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Motion Control
11.4.1
Overview of Motion Commands
11-50
11.4 Position Control Using Motion Commands
This section describes position control using motion commands.
11.4.1 Overview of Motion Commands
The following table lists the motion commands and gives an overview of each.
Command Name Description
1 Positioning (POSING) Positions the axis at the specified position using the specified acceleration/
deceleration time constant and speed.
2 External Positioning
(EX_POSING)
Latches a counter when a latch signal (external positioning signal) is input
during positioning (POSING), and positions the axis at a position where it
has traveled the external positioning travel distance from that position.
3 Zero Point Return
(ZRET)
Returns the system to the machine coordinate system zero point. Eight zero
return modes are provided.
（
100
％）
0
Speed
(%)
Rated speed
Rapid
traverse
speed
Position
reference
Linear acceleration
time constant
Linear deceleration
time constant
Time
(t)
（
100
％）
0
Speed
(%)
Rated speed
Rapid
traverse
speed
Time
(t)
Linear acceleration
time constant
Linear deceleration time constant
Latch signal (external positioning
signal)
External posi-
tioning travel
distance
0
1. 2. 3. 4.
Reverse Forward←→
Zero point
Speed
reference
Rapid traverse
speed
Approach
speed
Creep speed
Zero point
return position
Time
Zero point return final
travel distance
Dog (Decel-
eration limit
Zero point signal
(Phase-C pulse)
- USER'S MANUAL 1
- DESIGN AND MAINTENANCE 1
- Safety Information 2
- Visual Aids 3
- CONTENTS 4
- 3 Basic System Operation 5
- 4 MP940 Functions 6
- 5 System Startup 7
- 6 Parameters 8
- 7 Absolute Position Detection 9
- 8 Maintenance and Inspection 9
- 9 Troubleshooting 9
- 11 Motion Control 10
- Revision History 11
- About this Manual 12
- Related Manuals 12
- Using This Manual 13
- Safety Precautions 14
- Manditory 15
- Mandatory 15
- Prohibited 16
- General Precautions 17
- 1 MP940 Overview and 18
- Features 18
- 1.2 List of Modules 19
- 1.3 Features of the MP940 20
- Servo Control Examples 21
- Features of the MP940 22
- SERVOPACK 22
- Ball screw 22
- 1.3.6 Field Networks 23
- 2.1 General Specifications 25
- 2.2 Hardware Specifications 26
- Specifications and Functions 27
- 2.3 Function Lists 28
- PLC Function Specifications 29
- Function Lists 30
- Motion Command Descriptions 31
- MB000010MB000020 37
- MW00280 ＋ 00100 MW00220 38
- MW00000 ＜ 10000 39
- MB000010 39
- MF00100 SIN 41
- 2.4 Main CP-717 Functions 44
- 2.5 Function Tree Structure 45
- 2.6 SERVOPACK Specifications 46
- Model Numbers 47
- 3 Basic System Operation 48
- Basic System Operation 49
- 3.1 Operating Modes 50
- RUN/STOP switch 51
- 3.2 Start and Stop Sequences 52
- Memory Initialization 53
- 3.2.2 Start Sequence 54
- Test mode 55
- Program mem 55
- Start and Stop Sequences 56
- 3.3 Scan Processing 57
- Timesharing Items 58
- Background 59
- Scan Operations 59
- Opening the Settings Window 60
- Setting Scan Time Definitions 61
- Scan Processing 62
- 3.4 User Programs 63
- Execution of Drawings 65
- DWG.X YY . ZZ 66
- :DWG. X 00 66
- Executing Motion Programs 70
- Motion Program Status Flags 71
- Motion Programming 73
- 3.5 Functions 75
- 76
- 3.5.4 Defining Function I/O 77
- Functions 80
- 3.6 Registers 81
- 3.6.2 Data Types 82
- Examples of Use by Data Type 83
- LAG MA00200 84
- ⇒MW00022 84
- Registers in Drawings 85
- Registers in Functions 86
- MW00001j 87
- 3.7 Managing Symbols 91
- 4 MP940 Functions 94
- MP940 Functional Modules 96
- MP940 Function Block Diagram 97
- SERIAL LIO SVA CNTR MLINK 98
- 4.2.1 Overview 99
- 4.2.2 System Configuration 99
- Serial Port 1 101
- Overview 102
- Slave Processing Time 103
- Modem Lag Time at the Slave 103
- MEMOBUS Communications 104
- Offset: 100 105
- MELSEC Communications 105
- SERIAL MELSEC 106
- MELSEC Commands 107
- MELSEC Devices 108
- MP940 Functions 109
- Configuration Data 110
- Tab Window 110
- Transmission Protocol 111
- Serial Interface 112
- Transmission Mode 112
- Transmission Delay 112
- Automatic Response 112
- 4.3 LIO Function 115
- Digital Input Circuits 116
- Digital Output Circuits 117
- Analog Input 118
- Analog Output 119
- Configuration Information 120
- Set Items 120
- Saving LIO Definition Data 121
- 4.4 CNTR Function 122
- 4.4.2 Counter Specifications 123
- Coincidence detec 124
- 4.4.4 Pulse Count Method 125
- 4.4.7 PI Latch Function 129
- 4.4.8 Electronic Gear 129
- Setting the Electronic Gear 130
- = （指令単位） 131
- 132
- Gear ratio 132
- Tab Windows 133
- Setting Fixed Parameters 134
- 4.4.11 Setting I/O Data 135
- Output Data 136
- 4.4.12 137
- 4.5 MECHATROLINK Functions 138
- Using the MP940 as a Master 139
- Connectable Slave 140
- Control Data Configurations 141
- • 120AVI02030 (Analog Input) 142
- Using the MP940 as a Slave 143
- I/O350 I/O350 144
- JEPMC-W6000-A3 144
- I/O Assignment Tab Window 146
- Deleting Allocated Data 148
- I/O Map Tab Window 148
- Status Tab Window 148
- FEDCBA9876543210 149
- 4.6 DeviceNet Functions 150
- MP940D Wiring Example 151
- 0000 to 07FF 152
- Setting Methods 153
- Parameter Settings 154
- 260IF Module Setup 155
- COMMENTS 156
- 4.7 SVA Function 158
- One-unit System 159
- MP940 Servo Control Function 161
- Specifying Torque 162
- Application Example 163
- SVA Function 164
- Pn005.0: Brake Control 167
- Pn50A.0 to Pn50.B，Pn511 168
- SERVOPACK I/O Signals 169
- RAM FLASH 170
- Saving to Flash 171
- 4.8.3 Starting Flash Memory 172
- 5 System Startup 173
- System Startup 174
- 5.1 Handling the SERVOPACK 175
- 5.2 Part Names 176
- LED 2 Indicators 177
- Battery Connector 177
- DIP Switch 177
- Serial Port 2 179
- Power Supply Connector 180
- I/O Connector 181
- LED Indicator Connector 181
- MP940 LED Indicator Block 182
- DeviceNet Connector 183
- LED Indicator Specifications 184
- Switch Specifications 185
- Correct Wrong 186
- MP940 Accessories Table 187
- Options 187
- 5.3 Connection Methods 188
- JEPMC-MC410 189
- Serial Port 2 191
- RS-422/485 Interface Cable 192
- RS-422 Connection Example 192
- RS-485 Connection Example 193
- I/O Connector Pin Arrangement 195
- I/O Connector I/O Circuits 196
- 5.3.6 MECHATROLINK Cable 198
- Connecting MECHATROLINK 199
- SERVOPACK Cables 202
- Connecting Peripheral Devices 203
- MP940 Cables 204
- ∗ 1. No B3 terminal 205
- Designing a Power ON Sequence 206
- Connection Procedure 207
- Preparing the End of the Wire 208
- 5.6 SERVOPACK I/O Signals 209
- CN1 Terminal Layout 210
- CN1 Specifications 211
- Input Signals 211
- Output Signals 212
- 5.6.4 Interface Circuits 213
- 5.7 Wiring Encoders 215
- Absolute Encoders 216
- CN2 Connector Models 216
- • Refer to Σ-ΙΙ Series SGM 217
- (Manual No.: SIE-S800-31.1) 217
- 5.8 System Startup 218
- Control Outline 220
- Operation Outline 220
- Servo-related Equipment 221
- Other Required Equipment 221
- SERVOPACKYASKAWA 222
- Type of Spring 223
- SERVOPACK 200V 224
- Connecting External Devices 226
- 5.8.8 MP940 Initialization 227
- MP940 Initialization 228
- Creating a Group Folder 229
- Creating an Order Folder 230
- Creating a Controller Folder 231
- Logging On Offline 232
- Module Definitions 233
- LIO Definitions 234
- SVA Definitions 235
- Starting the CP-717 236
- Defining the Counter Module 238
- Setting the Scan Time 239
- 6 Parameters 241
- Parameter Tables 242
- Editing Parameters 242
- Motion Setting Parameters 243
- Setting Set Up Parameters 245
- Setting SERVOPACK Parameters 246
- Motion Monitor Display 247
- 2. Click the 248
- Button in the message box 248
- 3. Click the 248
- Button in the message box 248
- 6.3 SVA Parameter Details 249
- Parameters 250
- SVA Parameter Details 251
- 0: DEC 1 + Phase-C pulse 255
- 6: DEC 2 + Phase-C pulse 255
- 3: Phase-C pulse 256
- 2: DEC 1 + Zero Signal 256
- 4: DEC 2 + Zero Signal 256
- 1: Zero Signal 257
- Position reference data 261
- 1. 2. 3. 4 263
- EOV_MULTI 264
- (OFFSET) 271
- Supplemental Explanation 275
- 2. OBC02D3 = 1 285
- Coast to a stop 288
- Function Selection Constants 290
- 24-V power 291
- Kv(1+ ) 293
- Overshooting 295
- Without mode switch 296
- Parameters for SGDH SERVOPACK 297
- 速度ループ積分時定数＝ 298
- 2 速度ループゲイン 298
- Speed-related Parameters 300
- Speed reference 306
- Servo ON/OFF 308
- /BK Brake 309
- Input Signal Selection 311
- Output Signal Selection 312
- 6.4.8 Other Parameters 314
- Basic Terminology 316
- Battery 317
- Reading Absolute Data 318
- Encoder Selection (Pn202.2) 321
- Multi-turn Limit 322
- Setting (Pn205) 322
- OFF the power 324
- Flashes for 327
- Finite Length Mode 329
- Infinite Length Mode 329
- OLC006 value 330
- Description 332
- is only enabled when 333
- Example: 333
- Normal Operation 334
- $FSCAN-H 336
- Using an Absolute Encoder 337
- 8 Maintenance and Inspection 341
- 8.1 Inspection Items 342
- 8.2 MP940 Module Battery 344
- Replacing the Battery 345
- 9 Troubleshooting 346
- Checking by Symptoms 347
- Checking by Error Codes 347
- LED Indicators 348
- LED Indicator Details 349
- 9.2 System Errors 350
- System Errors 352
- System Status 353
- System Error Status 356
- User Operation Error Status 357
- Troubleshooting 359
- System Register Configuration 359
- System I/O Error Status 360
- 1. LIO Station Error Status 361
- System Operation Error Status 362
- Interrupt Status 363
- 9.3 Motion Errors 364
- Troubleshooting Flow 365
- Motion Alarm Configuration 365
- Motion Errors 366
- 10 SERVOPACK Inspection 368
- Maintenance, and 368
- 10.1.2 SERVOPACK Inspection 369
- Part Replacement Schedule 370
- Battery Replacement Procedure 371
- 10.2 Troubleshooting 372
- A.04: Parameter Setting Error 373
- Display and Outputs 374
- Status and Remedy for Alarm 374
- A.86: Encoder Overheated 385
- A.9F: MP940 Module Error 385
- Cause of Errors 386
- Determining Causes 386
- Number of 387
- A,B,CA,B,C 390
- A.CA: Encoder Parameter Error 391
- A.Cb: Encoder Echoback Error 391
- A.E1: Option Timeout 394
- A.E2: Option WDC Error 394
- A,B,C,DA,B,C,D 396
- 10.2.2 399
- 10.2.3 Alarm Display Table 400
- 10.2.3 401
- Alarm Display Table 401
- 11 Motion Control 403
- Operation 404
- Communications 404
- Ladder Logic Programming 405
- Motion Programming 405
- Motion Control 406
- 11.1.2 406
- Motion Control Methods 406
- 11.2 Control Modes 409
- Details 410
- User Program Examples 411
- Ladder Logic Program Example 412
- Control Modes 413
- Speed monitor 413
- Torque monitor 413
- User Program Example 415
- External 416
- 11.2.4 418
- Phase Control Mode 418
- Example of RUN Operation 419
- Position 423
- Integration 423
- 11.2.5 426
- Zero Point Return Mode 426
- Operating Conditions 428
- 11.3 Position Control 430
- Reference Unit 431
- Electronic Gear 432
- を設定します。12000 433
- No.19 == 433
- Axis Selection 435
- Position Reference 436
- Position Buffers 438
- Using the Position Buffers 438
- Position Control 439
- Position buffer 439
- Position Monitoring 440
- Speed Reference 442
- When Motion Commands Are Used 443
- Parameter Setting Examples 444
- Deceleration start position 445
- (ABSOFF) 449
- Rapid traverse 452
- Zero Point Return Method 464
- DEC1 + Phase-C Pulse 464
- DEC2 + Phase-C Pulse 465
- DEC1 + LMT + Phase-C Pulse 467
- Phase-C Pulse 470
- DEC1 + ZERO Signal 470
- DEC2 + ZERO Signal Method 470
- ZERO Signal Method 471
- • Example of RUN Operation 474
- =NOP II ENDOF_INTERPOLATE? 481
- A Dimensions 485
- A.1 External of MP940 Module 486
- A.2 Dimensions of MP940D 486
- B Lists of Parameters 487
- B.2 Parameters 488
- Lists of Parameters 490
- B.3 Switches 492
- Switches 494
- B.4 Input Signal Selections 496
- B.5 Output Signal Selections 497
- B.6 Auxiliary Functions 498
- B.7 Monitor Modes 499
- C Motion Parameter Tables 500
- C.1 Motion Fixed Parameters 501
- Motion Parameter Tables 503
- Motion Fixed Parameters 503
- C.2 Motion Setting Parameters 504
- Setting (ABSOFF) 505
- Register 512
- D Lists of System Registers 516
- Ragisters Specific to DWG.H 517
- Registers Specific to DWG.S 518
- Registers Specific to DWG.L 519
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