Mitsubishi Electric A173UHCPU A273UHCPU Programming Manual v2

MOTION CONTROLLER (SV22)

(VIRTUAL MODE) Programming Manual

type A173UHCPU, A273UHCPU

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INTORODUCTION

Thank you for purchasing the Mitsubishi Motion Controller. This instruction manual describes the handing and precautions of this unit. Incorrect handling will lead to unforeseen events, so we ask that you please read this manual thoroughly and use the unit correctly. Please make sure that this manual is delivered to the final user of the unit and that it is stored for future reference.

Precautions for Safety

Please read this instruction manual and enclosed documents before starting installation, operation, maintenance or inspections to ensure correct usage. Thoroughly understand the machine, safety information and precautions before starting operation. The safety precautions are ranked as "Warning" and "Caution" in this instruction manual.

WARNING When a dangerous situation may occur if handling is mistaken leading to fatal or major injuries.

CAUTION When a dangerous situation may occur if handling is mistaken leading to medium or minor injuries, or physical damage.

Note that some items described as cautions may lead to major results depending on the situation. In any case, important information that must be observed is described.

II

For Safe Operations

1. Prevention of electric shocks

WARNING

Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks.

Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks.

Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF.

The insides of the control unit and servo amplifier are charged and may lead to electric shocks.

When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and then check the voltage with a tester, etc. Failing to do so may lead to electric shocks.

Always ground the control unit, servo amplifier and servomotor with Class 3 grounding.

Do not ground commonly with other devices.

The wiring work and inspections must be done by a qualified technician.

Wire the units after installing the control unit, servo amplifier and servomotor. Failing to do so may lead to electric shocks or damage.

Never operate the switches with wet hands, as this may lead to electric shocks.

Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this may lead to electric shocks.

Do not touch the control unit, servo amplifier or servomotor terminal blocks while the power is ON, as this may lead to electric shocks.

Do not touch the internal power supply, internal grounding or signal wires of the control unit and servo amplifier, as this may lead to electric shocks.

2. For fire prevention

CAUTION

Install the control unit, servo amplifier, servomotor and regenerative resistor on inflammable material. Direct installation on flammable material or near flammable material may lead to fires.

If a fault occurs in the control unit or servo amplifier, shut the power OFF at the servo amplifiers power source. If a large current continues to flow, fires may occur.

When using a regenerative resistor, shut the power OFF with an error signal. The

regenerative resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead to fires.

Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may lead to fires.

III

3. For injury prevention

CAUTION

Do not apply a voltage other than that specified in user's manual or the instruction manual for the product you are using on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity (+/), as this may lead to destruction or damage. The servo amplifier's heat radiating fins, regenerative resistor and servo amplifier, etc., will be hot while the power is ON and for a short time after the power is turned OFF. Do not touch these parts as doing so may lead to burns. Always turn the power OFF before touching the servomotor shaft or coupled machines, as these parts may lead to injuries. Do not go near the machine during test operations or during operations such as teaching. Doing so may lead to injuries.

4. Various precautions Strictly observe the following precautions. Mistaken handling of the unit may lead to faults, injuries or electric shocks.

(1) System structure

CAUTION

Always install a leakage breaker on the control unit and servo amplifier power source. If installation of a magnetic contactor for power shut off during an error, etc., is specified in the instruction manual for the servo amplifier, etc., always install the magnetic contactor. Install an external emergency stop circuit so that the operation can be stopped immediately and the power shut off. Use the control unit, servo amplifier, servomotor and regenerative resistor with the combinations listed in user's manual or the instruction manual for the product you are using. Other combinations may lead to fires or faults. If safety standards (ex., robot safety rules, etc.,) apply to the system using the control unit, servo amplifier and servomotor, make sure that the safety standards are satisfied. If the operation during a control unit or servo amplifier error and the safety direction operation of the control unit differ, construct a countermeasure circuit externally of the control unit and servo amplifier. In systems where coasting of the servomotor will be a problem during emergency stop, servo OFF or when the power is shut OFF, use dynamic brakes. Make sure that the system considers the coasting amount even when using dynamic brakes. In systems where perpendicular shaft dropping may be a problem during emergency stop, servo OFF or when the power is shut OFF, use both dynamic brakes and magnetic brakes. The dynamic brakes must be used only during emergency stop and errors where servo OFF occurs. These brakes must not be used for normal braking. The brakes (magnetic brakes) assembled into the servomotor are for holding applications, and must not be used for normal braking. Construct the system so that there is a mechanical allowance allowing stopping even if the stroke end limit switch is passed through at the max. speed. Use wires and cables that have a wire diameter, heat resistance and bending resistance compatible with the system.

IV

CAUTION

Use wires and cables within the length of the range described in user's manual or the instruction manual for the product you are using .

The ratings and characteristics of the system parts (other than control unit, servo amplifier, servomotor) must be compatible with the control unit, servo amplifier and servomotor.

Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation.

There may be some cases where holding by the magnetic brakes is not possible due to the life or mechanical structure (when the ball screw and servomotor are connected with a timing belt, etc.). Install a stopping device to ensure safety on the machine side.

(2) Parameter settings and programming

CAUTION

Set the parameter values to those that are compatible with the control unit, servo amplifier, servomotor and regenerative resistor model and the system application. The protective functions may not function if the settings are incorrect.

The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode, servo amplifier and servo power unit. The protective functions may not function if the settings are incorrect.

Set the mechanical brake output and dynamic brake output validity parameters to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.

Set the stroke limit input validity parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect.

Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect.

Set the servomotor capacity and type (standard, low-inertia, flat, etc.) parameter to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.

Set the servo amplifier capacity and type parameters to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.

Use the program commands for the program with the conditions specified in the instruction manual.

Set the sequence function program capacity setting, device capacity, latch validity range, I/O assigment setting, and validity of continuous operation during error detection to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.

Some devices used in the program have fixed applications, so use these with the conditions specified in the instruction manual.

The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error, etc. Thus, an error correspondence interlock program specified in the instruction manual must be used.

Use the interlock program specified in the special function unit's instruction manual for the program corresponding to the special function unit.

V

(3) Transportation and installation

CAUTION

Transport the product with the correct method according to the weight.

Use the servomotor suspension bolts only for the transportation of the servomotor. Do not transport the servomotor with machine installed on it.

Do not stack products past the limit.

When transporting the control unit or servo amplifier, never hold the connected wires or cables.

When transporting the servomotor, never hold the cabled, shaft or encoder.

When transporting the control unit or servo amplifier, never hold the front case as it may fall off.

When transporting, installing or removing the control unit or servo amplifier, never hold the edges.

Install the unit according to user's manual, or the instruction manual for the product you are using in a place where the weight can be withstood.

Do not get on or place heavy objects on the product.

Always observe the installation direction.

Keep the designated clearance between the control unit or servo amplifier and control panel inner surface or the control unit and servo amplifier, control unit or servo amplifier and other devices.

Do not installer operate control units, servo amplifiers or servomotors that are damaged or that have missing parts.

Do not block the intake/outtake ports of the servomotor with cooling fan.

Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the control unit, servo amplifier or servomotor.

The control unit, servo amplifier and servomotor are precision machines, so do not drop or apply strong impacts on them.

Securely fix the control unit and servo amplifier to the machine according to user's manual, or the instruction manual for the product you are using. If the fixing is insufficient, these may come off during operation.

Always install the servomotor with reduction gears in the designated direction. Failing to do so may lead to oil leaks.

Store and use the unit in the following environmental conditions.

Conditions Environment

Control unit/Servo Amplifier Servo Motor

Ambient temperature

0C to +55C (With no freezing)

0C to +40C (With no freezing)

Ambient humidity According to each instruction manual

80%RH or less (With no dew condensation)

Storage temperature

According to each instruction manual

20C to +65C

Atmosphere Indoors (where not subject to direct sunlight).

No corrosive gases, flammable gases, oil mist or dust must exist

Altitude 1000 m (305 Feet) or less above sea level

Vibration According to each instruction manual

VI

CAUTION

When coupling with the synchronization encoder or servomotor shaft end, do not apply impact such as by hitting with a hammer. Doing so may lead to encoder damage.

Do not apply a load larger than the tolerable load onto the servomotor shaft. Doing so may lead to shaft breakage.

When not using the unit for a long time, disconnect the power line from the control unit or servo amplifier.

Place the control unit and servo amplifier in static electricity preventing vinyl bags and store.

When storing for a long time, contact the System Service or Service Station.

(4) Wiring

CAUTION

Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor.

After wiring, install the protective covers such as the terminal covers to the original positions.

Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR- BIF) on the output side of the servo amplifier.

Correctly connect the output side (terminals U, V, W). Incorrect connections will lead the servomotor to operate abnormally.

Do not connect a commercial power supply to the servomotor, as this may lead to trouble.

Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control signal output of brake signals, etc. Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning.

Do not connect or disconnect the connection cables between each unit, the encoder cable or PLC expansion cable while the power is ON.

Servo amplifier

VIN (24VDC)

Control output signal RA

Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may lead to the cables combing off during operation.

Do not bundle the power line or cables.

(5) Trial operation and adjustment

CAUTION

Confirm and adjust the program and each parameter before operation. Unpredictable movements may occur depending on the machine.

Extreme adjustments and changes may lead to unstable operation, so never make them.

If the absolute positioning system is used, zeroing is required after initial start up or after replacement of a controller or absolute positioning compatible motor.

VII

(6) Usage methods

CAUTION

Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the control unit, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. The units must be disassembled and repaired by a qualified technician. Do not make any modifications to the unit. Keep the effect or magnetic obstacles to a minimum by installing a noise filter or by using wire shields, etc. Magnetic obstacles may affect the electronic devices used near the control unit or servo amplifier. When using the CE mark-compatible equipment, refer to "EMC Installation Guidelines" (manual number IB(NA)-67339) for the motion controller and to the corresponding EMC Guideline data for the servo amplifier, inverter and other equipment. Use the units with the following conditions.

Item Conditions Input power According to A273UHCPU/A173UHCPU(-S1) user's manual Input frequency According to A273UHCPU/A173UHCPU(-S1) user's manual Tolerable momentary power failure

According to A273UHCPU/A173UHCPU(-S1) user's manual

(7) Remedies for errors

CAUTION

If an error occurs in the self diagnosis of the control unit or servo amplifier, confirm the check details according to this manual or the instruction manual, and restore the operation. If a dangerous state is predicted in case of a power failure or product failure, use a servomotor with magnetic brakes or install a brake mechanism externally. Use a double circuit construction so that the magnetic brake operation circuit can be operated by emergency stop signals set externally. If an error occurs, remove the cause, secure the safety and then resume operation. The unit may suddenly resume operation after a power failure is restored, so do not go near the machine. (Design the machine so that personal safety can be ensured even if the machine restarts suddenly.)

Shut off with servo ON signal OFF, alarm, magnetic brake signal.

Servo motor

Magnetic brakes

RA1 EMG

24VDC

Shut off with the emergency stop signal(EMG).

(8) Maintenance, inspection and part replacement

CAUTION

Perform the daily and periodic inspections according to user's manual or the instruction manual for the product you are using. Perform maintenance and inspection after backing up the program and parameters for the control unit and servo amplifier.

VIII

CAUTION

Do not place fingers or hands in the clearance when opening or closing any opening.

Periodically replace consumable parts such as batteries according to user's manual or the instruction manual for the product you are using.

Do not touch the lead sections such as ICs or the connector contacts.

Do not place the control unit or servo amplifier on metal that may cause a power leakage or wood, plastic or vinyl that may cause static electricity buildup.

Do not perform a mugger test (insulation resistance measurement) during inspection.

When replacing the control unit or servo amplifier, always set the new unit settings correctly.

To prevent positional displacements after a controller or absolute positioning compatible motor is replaced, use one of the following methods to conduct zeroing.

1) PC write the servo data with the peripheral device, turn the power OFF and back ON, then conduct zeroing.

2) Use the peripheral device back-up functions to load the data backed up before replacement.

After maintenance and inspections are completed, confirm that the position detection of the absolute position detector function is correct.

Do not short circuit, charge, overheat, incinerate or disassemble the batteries.

The electrolytic capacitor will generate gas during a fault, so do not place your face near the control unit or servo amplifier.

The electrolytic capacitor and fan will deteriorate. Periodically change these to prevent secondary damage from faults. Replacements can be made by the System Service or Service Station.

(9) Disposal

CAUTION

Dispose of this unit as general industrial waste.

Do not disassemble the control unit, servo amplifier or servomotor parts.

Dispose of the battery according to local laws and regulations.

(10) General cautions

CAUTION

All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections. When operating the product, always return the covers and partitions to the designated positions, and operate according to this manual.

Revisions

*The manual number is given on the bottom left of the back cover.

Print Date *Manual Number Revision

Jun.,2001 IB(NA)-0300029-A First edition

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent

licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial

property rights which may occur as a result of using the contents noted in this manual.

2001 Mitsubishi Electric Corporation

I

CONTENTS

1. GENERAL DESCRIPTION ....................................................................................................... 1- 1 to 1- 6

1.1 System Configuration........................................................................................................................ 1- 2

1.1.1 A273UHCPU System overall configuration ................................................................................ 1- 2

1.1.2 A173UHCPU(-S1) System overall configuration ........................................................................ 1- 4

1.2 Summary of REAL and VIRTUAL Modes ......................................................................................... 1- 5

2. PROCEDURE FOR VIRTUAL MODE POSITIONING CONTROL........................................... 2- 1 to 2- 8

2.1 System Start-Up............................................................................................................................... 2- 1

2.2 Operation.......................................................................................................................................... 2- 4

2.2.1 Operation with incremental system ........................................................................................... 2- 4

2.2.2 Operation with an absolute (absolute position) system ............................................................. 2- 5

2.3 Differences Between the REAL and VIRTUAL Modes..................................................................... 2- 6

2.3.1 Positioning data ......................................................................................................................... 2- 6

2.3.2 Positioning device...................................................................................................................... 2- 6

2.3.3 Servo program........................................................................................................................... 2- 7

2.3.4 Control change (current value change & speed change) .......................................................... 2- 8

3. PERFORMANCE SPECIFICATIONS ....................................................................................... 3- 1 to 3- 2

4. SERVO SYSTEM CPU DEVICES ........................................................................................... 4- 1 to 4-46

4.1 Internal Relays ................................................................................................................................. 4- 1

4.1.1 Internal relay list......................................................................................................................... 4- 1

4.1.2 Axis statuses ............................................................................................................................. 4- 3

4.1.3 Axis command signals............................................................................................................... 4- 4

4.1.4 Virtual servo motor axis statuses .............................................................................................. 4- 5

4.1.5 Virtual servo motor axis command signals................................................................................ 4- 6

4.1.6 Synchronous encoder axis statuses.......................................................................................... 4- 7

4.1.7 Synchronous encoder axis command signals ........................................................................... 4- 7

4.1.8 Common devices....................................................................................................................... 4- 8

4.2 Data Registers ................................................................................................................................ 4-26

4.2.1 Data register list........................................................................................................................ 4-26

4.2.2 Axis monitor devices................................................................................................................. 4-27

4.2.3 Control change registers .......................................................................................................... 4-28

4.2.4 Virtual servo motor axis monitor devices.................................................................................. 4-29

4.2.5 Current values after virtual servo motor axis main shaft's differential gear.............................. 4-30

4.2.6 Synchronous encoder axis monitor devices............................................................................. 4-31

4.2.7 Current values after synchronous encoder axis main shaft's differential gear ......................... 4-31

4.2.8 Cam axis monitor devices ........................................................................................................ 4-32

4.2.9 Common devices...................................................................................................................... 4-33

4.3 Special Relays/Special Registers List ............................................................................................. 4-40

4.3.1 Special relays ........................................................................................................................... 4-40

4.3.2 Special registers ....................................................................................................................... 4-42

II

5. MECHANICAL SYSTEM PROGRAM....................................................................................... 5- 1 to 5- 4

5.1 Mechanical Module Connection Diagram ........................................................................................ 5- 2

(1) Block ........................................................................................................................................ 5- 3

(2) System ..................................................................................................................................... 5- 3

(3) Transmission module connections .......................................................................................... 5- 3

5.2 Mechanical Module List.................................................................................................................... 5- 4

6. DRIVE MODULE.......................................................................................................................6- 1 to 6-36

6.1 Virtual Servo Motor........................................................................................................................... 6- 1

6.1.1 Virtual servo motor operation .................................................................................................... 6- 1

(1) START procedure ............................................................................................................. 6- 1

(2) Procedure for stopping before completion ........................................................................ 6- 3

(3) Control items ..................................................................................................................... 6- 3

(4) Control change .................................................................................................................. 6- 3

(5) Operation mode when error occurs................................................................................... 6- 4

(6) Virtual servo motor axis continuous operation .................................................................. 6- 5

(7) Reverse return during positioning ..................................................................................... 6- 5

6.1.2 Parameter list ............................................................................................................................ 6- 8

(1) Virtual axis No. setting....................................................................................................... 6- 8

(2) Stroke limit UPPER/LOWER limit settings........................................................................ 6- 8

(3) Command in-position range ............................................................................................. 6-10

(4) JOG speed limit and parameter block settings ................................................................ 6-10

6.1.3 Virtual servo motor axis devices (internal relays, data registers) ............................................. 6-11

(1) Virtual servo motor axis status ......................................................................................... 6-11

(2) Virtual servo motor axis command signals....................................................................... 6-16

(3) Virtual servo motor axis monitor device ........................................................................... 6-21

(4) Current value after virtual servo motor axis main shaft differential gear .......................... 6-23

6.2 Synchronous Encoder ..................................................................................................................... 6-25

6.2.1 Synchronous encoder operation............................................................................................... 6-25

(1) Operation START............................................................................................................. 6-25

(2) Operation END ................................................................................................................. 6-26

(3) STOP procedure .............................................................................................................. 6-27

(4) Control items .................................................................................................................... 6-27

(5) Control change ................................................................................................................. 6-27

(6) Operation mode when error occurs.................................................................................. 6-28

6.2.2 Parameter list ........................................................................................................................... 6-29

6.2.3 Synchronous encoder axis device (internal relay, data register) .............................................. 6-30

(1) Synchronous encoder axis device.................................................................................... 6-30

(2) Synchronous encoder axis command signal.................................................................... 6-31

(3) Synchronous encoder axis monitor device....................................................................... 6-32

(4) Current value after synchronous encoder axis main shaft differential gear ..................... 6-33

6.3 Virtual Servo Motor / Synchronous Encoder Control Change......................................................... 6-34

6.3.1 Virtual servo motor control change........................................................................................... 6-34

(1) Control change registers .................................................................................................. 6-34

(2) Current value change ....................................................................................................... 6-35

III

6.3.2 Synchronous encoder control change ...................................................................................... 6-36

(1) Current value change by the CHGA instruction................................................................ 6-36

7. TRANSMISSION MODULE ..................................................................................................... 7- 1 to 7-31

7.1 Gear ................................................................................................................................................. 7- 3

7.1.1 Operation................................................................................................................................... 7- 3

7.1.2 Parameters ................................................................................................................................ 7- 3

(1) Gear ratio .......................................................................................................................... 7- 4

(2) Direction of rotation of output shaft ................................................................................... 7- 4

7.2 Clutch ............................................................................................................................................... 7- 5

7.2.1 Explanation of clutch operation ................................................................................................. 7- 9

(1) ON/OFF mode................................................................................................................... 7- 9

(2) Address mode .................................................................................................................. 7-10

(3) Address mode 2 ............................................................................................................... 7-13

(4) One-shot mode................................................................................................................. 7-15

(5) External input mode ......................................................................................................... 7-20

7.2.2 Parameters ............................................................................................................................... 7-24

(1) Control mode.................................................................................................................... 7-24

(2) Mode setting device.......................................................................................................... 7-25

(3) Clutch ON/OFF command device .................................................................................... 7-25

(4) Clutch ON/OFF address setting device............................................................................ 7-26

(5) Smoothing method ........................................................................................................... 7-26

(6) Smoothing time constant.................................................................................................. 7-26

(7) Amount of slip setting device (2 words) ........................................................................... 7-26

7.3 Speed Change Gear ....................................................................................................................... 7-27

7.3.1 Operation.................................................................................................................................. 7-27

7.3.2 Parameter list ........................................................................................................................... 7-28

(1) Speed change gear ratio upper limit value/lower limit value ............................................ 7-28

(2) Speed change gear ratio setting device ........................................................................... 7-29

(3) Smoothing time constant.................................................................................................. 7-29

7.4 Differential Gear .............................................................................................................................. 7-30

7.4.1 Operation.................................................................................................................................. 7-30

(1) When the input shaft clutch is engaged ........................................................................... 7-30

(2) When the input shaft clutch is disengaged....................................................................... 7-30

(3) When the differential gear is used to connect to the virtual main shaft............................ 7-31

7.4.2 Parameters (setting not necessary) ......................................................................................... 7-31

8. OUTPUT MODULES ............................................................................................................... 8- 1 to 8-63

8.1 Rollers .............................................................................................................................................. 8- 4

8.1.1 Roller operation ......................................................................................................................... 8- 4

(1) Operation........................................................................................................................... 8- 4

(2) Control details.................................................................................................................... 8- 4

IV

8.1.2 Parameter list ............................................................................................................................ 8- 5

(1) Unit setting......................................................................................................................... 8- 5

(2) Roller diameter (L) / Number of PULSES per roller revolution(NL) ................................... 8- 5

(3) Permissible droop pulse value .......................................................................................... 8- 6

(4) Speed control limit (VL) ..................................................................................................... 8- 6

(5) Torque limit value setting device (1 word)......................................................................... 8- 6

(6) Comment........................................................................................................................... 8- 6

8.2 Ball Screws....................................................................................................................................... 8- 7

8.2.1 Ball screw operation .................................................................................................................. 8- 7

(1) Operation........................................................................................................................... 8- 7

(2) Control details.................................................................................................................... 8- 7

8.2.2 Parameter list ............................................................................................................................ 8- 8

(1) Unit setting......................................................................................................................... 8- 8

(2) Ball screw pitch (P) / Number of PULSES per ball screw revolution (NP)......................... 8- 8

(3) Permissible droop pulse value .......................................................................................... 8- 9

(4) Stroke limit upper limit value/lower limit value................................................................... 8- 9

(5) Speed limit value (VL)........................................................................................................ 8- 9

(6) Limit switch output............................................................................................................. 8- 9

(7) Torque limit value setting device (1 word)........................................................................ 8-10

(8) Comment.......................................................................................................................... 8-10

8.3 Rotary Tables .................................................................................................................................. 8-11

8.3.1 Rotary table operation .............................................................................................................. 8-11

(1) Operation.......................................................................................................................... 8-11

(2) Control details................................................................................................................... 8-11

8.3.2 Parameter list ........................................................................................................................... 8-12

(1) Number of PULSES per rotary table revolution (ND)........................................................ 8-12

(2) Permissible droop pulse value ......................................................................................... 8-12

(3) Stroke limit upper limit value/lower limit value.................................................................. 8-12

(4) Speed limit value (VL) ....................................................................................................... 8-13

(5) Limit switch output............................................................................................................ 8-13

(6) Torque limit value setting device (1 word)........................................................................ 8-13

(7) Comment.......................................................................................................................... 8-13

(8) Virtual axis present value in one revolution storage device

(main shaft side)(2 words) ................................................................................................ 8-14

(9) Virtual axis present value in one revolution storage device

(auxiliary input shaft side)(2 words) .................................................................................. 8-16

8.4 Cams............................................................................................................................................... 8-18

8.4.1 Cam operation .......................................................................................................................... 8-19

(1) Procedure for switching from the REAL mode to the VIRTUAL mode............................. 8-19

(2) Processing on switching from the REAL mode to the VIRTUAL mode............................ 8-19

(3) Operation.......................................................................................................................... 8-19

(4) Switching the stroke and cam No. during operation......................................................... 8-20

(5) Control details................................................................................................................... 8-21

(6) Changing control .............................................................................................................. 8-22

(7) Example sequence program ............................................................................................ 8-22

V

8.4.2 Settings when creating cam data ............................................................................................. 8-23

(1) Cam No. ........................................................................................................................... 8-23

(2) Resolution......................................................................................................................... 8-23

(3) Stroke/cam No. change point ........................................................................................... 8-23

(4) Control mode.................................................................................................................... 8-24

(5) Cam data table ................................................................................................................. 8-25

8.4.3 Parameter list ........................................................................................................................... 8-26

(1) Number of PULSES per cam shaft revolution (NC).......................................................... 8-26

(2) Used cam No.................................................................................................................... 8-26

(3) Cam No. setting device (1 word) ...................................................................................... 8-27

(4) Permissible droop pulse value ......................................................................................... 8-27

(5) Unit setting........................................................................................................................ 8-27

(6) Stroke setting device (2 words) ........................................................................................ 8-27

(7) Limit switch output..........................