Mitsubishi MELSEC-K User manual

MlTSUBlSHl

PROGRAMMABLE

CON1

ROLLER

Instruction

Manual

Positioning Unit Type

KD7

Teaching Unit

for

KD7

Type

KD7

TUE

IB(NAl64492-B

MlTSUBlSHl

ELECTRIC

CONTENTS

Introduction

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

2. Composition

2-1 Component units

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

2-2 System composition

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

3. Operation explanation

3-1 Principles of operation

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

3-2 Outline design

the positioning system

........

Specifications

4-1

Performance specifications

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

4-2 General specifications

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

4-3

Power unit capacity

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

Input/Output interface

5-1 Signal names

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

5-2 Electrical specifications

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

5-3

Torque restriction

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

5-4 Interface for the KD71S1

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

Pcsitioning

nethod

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

6-1

Zero point return

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

6-2

Positioning

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

6-3 Positioning continuation

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

6-4

Speed and torque revisions

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

6-5

Speed revision during execution

positioning

6-6

Positioning stop

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

6-7 Positioning start

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

Contents

preset

data

7-1

Parameters

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

7-2

Zero point return data

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

7-3

Positioning data

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

Hardware

8-1

Hardware composition and function of selector

switch

(SW2)

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

8-2

LED display contents

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

8-3

UNLOCK-LOCK switch

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

8-4

Use

selector switch

(SW2)

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

8-5

Programming settings data into ROM

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

External connections

9-1

Example

connections to TGei Electric

VELCONIC

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

9-2

Example

connections to Nikki Electric

DIGITAL S-PACK

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

9-3

Example

connections

Yasukawa Electric

POSITION PACK-1OA

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

10.

Operating the Teaching Unit

10-1

Connection with the Positioning Unit

...........

10-2

General operations

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

10-3

Operating modes

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

10-4

Write-in

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

10-5

Readout

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

10-6

Monitor

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

10-7

Testing

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

10-8

Special operations

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

11.

Sequencer Program

11-1

1/0

signals and allocation

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

11-2 Signal exchange with sequencer

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

11-3 Writing

preset data

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

11-4 Readout

preset data

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

11-5 Start

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

11-6

11-7

11-8

12. Trial

12-1

12-2

13. Error

13-1

13-2

Readout

current

value, torque, and status

...

Revision

current

value

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

Speed revisions

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

run

Sequence checks

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

Check

positioning operation

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

code displays and their rectification

Error code display

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

Error code chart

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

14. Safety measures

.............~........................

103

i")

Introduction

The Positioning Unit KD71 (hereafter abbreviated as KD711, is

used for high-precision positioning control as one

the input/

output

peripherals

the

MELSEC-K1,

K2,

KOJ.

The KD71 has a microprocessor,

whose output is a positioning

pulse sequence, including acceleration and deceleration.

The output can be combined with various kinds

servo

control drive units to perform positioning for

wide range

of industrial equipment.

Features

Full digital control

The use of

high-speed microprocessor

has

made possible small

size and high performance, with high reliability.

One unit performs 2-axis control

With a single positioning unit, independent 2-axis control

simultaneous 2-axis control is possible.

Includes linear interpolation function.

2-axis linear interpolation function is included in the unit.

Includes backlash compensation function.

The backlash compensation function makes possible high-preci-

sion

positioning possible.

Usable

servo

motors

Since the

KD71

operates with pulse-sequence output, it can

used with

servo motors,

servo motors, stepping motors,

and other drive units.

-1-

Positioning data settings

The

setting

positioning data can

performed from the KD71

and- sequencer

CPU.

Positioning

unit

KD71

Composition

Teaching

unit

Connection

cable

2-1

Component

parts

KD71TU

K70CBL

The component

parts

used in conjunction with the positioning

-.-

unit

are

listed

below

Table

Positioning unit component

parts

Name

IModel

Battery

KGBAT

Memory

KROM

unit

Contents

Positioning unit main body (output sync type)

Positioning

data

input/output unit

Cable

for

oor.necting the KD71 and KD71TU

(length

2m(78

inches)

)

Memory backup battery

for

IC-RAM

memory and

latch function.

EP-ROM (equivalent

type- 2716,

chip),

bytes.

Positioning unit main body

for

use with

MELDAS-S1 (output source- type)

.. .

-2-

2-2

System composition

Positioning unit

KD71

onnect

able

.70CBL

ion

Teaching unit

KD71TUE

Write-in

positioning

JUULPulse

..S

quen

MELSEC-K

Sequence processing

Data processing

Data link function

Positioning function

sequence output

data

Readout

positioning

data

Control status

display

Positioning

test

function Drive unit

AC/DC

servo

motor,

pulse

motor,

stepping

motor,

etc,

Fig.

System composition

-3-

Operation explanation

3-1

Principles

operation

------------

pulse

sequence

ULrLr

~S-peed

command

Servo

Inverted; >Deviation-

D'A

conve

.Ir

amp13

fier

pulse counter

sequence

Interface

Feedback pulse sequence

,-LhnT

motor

speed

accumulation

Time

(t)

speed

command.

Fig.

Block diagram

positioning system operation

The

output

the KD71

pulse sequence. When

pulse

sequence

output, the pulses accumulate in the deviation

counter, and-this pulse accumulation

converted

direct

current analog voltage by the

D/A

converter, thus becoming the

When the

motor

begins rotating

result

the speed command,

pulses in proportion

the amount of rotation

are

output

from

the pulse genera.tor

PG,

and,decrease the accumulation in the

deviation counter.

The deviation counter preserves

fixed amount

accumulation,

continuing the

motor

rotation, and when the command-pulse output

from the

KD71

stopped, the accumulated pulses in the deviation

counter

are

reduced and speed

lowered, and when

the

accumula-

ted pulses disappear, the

motor

stops.

In other words, the

ro-

tating speed

the

motor

proportional to the frequency

the command pulse, and the rotation angle

the

motor

proportional to

the

number of

command

pulses output.

-5-

3-2 Outline'design of the positioning system

Unit

position detection (mm/PULSE)

Servo

motor

Vs:

Command pulse frequency [PULSE/sec]

Pulse generator

slits

[SLIT/rev]

(1)

Unit

position detection

Feed

screw

lead [mm/revl

Deceleration rate

Moving element speed [mm/sec]

Motor

revolution

[rpm]

Position

loop

gain [sec-ll

A=-

(nn/PULSE)

Rxn

(2)

Command pulse frequenc'y

Accumulated pulses in deviation counter [PULSE]

A&:

Stopping accuracy [PULSE]

(

PULSE/sec

(3) Pulse accumulation

deviation counter

=-(

PULSE)

The amount

movement

one pulse

shown in

(l),

the amount

of movement equaling the number

output pulses

The

com-

mand pulse frequency

computed in

(2)

from the moving element

speed

and the unit of position detection.

The relation

the command pulse frequency and the pulse

ac-

cumulation in the deviation counter

shown in

(3).

The KD71

sets

the position

the moving element in absolute

value. When the zero point

Po,

and the amount of movement

from the zero point

P=Pot-

the following re'lation

obtained:

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