shaf cluch OFF n n A APPENDICES Appendix 1 Lis of Buffer Memory Addresses (for Synchronous Conrol) 159

162 Synchronous parameers: Speed change gear n: Axis No. - 1 Iem [Pr.434] Speed change gear n [Pr.435] Speed change gear smoohing ime consan n [Pr.436] Speed change raio: Numeraor n n [Pr.437] Speed change raio: Denominaor n n Synchronous parameers: Oupu axis n: Axis No. - 1 Synchronous parameers: Synchronous conrol iniial posiion n: Axis No. - 1 Buffer memory address Iem Buffer memory address [Pr.438] Cam axis cycle uni seing n [Pr.439] Cam axis lengh per cycle n n [Pr.440] Cam No n [Pr.441] Cam sroke amoun n n [Pr.444] Cam axis phase compensaion advance ime n n [Pr.445] Cam axis phase compensaion ime consan n [Pr.446] Synchronous conrol deceleraion ime n [Pr.447] Oupu axis smoohing ime consan n Iem Buffer memory address [Pr.460] Seing mehod of curren value per cycle afer main shaf gear n [Pr.461] Seing mehod of curren value per cycle afer auxiliary shaf gear n [Pr.462] Cam axis posiion resoraion objec n [Pr.463] Seing mehod of cam reference posiion n [Pr.464] Seing mehod of cam axis curren value per cycle n [Pr.465] Curren value per cycle afer main shaf gear (Iniial seing) n n [Pr.466] Curren value per cycle afer auxiliary shaf gear (Iniial seing) n n [Pr.467] Cam reference posiion (Iniial seing) n n [Pr.468] Cam axis curren value per cycle (Iniial seing) n n 160 APPENDICES Appendix 1 Lis of Buffer Memory Addresses (for Synchronous Conrol)

163 Monior daa Servo inpu axis monior daa n: Axis No. - 1 Iem [Md.300] Servo inpu axis curren value n n [Md.301] Servo inpu axis speed n n [Md.302] Servo inpu axis phase compensaion amoun n n [Md.303] Servo inpu axis roaion direcion resricion amoun n n Synchronous encoder axis monior daa j: Synchronous encoder axis No. - 1 Buffer memory address Iem [Md.320] Synchronous encoder axis curren value j j [Md.321] Synchronous encoder axis curren value per cycle j j [Md.322] Synchronous encoder axis speed j j [Md.323] Synchronous encoder axis phase compensaion amoun j j [Md.324] Synchronous encoder axis roaion direcion resricion amoun j j [Md.325] Synchronous encoder axis saus j [Md.326] Synchronous encoder axis error No j [Md.327] Synchronous encoder axis warning No j Command generaion axis monior daa n: Axis No. - 1 Iem [Md.20] Feed curren value n n [Md.22] Feedrae n n [Md.23] Axis error No n [Md.24] Axis warning No n [Md.25] Valid M code n [Md.26] Axis operaion saus n [Md.27] Curren speed n n [Md.28] Axis feedrae n n [Md.29] Speed-posiion swiching conrol posiioning movemen amoun n n [Md.31] Saus n [Md.32] Targe value n n [Md.33] Targe speed n n [Md.38] Sar posiioning daa No. seing value n [Md.39] In speed limi flag n [Md.40] In speed change processing flag n [Md.42] Conrol sysem repeiion couner n [Md.44] Posiioning daa No. being execued n Buffer memory address Buffer memory address A APPENDICES Appendix 1 Lis of Buffer Memory Addresses (for Synchronous Conrol) 161

164 Iem [Md.46] Las execued posiioning daa No n [Md.47] Posiioning daa being execued Posiioning idenifier n Synchronous conrol monior daa n: Axis No. - 1 Cam operaion monior daa: Cam posiion calculaion M code n Dwell ime n Command speed n n Posiioning address n n [Md.48] Deceleraion sar flag n [Md.122] Speed during command n n [Md.141] BUSY signal n [Md.345] Command generaion axis accumulaive curren value n n [Md.347] Command generaion axis curren value per cycle n n Iem [Md.400] Curren value afer composie main shaf gear n n [Md.401] Curren value per cycle afer main shaf gear n n [Md.402] Curren value per cycle afer auxiliary shaf gear n n [Md.406] Cam axis phase compensaion amoun n n [Md.407] Cam axis curren value per cycle n n [Md.408] Cam reference posiion n n [Md.409] Cam axis feed curren value n n [Md.410] Execue cam No n [Md.411] Execue cam sroke amoun n n [Md.420] Main shaf cluch ON/OFF saus n [Md.421] Main shaf cluch smoohing saus n [Md.422] Main shaf cluch slippage (accumulaive) n n [Md.423] Auxiliary shaf cluch ON/OFF saus n [Md.424] Auxiliary shaf cluch smoohing saus n [Md.425] Auxiliary shaf cluch slippage (accumulaive) n n Iem [Md.600] Cam posiion calculaion resul Buffer memory address Buffer memory address Buffer memory address 162 APPENDICES Appendix 1 Lis of Buffer Memory Addresses (for Synchronous Conrol)

165 Conrol daa Command generaion axis conrol daa n: Axis No. - 1 Iem [Cd.3] Posiioning sar No n [Cd.5] Axis error rese n [Cd.6] Resar command n [Cd.7] M code OFF reques n [Cd.9] New curren value n n [Cd.10] New acceleraion ime value n n [Cd.11] New deceleraion ime value n n [Cd.12] Acceleraion/deceleraion ime change value during speed change, enable/disable n [Cd.13] Posiioning operaion speed override n [Cd.14] New speed value n n [Cd.15] Speed change reques n [Cd.17] JOG speed n n [Cd.18] Inerrup reques during coninuous operaion n [Cd.23] Speed-posiion swiching conrol movemen amoun change regiser n n [Cd.24] Speed-posiion swiching enable flag n [Cd.27] Targe posiion change value (New address) n n [Cd.28] Targe posiion change value (New speed) n n [Cd.29] Targe posiion change reques flag n [Cd.40] ABS direcion in degrees n [Cd.46] Speed-posiion swiching command n [Cd.180] Axis sop n [Cd.181] Forward run JOG sar n [Cd.182] Reverse run JOG sar n [Cd.184] Posiioning sar signal n [Cd.300] Command generaion axis parameer No. designaion n [Cd.301] Command generaion axis parameer seing value n n [Cd.302] Command generaion axis parameer conrol reques n [Cd.303] Command generaion axis posiioning daa No. designaion n [Cd.304] Command generaion axis posiioning daa designaion n [Cd.305] Command generaion axis posiioning daa seing value n n [Cd.306] Command generaion axis posiioning daa conrol reques n Buffer memory address A Synchronous conrol sysem conrol daa Iem Buffer memory address [Cd.380] Synchronous conrol sar [Cd.381] Synchronous conrol analysis mode APPENDICES Appendix 1 Lis of Buffer Memory Addresses (for Synchronous Conrol) 163

166 Synchronous encoder axis conrol daa j: Synchronous encoder axis No. - 1 Iem [Cd.320] Synchronous encoder axis conrol sar j [Cd.321] Synchronous encoder axis conrol mehod j [Cd.322] Synchronous encoder axis curren value seing address j j [Cd.323] Synchronous encoder axis error rese j [Cd.324] Connecion command of synchronous encoder via CPU j [Cd.325] Inpu value for synchronous encoder via CPU j j Conrol daa for synchronous conrol n: Axis No. - 1 Iem [Cd.400] Main shaf cluch command n [Cd.401] Main shaf cluch conrol invalid command n [Cd.402] Main shaf cluch forced OFF command n [Cd.403] Auxiliary shaf cluch command n [Cd.404] Auxiliary shaf cluch conrol invalid command n [Cd.405] Auxiliary shaf cluch forced OFF command n [Cd.406] Synchronous conrol change reques n [Cd.407] Synchronous conrol change command n [Cd.408] Synchronous conrol change value n n [Cd.409] Synchronous conrol reflecion ime n Cam operaion conrol daa: Cam daa operaion Buffer memory address Buffer memory address Iem Buffer memory address [Cd.600] Cam daa operaion reques [Cd.601] Operaion cam No [Cd.602] Cam daa firs posiion [Cd.603] Number of cam daa operaion poins [Cd.604] Cam daa forma [Cd.605] Cam resoluion/coordinae number [Cd.606] Cam daa saring poin [Cd.607] Cam daa value o APPENDICES Appendix 1 Lis of Buffer Memory Addresses (for Synchronous Conrol)

167 Cam operaion conrol daa: Cam auo-generaion Iem [Cd.608] Cam auo-generaion reques [Cd.609] Cam auo-generaion cam No [Cd.610] Cam auo-generaion ype [Cd.611] Cam auo-generaion daa * o *1 The iem deails on he cam auo-generaion are shown below. Cam auo-generaion daa for roary cuer Deails Cam resoluion Shee lengh Shee synchronous widh Synchronous axis lengh Synchronizaion saring poin Synchronous secion acceleraion raio Cam operaion conrol daa: Cam posiion calculaion Buffer memory address Buffer memory address Iem [Cd.612] Cam posiion calculaion reques [Cd.613] Cam posiion calculaion: Cam No [Cd.614] Cam posiion calculaion: Sroke amoun [Cd.615] Cam posiion calculaion: Cam axis lengh per cycle [Cd.616] Cam posiion calculaion: Cam reference posiion [Cd.617] Cam posiion calculaion: Cam axis curren value per cycle [Cd.618] Cam posiion calculaion: Cam axis feed curren value Buffer memory address A APPENDICES Appendix 1 Lis of Buffer Memory Addresses (for Synchronous Conrol) 165

168 Appendix 2 Sample Program of Synchronous Conrol The following shows a sample program of execuing synchronous conrol on he axis 1 wih he axis 4 as an inpu axis using he 4-axis module. (The axis 4 is configured as he virual servo amplifier.) 1. Se MR-J4(W)-B on he axis 1 and he virual servo amplifier on he axis 4 in he "Sysem Configuraion" window. 2. Se he axis 4 as he servo inpu axis in he "Inpu Axis Parameer" window. 3. Creae he cam daa (cam No.1). 166 APPENDICES Appendix 2 Sample Program of Synchronous Conrol

169 4. Se he synchronous parameer of he axis Creae he program o sar synchronous conrol. The sample program when head I/O No. of he Simple Moion module is se o 00H is shown below. For using labels Classificaion Label name Descripion Module label FX5SSC_1.sSysMnr2_D.bSynchronizaionFlag_D Synchronizaion flag FX5SSC_1.sSysCrl_D.bPLC_Ready_D FX5SSC_1.sSysCrl_D.bAllAxisServoOn_D FX5SSC_1.sSysMnr2_D.bnBusy_D[0] FX5SSC_1.snAxMnr_D[0].wAxisOperaionSaus_D FX5SSC_1.sSysMnr2_D.bnBusy_D[3] PLC READY All axis servo ON Axis 1 BUSY Axis 1 Axis operaion saus Axis 4 BUSY A Global label, Local label Defines he global label or he local label as follows. The seings of Assign (Device/Label) are no required for he label ha he assignmen device is no se because he unused inernal relay and daa device are auomaically assigned. APPENDICES Appendix 2 Sample Program of Synchronous Conrol 167