Mitsubishi MELSEC-A series User manual

PROGRAMMABLE

CONTROLLER

User

Manual

Positioning

module

type

AD71

CATALOG

UMPM

15.00

MlTSUBlSHl

ELECTRIC

REVISIONS

%Themanualnumber

givenonthebottom

left of

the back

cover.

Deletion

]

Section

8.1.4

“InstructionsforStrategic Materials”

added

INTRODUCTION

Thankyouforchoosing the MitsubishiMELSEC-ASeries of GeneralPurposeProgrammable

Controllers.Pleasereadthismanualcarefully

thattheequipment is usedto its optimum.

copy of this manual shouldbeforwardedto the end User.

CONTENTS

SYSTEMCONFIGURATION

............................................

2-1 2-7

2.1 Introduction to

the

AD71

.................................................

2.1

2.2 MELSEC-ASeries Equipment

..............................................

2.3 AD71ProgrammingEquipment

.............................................

2.7

3.1

3.2

3.3

3.4

3.5

3.6

3.7

3.8

GeneralSpecifications

....................................................

3.1

Performance Specifications and Functions

.....................................

3.2

3.2.1 AD71 performancespecifications.

.....................................

3.2

3.2.2 Functions

........................................................

3-3

PositioningSystem Operation

..............................................

3.5

3.3.1 AD71 interfaces

...................................................

3.5

3.3.2AD71operation

...................................................

3.6

Format and Functionsof Operating Data

......................................

3.8

3.4.1Parameters

.......................................................

3.8

3.4.2Zeroingdata

.....................................................

3-18

3.4.3Positioningdata

..................................................

3-22

BufferMemory

.........................................................

3.29

3.5.1Positioning

start

data

..............................................

3-31

3.5.2 Error reset(Address 201

)

...........................................

3-43

3.5.3

data(Address512 to 767)

.......................................

3-43

3.5.4Positioningdata area

3.5.5Parameterarea

3.5.6Zeroingdataarea

1/0 Signals

and From

CPU

...........................................

3-47

1/0

Interfacewith External Equipment

......................................

3.53

3.7.1AD71electricalspecifications

.......................................

3-53

3.7.2 1/0 interface electricaldetails

........................................

3-54

BatterySpecifications

...................................................

3.55

axis: address 3872 to 5871.

axis: address 5872 to 7871

...............

3-44

axis: address 7872 to 7887.

axis: address 7892 to 7907)

...............

3-45

axis: address 791 2to 7918.

axis: address 7922 to 7928)

...............

3-46

HANDLING

.........................................................

4-1 -4-3

4.1 Handling Instructions

.....................................................

4-1

4.2Nomenclature

...........................................................

4-2

4.3.1 Batteryconnection

.................................................

4.3

4.3 Preparation

............................................................

-4-3

fNA1

56101

......

LOADING AND INSTALLATION

........................................

5-1 %5-6

5.1 Installation Environments

.................................................

5.1

5.2SystemDesignPrecautions

.................................................

5-2

5.3 InstallationandRemoval

..................................................

5.3

5.4Wiring

.................................................................

5-5

5.4.1Wiringprecautions

.................................................

5.5

5.4.2Drive unit connector

...............................................

5-6

PROGRAMMING

....................................................

6-1

6-54

6.1 Writing Programs

........................................................

6.1

6.1.1 Program structure

..................................................

6.1

6.1.2Notes on programming

..............................................

6-3

6.2Notes on Use

the A6GPPand AD71TU

.....................................

6.5

6.3ACPUProgramming

......................................................

6.6

6.3.1Data

read

and write precautions

.......................................

6-6

6.3.2Data communication with

program

..................................

6.7

6.3.3

Start

positioning

..................................................

6-15

6.3.4

Jog

operationprogram

.............................................

6-23

6.3.5Inching

.........................................................

6.25

6.3.6 Positionaddressteaching

............................................

6.29

6.3.7Zeroing

.........................................................

6-37

6.3.8Presentvaluechange

...............................................

6-39

6.3.9 Positioningstop

..................................................

6.41

6.4ACPURemote

1/0

Station Programming

.....................................

6.46

6.4.1Notes on programming

.............................................

6-46

6.4.2 Readingand writing data

...........................................

6-48

6.4.3Programexample

.................................................

6-51

CHECK

LISTS

.......................................................

7-1

z7-3

7.1

GeneralCheck List

.......................................................

7-1

7.2Testsand Adjustments

...................................................

-7-2

7.2.1Sequencecheck

...................................................

7.2

7.2.2Checking positioningoperation

.......................................

7-3

INAI

ffi101.A

-.-

........

...

TROUBLESHOOTING

................................................

8-1

8-15

8.1 ErrorDetected by AD71

...................................................

8.1

8.1.1Datarangeerrors

...................................................

8.2

8.1.3 Buffer memory write errors

...........................................

8-5

8.1.4 AD71 BUSY (positioning)stoperrors

...................................

8-6

8.2 Troubleshooting

.........................................................

8.7

8.2.1General troubleshooting

.............................................

8.7

8.2.2Driveinoperative

...................................................

8.8

8.2.3 Incorrectpositioning.,

.............................................

8.10

8.2.4 Speed wrong

.....................................................

8.11

8.2.5 Corrupted positioningdata

..........................................

8.12

8.2.6Unrequested stop

.................................................

8.13

8.2.7 Zeroingfault

.....................................................

8.14

8.1.2 "HOLD" LED

.....................................................

8.5

MAINTENANCE

......................................................

91 9-4

9.1 Unit Storage

............................................................

9.1

9.2 Battery Change

..........................................................

9.2

9.2.1 Batterychange frequency

............................................

9.2

9.2.2Changing the battery

...............................................

9.4

APPENDICES

....................................................

.AP

P.l

APP-24

APPENDIX 1 Format Sheets

...............................................

.AP

P.1

APPENDIX 2 AD71 Processing Times

........................................

.APP.6

APPENDIX 3 System Design Considerations

...................................

.AP

P.7

APPENDIX 4 Connectionwith Servo Motors

...................................

.APP.9

4.1Connection with MitsubishiMELSERVO-A

...................

.APP.10

4.2Connection with Oriental's Pulse Motor

......................

.AP

P.l

4.3

Connection with ToeiElectric'sVELCONIC

..................

.APP.13

4.4 Connectionwith Nikki Denso's DIGITALS-PACK NDS-300

......

.APP.14

4.5

Connectionwith Yaskawa Electric'sPOSITION PACK-1OAand 10B.APP-15

APPENDIX

PositioningData Number

and

Buffer

Memory Address

ConversionTable

.APP.17

APPENDIX 5 Dimensions

.................................................

.APP.16

INDEX

INAI

E6101C

INTRODUCTION

/MELSEC=A

INTRODUCTION

The AD71

position controller modulefor use with

the

MELSEC-A

series of programmable controllers. The operation of the position

controller

may

adapted to suit the individual requirementsof the

system by using the extensiveMELSEC-Aseriessoftwarefeatures.

This manual covers both hardware and software and contains all the

information required to install and operate the unit to

its

optimum.

The manual

arranged

follows:

Chapter

System Configuration

ExplainstheAD71operating principles together with

glossary of termsanddescribes theMELSEC-A series

system configurationssuitable for use with theAD71.

Chapter

Specifications

Gives the AD71 specifications, functions,

description of

thedatarequired for operation,

1/0

specifications with

external equipment, etc.

Chapter

Handling

AD7

nomenclature,

etc.

Chapter

Loadingand Installation

Gives AD71 installation and wiring instructions, etc.

Chapter

Programming

Explainsthe

programmingrequired to control the

AD71.

Chapter

Check Lists

Gives

pre-start-up

test

procedures.

Chapter

Troubleshooting

Hardware and softwarefault finding

Chapter

Maintenance

Appendices

Gives AD71 dimensions, connection examples with

various servo motors, etc.

1-1

INA)

M101-A

Refer also to the following manuals:

SWO-AD71P Operating Manual

AGGPPUser's Manual

Al,A2, A3CPU

User's

Manual

Relevant drive unit instruction manual

this

manual,

AD71

I/O

numben

assigned

from

the PC CPU

assume

that the

AD71

loaded

slot

themain

base.

Packing list:

Description

Quantity

AD71

positioning unit

40-pin connector

for

external wiring

-3

SYSTEM

CONFIGURATKlN

/MELSEC--

SYSTEM

CONFIGURATION

2.1

Introduction

the

AD71

The AD71 gives

pulsechain output. Thenumber of pulses deter-

mines the system position and the pulsefrequencydeterminesthe

positioning traverse

speed.

Positioning can consequently be specified

number of units (namely mm, inch, degrees orpulses) by spe-

cifying

feedrateperpulsewherethefeedrate

proportional to

the pulse frequency. A system schematic

shown below:

ACPUl AI

thing unit

Drive unit Servo motor

~lsetrain, Speed command

DIA

Deviation converter

-1unter

AGGPP

Intelligent GPP

Feedback

pulse train

otor

rpwd

thecounterpulse

Time

The deviation counter in the drive unit integrates the incoming pulse

chain from the AD71 and converts the resultant value into an analog

voltage for use

speedsignal.Thiscauses the motor to

start

turning andthepulsegenerator to generatefeedbackpulses to the

deviationcounter. Thefeedbackpulsechain

compared with the

input pulse chain from the AD71 andan error valuegenerated until

theerror value

sufficient to maintainthe motor

the desired

sped.

When the AD71 pulse output

switched off, thedeviation

countervaluedecreasesand the speeddecreases accordingly until

finally thedeviationcountervalue

zeroandthe motor stops.

Beforepositioning canbegin,thesystemmustbezeroed.This

involves driving themotor in

known direction to

known point

and loading

home position or zero address to the AD7l's position-

ingcounter.

All

subsequent positioning uses memory addresses

referred to this zeroaddress, either

an absoluteaddress

(Le.

each

point specified

an individual address) or

an incremental address

(i.e.

given distancefrom the previous address).

2-1

(NAI

661014

SYSTEM

CONFIGURATION

/MELSEC-A

Thesystemcanbezeroed in one of three

weys.

All

use

"zeroing

dog." The "zeroing dog"

switch

actuator which provides one

two

conditionswhichdefine the home position.

The

second

condition depends on thezeroingmethod used, this will beone of

the following:

zerophasesignal from the rotary encoder.

mechanical stop followed by

timer timingout.

mechanical stop followed by

torque feedback signal from the

drive unit.

The operating data for the

AD71

stored inthe buffermemory and

consists

parameters (defining system constants such

maximum

feedrates,

etc.),

zeroingdata (defining thezeroingprocess),posi-

tioning data (containing the individual addresses,

speeds,

etc.)and

start

data (definingwhich position to

start

at,

etc.).

Positioning data

referred to by

positioning data number,which

defined by

its

location inthe buffer memory.

There are

two

methods for manual control of the

AD71

pulse chain

output, theseare jogoperation andinching.During jog operation,

the outputpulse chain

maintained for

long

the

jog signal from

the

onhowever during inching

definednumber of pulses

output every time

manualpulsegenerator input signal

given.

(The manual pulse generator

also referred to

"manual pulser").

The inching function therefore requires the provision of an external

manualpulsegeneratorhardwired to the

AD71

connector in order

tooperate effectively.

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