Mitsubishi Electric MELSEC-LD77MS2

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MELSEC-L

LD77MS Simple Motion Module

User's Manual (Positioning Control)

-LD77MS2

-LD77MS4

-LD77MS16

Main Page

Safety Precautions3
Introduction14
Revisions15
Table of Contents16
Compliance with the Emc and Low Voltage Directives24
Relevant Manuals24
Terms27
Packing List28
Section 1 Product Specifications and Handling29
Features of LD77MS32
Positioning Control32
Purpose and Applications of Positioning Control36
Mechanism of Positioning Control38
Overview of Positioning Control Functions39
Outline Design of Positioning System49
Communicating Signals between LD77MS and each Module50
Flow of All Processes54
Flow of System Operation54
Outline of Starting56
Outline of Stopping58
Outline for Restarting60
General Image of System62
Component List63
Applicable System67
How to Check the Function Version and SERIAL no68
Restrictions by the SERIAL No. and Version69
Performance Specifications72
LD77MS Control Functions74
List of Functions74
LD77MS Main Functions77
LD77MS Sub Functions79
LD77MS Common Functions81
Combination of LD77MS Main Functions and Sub Functions84
List of Input/Output Signals with PLC CPU86
Specifications of Input/Output Signals with PLC CPU86
Plc Cpu)89
Details of Output Signals (PLC CPU LD77MS)91
Electrical Specifications of Input Signals93
Specifications of Interfaces with External Devices93
Signal Layout for External Input Connection Connector95
List of Input Signal Details97
Interface Internal Circuit99
External Circuit Design104
Installation, Wiring and Maintenance Procedures120
Outline of Installation, Wiring and Maintenance120
Names of each Part121
Handling Precautions123
Installation125
Precautions for Installation125
Precautions for Wiring126
Wiring126
Precautions for Wiring129
Confirming the Installation and Wiring138
Items to Confirm When Installation and Wiring Are Completed138
Disposal Instructions139
Maintenance139
Precautions for Maintenance139
Parameters and Data Required for Control142
Types of Data142
Setting Items for Positioning Parameters146
Setting Items for OPR Parameters148
Setting Items for Expansion Parameters149
Setting Items for Servo Parameters149
Setting Items for Positioning Data150
Setting Items for Block Start Data152
Setting Items for Condition Data153
Types and Roles of Monitor Data154
Types and Roles of Control Data159
Basic Parameters 1163
List of Parameters163
Basic Parameters 2168
Detailed Parameters 1169
Detailed Parameters 2180
OPR Basic Parameters192
OPR Detailed Parameters200
Expansion Parameters205
Servo Parameters210
List of Positioning Data223
List of Block Start Data239
List of Condition Data244
List of Monitor Data254
System Monitor Data254
Axis Monitor Data268
List of Control Data298
System Control Data298
Axis Control Data306
Precautions for Creating Program344
List of Devices Used348
Creating a Program358
General Configuration of Program358
Positioning Control Operation Program359
Positioning Program Examples363
Initialization Program395
Program Details395
Start Details Setting Program396
Start Program398
Continuous Operation Interrupt Program410
Restart Program412
Stop Program415
Configuration and Roles of LD77MS Memory420
Buffer Memory Area Configuration423
Data Transmission Process425
Machine OPR442
Outline of OPR Control442
Two Types of OPR Control442
Machine OPR446
Outline of the Machine OPR Operation446
Machine OPR Method447
OPR Method (1): Near-Point Dog Method448
OPR Method (2): Count Method 1)450
OPR Method (3): Count Method 2)452
OPR Method (4): Data Set Method454
OPR Method (5): Scale Origin Signal Detection Method455
Fast OPR458
Outline of the Fast OPR Operation458
Outline of the OPR Setting Condition460
Selection of the OPR Setting Condition460
Outline of Major Positioning Controls462
Data Required for Major Positioning Control464
Operation Patterns of Major Positioning Controls465
Designating the Positioning Address475
Confirming the Current Value476
Control Unit "Degree" Handling478
Interpolation Control481
Relation between each Control and Positioning Data486
Setting the Positioning Data486
1-Axis Linear Control488
2-Axis Linear Interpolation Control492
3-Axis Linear Interpolation Control498
4-Axis Linear Interpolation Control504
1-Axis Fixed-Feed Control509
2-Axis Fixed-Feed Control (Interpolation)512
3-Axis Fixed-Feed Control (Interpolation)514
4-Axis Fixed-Feed Control (Interpolation)519
2-Axis Circular Interpolation Control with Sub Point Designation522
2-Axis Circular Interpolation Control with Center Point Designation528
1-Axis Speed Control536
2-Axis Speed Control539
3-Axis Speed Control543
4-Axis Speed Control547
Speed-Position Switching Control (INC Mode)552
Speed-Position Switching Control (ABS Mode)563
Position-Speed Switching Control572
Current Value Changing582
NOP Instruction587
JUMP Instruction588
Loop590
Lend592
High-Level Positioning Control 10- 1 to595
Outline of High-Level Positioning Control596
Data Required for High-Level Positioning Control597
Block Start Data" and "Condition Data" Configuration598
High-Level Positioning Control Execution Procedure600
Relation between Various Controls and Block Start Data601
Setting the Block Start Data601
Block Start (Normal Start)602
Condition Start604
Wait Start605
Simultaneous Start606
Repeated Start (for Loop)607
Repeated Start (for Condition)608
Restrictions When Using the NEXT Start609
Relation between Various Controls and the Condition Data610
Setting the Condition Data610
Condition Data Setting Examples613
Multiple Axes Simultaneous Start Control615
Start Program for High-Level Positioning Control620
Starting High-Level Positioning Control620
Example of a Start Program for High-Level Positioning Control621
Outline of Manual Control626
Three Manual Control Methods626
JOG Operation628
Outline of JOG Operation628
JOG Operation Execution Procedure631
Setting the Required Parameters for JOG Operation632
Creating Start Programs for JOG Operation634
JOG Operation Example636
Inching Operation639
Outline of Inching Operation639
Inching Operation Execution Procedure642
Setting the Required Parameters for Inching Operation643
Creating a Program to Enable/Disable the Inching Operation644
Inching Operation Example646
Manual Pulse Generator Operation648
Outline of Manual Pulse Generator Operation648
Manual Pulse Generator Operation Execution Procedure652
Setting the Required Parameters for Manual Pulse Generator Operation653
Creating a Program to Enable/Disable the Manual Pulse Generator Operation654
Outline of Speed-Torque Control658
Speed-Torque Control658
Setting the Required Parameters for Speed-Torque Control660
Setting the Required Data for Speed-Torque Control661
Operation of Speed-Torque Control663
Synchronous Control689
Control Sub Functions 13- 1 to691
Outline of Sub Functions692
OPR Retry Function694
Sub Functions Specifically for Machine OPR694
OP Shift Function698
Backlash Compensation Function701
Functions for Compensating the Control701
Electronic Gear Function703
Near Pass Function710
Functions to Limit the Control712
Speed Limit Function712
Torque Limit Function714
Software Stroke Limit Function718
Hardware Stroke Limit Function724
Forced Stop Function728
Functions to Change the Control Details731
Speed Change Function731
Override Function738
Acceleration/Deceleration Time Change Function741
Torque Change Function746
Target Position Change Function750
Absolute Position System754
Other Functions756
Step Function756
Skip Function761
M Code Output Function765
Teaching Function769
Command In-Position Function775
Acceleration/Deceleration Processing Function778
Pre-Reading Start Function781
Deceleration Start Flag Function784
Stop Command Processing for Deceleration Stop Function787
Speed Control 10 X Multiplier Setting for Degree Axis Function790
Operation Setting for Incompletion of OPR Function793
Servo ON/OFF795
Follow up Function797
Outline of Common Functions800
Parameter Initialization Function802
Execution Data Backup Function804
External Signal Selection Function807
External I/O Signal Logic Switching Function813
History Monitor Function815
Amplifier-Less Operation Function819
Virtual Servo Amplifier Function826
Driver Communication Function830
Mark Detection Function838
Optional Data Monitor Function850
Module Error Collection Function854
Connect/Disconnect Function of SSCNET Communication855
LD77MH Initial Value Setting Function861
Hot Line Forced Stop Function864
Interlock During Dedicated Instruction Is Executed868
List of Dedicated Instructions868
Zp.pstrt1, Zp.pstrt2, Zp.pstrt3, Zp.pstrt4869
Zp.teach1, Zp.teach2, Zp.teach3, Zp.teach4873
Zp.pfwrt877
Zp.pinit881
Checking Errors Using GX Works2886
Checking Errors Using a Display Unit888
Troubleshooting889
Error and Warning Details893
LD77MS Detection Error900
List of Errors900
Servo Amplifier Detection Error934
LD77MS Detection Warning936
List of Warnings936
Servo Amplifier Detection Warning948
Appendix 1 List of Buffer Memory Addresses950
Appendix 2 Connection with Servo Amplifiers976
Appendix 2.1 SSCNET Cables977
Appendix 2.2 Serial Absolute Synchronous Encoder Cable981
Appendix 2.3 SSCNET Cable (SC-J3BUS_M-C) Manufactured by984
Appendix 3 Connection with External Device985
Appendix 3.1 Connector985
Appendix 3.2 External Input Signal Cable988
Appendix 3.3 Manual Pulse Generator (MR-HDP01)993
Appendix 4 Comparisons with LD77MH Models994
Appendix 5 When Using GX Works2999
Appendix 6 Compatible Devices with SSCNET (/H)1000
Appendix 6.1 Servo Driver VCII Series/Vph Series Manufactured by Nikki Denso Co., Ltd1000
Appendix 6.2 Inverter FR-A700 Series1007
Appendix 6.3 Alphastep/5-Phase Stepping Motor Driver Manufactured by ORIENTAL MOTOR Co., Ltd1016
Appendix 6.4 IAI Electric Actuator Controller Manufactured by IAI Corporation1025
Appendix 6.5 Connection with MR-JE-B1033
Appendix 7 External Dimension Drawing1034

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Mitsubishi Electric MELSEC-LD77MS2 Specifications

General

Brand	Mitsubishi Electric
Model	MELSEC-LD77MS2
Category	Control Unit
Language	English

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Mitsubishi Electric MELSEC-LD77MS2 - User Manual

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