Simple Motion Module LD77MH - LC Automation...External input signal of servo amplifier Setting...
Transcript of Simple Motion Module LD77MH - LC Automation...External input signal of servo amplifier Setting...
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Simple Motion
Simple Motion ModuleLD77MH4LD77MH16
Advanced and wide-range motion control• Positioning control • Speed control • Torque control • Cam control • Synchronous control • Mark detection function
Graphical setting software
Simple and smart system installation
Advanced motion control similar to a positioning module
Simple Motion Module, now part of MELSEC-L Series
New
New 16-axis type4-axis type
January 2011
Mitsubishi Electric Programmable ControllerSV1101-3E
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Features
Making Motion Simple in various applications
A variety of controls including positioning control, speed control, torque control, cam control and synchronous control can be realized easily just with simple parameter settings and a sequence program.
Advanced Motion Control
Servo functions and perform
ance
Number of control axes
High-end
1 axis 4 axes 8 axes 16 axes 32 axes
Low-end
LD75P4
Positioning module
LD75D4
Motion Controller for the iQ Platform
Stand-alone Motion Controller
The MELSEC-L Series lineup now includes the Simple Motion Module in addition to the regular positioning modules. Various control functions previously only possible with Motion Controllers, such as synchronous control, are now available in the same manner as a positioning module.
Simple Motion Module
LD77MH4
Simple Motion Module
LD77MH16New
• Variousapplicationsaresupportedwithextensivecontrol formats including linear interpolation control (upto4axes),2-axiscircularinterpolationcontrol, fixedfeedcontrolandcontinuousorbitcontrol.
• Executeautomaticoperationbysettingthepositioningaddresses and speeds, etc., easily from a sequence program.
• PowerfulauxiliaryfunctionssuchasMcodes,skipfunction, step operation and target position change function.
• Tensioncontrolapplicationssuchasrewindingandwindingaxesaresupported.
• Controlcanbeswitchedbetween“positioningcontrol”,“speedandtorquecontrol”and“positioncontrol”.
As a result, it is now possible to maintain the positioning control with the absolute position coordinates after switching the control.
• Synchronouscontrolandcamcontrolcanbecombinedandusedinsystemsrequiringsynchronouscontrol.
Positioning control
Speed and torque control are also available
Synchronous control and cam control
XY table Ceiling• Continuous orbit control• High-speed, high-accuracy orbit calculation• Linear/circular interpolation
• 2-axis linear interpolation• 2-axis circular interpolation• 3-axis linear interpolation• Continuous orbit control
r2r1
X
Y
Z
X
Y
Z
ServomotorRewind axis
Wind axis
Servomotor
Tension detector
Tension detector
Servomotor
WorkpieceA
P1
P2
P3
■ Positioning controlAxis 1 motor speed
Axis 2 motor speed
Axis 1 motor speed
Axis 2 motor speed
Time shortening
Cam data
Cam data
Axis 1 BUSY signal
■ Cam control
axis 1 axis 2
Example applications for cam controlWhenmakingadetouraroundworkpieceAandtransferringfrompointP1topointP3,withpositioningcontroltheBUSYsignalofaxis1ischeckedatpointP2,andaxis2starts.Byusingcamcontrol,theBUSYsignaldoesnotneedtobecheckedatpointP2sothe positioning time is shortened.
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Simple Motion
Making Motion Simple with amplifier-less debugging functions
Making Motion Simple with compactly packed extra functions
Making Motion Simple in systems requiring high response
• PerformprogramminganddebuggingonadesktopusingjusttheLSeriesCPUmodule,LD77MHandpowersupplymodule.Thisbenefitsyourdesigninganddebugging efficiency.
• Debugsequenceprogramsandpositioningdatawithoutthe servo amplifier and servomotor.
• The50Mbpshigh-speedopticalcommunicationgreatlyincreasesthespeedofdataexchangebetweentheSimpleMotionModuleandservoamplifier,andreducesthe cycle time.
• Thedegreeoffreedominsystemlayoutisenhancedforlong-distancewiring.
• Theadoptedopticalfibercablehasoutstandingnoiseresistance properties.
• TheSSCNET# compatible servo amplifier supports various servomotors, linear servomotors and direct drive motors, and can be used in various applications.
• Realizesynchronouscontrolandcamcontrolbyusinginput pulses from a synchronous encoder.
• Useanincrementalsynchronousencoderwiththedirectlybuilt-ininterfaceofLD77MH,oruseanabsolutesynchronousencoder(comingsoon)viaaservoamplifier. Optional modules are no longer necessary.
• Furtherimprovethesynchronizationaccuracywiththephase compensation function, designed to compensate for synchronous encoder delays.
• Thebuilt-inmarkdetectionsignalinterfaceallowsincorporationinpackagingsystemsetc.,withoutoptional modules.
• Easilyprogramandautomaticallygenerate difficult cam data for rotary cutters just by specifying the sheet length and synchronization width, etc.
Using synchronous control with a synchronous encoder
Standard mark detection function
Automatic cam data generation
for rotary cutter
Speed
Time
Sheet length Cam dataSheet synchronization width
Sheet synchronization width
Stroke ratio
Time
GOT
Input
Cam resolution
Sheet length
Sheet synchronization width
Synchronous axis length
SSCNET# compatible servo amplifiers
Servomotor ServomotorServomotor Linear Servomotor
Direct drive motor
INC synchronous
encoder
Mark sensorRotary cutter
No servo amplifier
Amplifier-less operation functionThisfunctioncarriesouttheLD77MHpositioningcontrolwithout a servo amplifier connected. Use this to debug the user program for system installation, or to simulate the positioning operation.
New
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Simple Settings without Programs
Simple setting of positioning data
Simple setting of synchronous control data
Simple setting of cam control data
Executepositioningcontrolwiththedatatablemethod.
Using software, realize synchronous control which replaces machine mechanisms, such as the gear, shaft, speed change gear and cam.
Easilypreparecamdataforvariouspatterns.
DataSettingAssistantfunction
CamData CamDataList
AutomaticCommandSpeedCalculation OfflineSimulation
SynchronousControlParameterSettings
• TheDataSettingAssistantfunctionsimplifiessettings.
• PositioningdatacanbesetverysimplybyusingfunctionssuchasAutomaticCommandSpeedCalculation,OfflineSimulation,andautomaticcalculationofauxiliaryarc,etc.
• Itispossibletorealizesynchronouscontroleasilywithparametersettings.Thereisnoneedtocreatecomplicatedprograms.
• Startandstopsynchronouscontrolforeachaxis. Usethesynchronouscontrolaxisandpositioningcontrolaxistogether.
• Conveythetravelvalueofmainshafttotheoutputaxisviatheclutch.New
• Setcamswithahighdegreeoffreedom.There’snoneedtoworryaboutexistingconceptsofelectroniccamcontrol.
• Setthestroke,speed,accelerationandthrobwhilesimultaneouslycheckingtheprofileonagraph.
• Easilycheckthecreatedcamdatabyviewingasthumbnaildisplaysofcamdata.
• ImportandexportcamdatainCSVformat.
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Simple Motion
Simple setting of servo amplifier parameters
Simple parameter settings
CollaborationwiththeMRConfigurator2increasestheservoinstallationefficiency.
SetandadjustservoamplifierparameterswiththeMRConfigurator2,atreasuretroveofMitsubishiservoknow-how.
• One-pointhelpallowsparameterstobesetwithoutneedingamanual.
• Easilysettheapplicableservoamplifieronagraphicalscreen.
• Doawaywithbothersomeelectronicgearcalculationjustbyspecifyingthemechanismconfiguration(reductionratio,ballscrewpitch,etc.).
ParameterSettings SystemStructureSetting ElectronicGearSettings
DigitalOscilloscope AxisMonitor
PositioningTest
Use MR Configurator2
via PLC
Servo
amplifier
Servomotor
Simple installation
• CollectionofdataintheSimpleMotionModulesynchronizedwith the operation cycle and waveform displays facilitate efficient start up.
• Theassistantfunctionexplainsallworksteps.
• Setoften-vieweddataeasilywiththepurpose-basedprobesetting.
• Sample16CHwordand16CHbitdata.Ofthis,8CHwordsand8CHbitscanbedisplayedinrealtime. New
• Easilycompletesysteminstallationandoperationcheckswithpowerfulmonitorandtestfunctions.
• Selectitemstobedisplayedonthemonitorfromthe voluminous information monitor options. New
• Usethetestfunctiontocheckbasicoperationswithout a sequence program.
Digital oscilloscope function Monitor and test functions
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System Configuration
Servomotor
Servomotor
Servomotor
Linearservo motor
Direct drivemotor
Graphic operation terminal (GOT)
Ethernet cable
USB cable
Personal computer
CPU moduleL26CPU-BT / L02CPU
LD77MH4 / LD77MH16
END coverL6EC
Connecting either a manual pulse generator (MR-HDP01) or incremental synchronous encoder.
Note-1: MR Configurator2 can be downloaded from MELFANSweb and installed on a personal computer equipped with GX Wor
• Upper stroke limit • Lower stroke limit• Proximity dog
GX Works2Simple Motion Module setting tool equipped as standard
MR Configurator2 (Note-1)
Software supporting servo amplifier from startup to maintenance
• Specifications of force stop input (24VDC)
• External command signal/ Switching signal (4points)
External input signal of servo amplifier
Setting software
MR-J3-BMR-J3-B-RJ080W MR-J3W-B
External input signal cable
MR-J3-B Safety
Absolute synchronous encoderQ171ENC
Coming soon
StructureanintegralsystemconsistingoftheMR-J3SeriesservoamplifierandservomotorwiththePLCCPUmoduleandSSCNET# integrated.
• LD77MH4cancontrolupto4axesandtheLD77MH16cancontrolupto16axes.
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Simple Motion
Item LD77MH16 LD77MH4
Servoamplifierconnectionsystem SSCNET#-compatible(50Mbps)
TransmissionDistance 50m(164.04ft)
PERIPHERALI/F ViaCPUmodule(USB,RS-232,Ethernet)
Interfacewithexternaldevices
Externalcommandsignal/Switchingsignal
Numberofinputpoints 4 points
Inputmethod Positivecommon/Negativecommonshared(Photocoupler)
Ratedinputvoltage/Ratedinputcurrent
24VDC/Approx.5mA
Operating voltage range 21.6to26.4VDC(24VDC±10%,rippleratio5%orless)
ONvoltage/current 17.5VDCormore/3.5mAormore
OFFvoltage/current 5VDCorless/0.9mAorless
Inputresistance Approx5.6kΩResponsetime
OFF➝ON,ON➝OFF 1ms or less
Recommendedwiresize AWG24(0.2mm2)
Specificationsofforcestopinput signal
Numberofinputpoints 1point
Inputmethod Positivecommon/Negativecommonshared(Photocoupler)
Ratedinputvoltage/Ratedinputcurrent
24VDC/Approx.2.4mA
Operating voltage range 20.4to26.4VDC(24VDC+10%/-15%,rippleratio5%orless)
ONvoltage/current 17.5VDCormore/2.0mAormore
OFFvoltage/current 1.8VDCorless/0.18mAorless
Inputresistance Approx10kΩResponsetime 1ms or less
Recommendedwiresize AWG24(0.2mm2)
Manualpulsegenerator/Incrementalsynchronous encoder signal
signal input form PhaseA/PhaseB(magnificationby4/magnificationby1),PLS/SIGN
Differential-output type
Inputfrequency 1Mpps(Aftermagnificationby4,upto4Mpps)
High-voltage 2.0to5.25VDC
Low-voltage 0to0.8VDC
Differential-voltage ±0.2V
Cablelength 30m(98.43ft)
Voltage-output/ High-voltage3.0to5.25VDCOpen-collectortype(5VDC)
Inputfrequency 200kpps(Aftermagnificationby4,upto800kpps)
High-voltage 3.0to5.25VDC
Low-voltage 0to1.0VDC
Cablelength 10m(32.81ft)
NumberofI/Ooccupyingpoints 32points(I/Oallocation:Intelligent,32points)
Maximumnumberofmodulesspecification Countsas2modules
Internalcurrentconsumption(5VDC)[A] 0.70 0.55
Mass[kg] 0.22
Exteriordimensions[mm(inch)] 90.0(3.54)(H)×45.0(1.77)(W)×95(3.74)(D)
External Dimension Diagram
Module
LD77MH16RUN
ERR.
AX 1
9 10111213141516
2 3 4 5 6 7 8
95(3.74) 45(1.77)
90(3
.54)
4(0.
16)
4(0.
16)
8(0.31)
45(1
.77)
45(1
.77)
98.5(3.88)
4(0.16)
DIN rail center
LD77MH4RUN
ERR.AX
1234
95(3.74) 45(1.77)
90(3
.54)
4(0.
16)
4(0.
16)
8(0.31)
UNIT: mm(inch)
45(1
.77)
45(1
.77)
DIN rail center
98.5(3.88)
4(0.16)
LD77MH16 LD77MH4
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Motion controlItem LD77MH16 LD77MH4
Numberofcontrolaxes 16axes 4axes
Operation cycle 0.88ms/1.77ms(Note-1) 0.88ms
Interpolationfunction Linearinterpolation(Upto4axes),Circularinterpolation(2axes)
ControlsystemPTP(PointToPoint)control,pathcontrol(bothlinearandarccanbeset),speedcontrol,
torquecontrol,speed-positionswitchingcontrol,position-speedswitchingcontrol
Acceleration/decelerationprocess Trapezoidalacceleration/deceleration,S-patternacceleration/deceleration
Compensationfunction Backlashcompensation,Electronicgear,Nearpassfunction
Synchronouscontrol Externalencoder,Cam,PhaseCompensation,Camgeneratedautomatically
Controlunit mm,inch,degree,PLS
Positioningdata600data(positioningdataNo.1to600)/axis
(CanbesetwithGXWorks2orPLCprogram.)
Backup Parameters,positioningdata,andblockstartdatacanbesavedonflashROM(battery-lessbackup)
OPRcontrol
MachineOPRcontrolNear-pointdogmethod,Countmethod1),Countmethod2),Datasetmethod,
scale origin signal detection method
FastOPRcontrol Provided
Subfunctions OPRretry,OPshift
Positioncontrol
Positioncontrol
Linear control1-axislinearcontrol,2-axislinearinterpolationcontrol,
3-axislinearinterpolationcontrol,4-axislinearinterpolationcontrol(Compositespeed,Referenceaxisspeed)
Fixed-feedcontrol1-axisfixed-feedcontrol,2-axisfixed-feedcontrol,3-axisfixed-feedcontrol,
4-axisfixed-feedcontrol
2-axiscircularinterpolationcontrol
sub point designation, center point designation
Speedcontrol 1-axisspeedcontrol,2-axisspeedcontrol,3-axisspeedcontrol,4-axisspeedcontrol
Speed-positionswitchingcontrol INCmode,ABSmode
Position-speedswitchingcontrol INCmode
Other control
CurrentvaluechangingChangingtoanewcurrentvalueusingthepositioningdata,
ChangingtoanewcurrentvalueusingthestartNo.
NOPinstruction Provided
JUMPinstruction UnconditionalJUMP,ConditionalJUMP
LOOP,LEND Provided
High-levelpositioningcontrol Blockstart,Conditionstart,Waitstart,Simultaneousstart,Repeatedstart
Manualcontrol
JOGoperation Provided
Inchingoperation Provided
ManualpulsegeneratoroperationPossibletoconnect1module(Incremental)
Unitmagnification(1to10000times)
Expansioncontrol Speed-torquecontrol Speedcontrolwithoutpositioningloops,Torquecontrolwithoutpositioningloops
Absolute position system Madecompatiblebysettingbatterytoservoamplifier
Synchronousencoderinterface Upto4channel(internalinterface,servoamplifier,viathePLCCPUinterface)
Internalinterface 1channel(Incremental)
Viaservoamplifier Supportcomingsoon
Functionsthatlimitcontrol
Speedlimitfunction Speedlimitvalue,JOGspeedlimitvalue
TorquelimitfunctionTorquelimitvalue_samesetting,
torquelimitvalue_individualsetting
Forcedstopfunction valid/invalidsetting
Softwarestrokelimitfunction Movablerangecheckwithcurrentfeedvalue,movablerangecheckwithmachinefeedvalue
Hardwarestrokelimitfunction Provided
Functionsthatchangecontrol details
Speedchangefunction Provided
Override function Provided
Acceleration/decelerationtimechangefunction Provided
Torquechangefunction Provided
Targetpositionchangefunction Targetpositionaddressandtargetpositionspeedarechangeable
Other functions
Mcodeoutputfunction Provided
Stepfunction Decelerationunitstep,DataNo.unitstep
Skipfunction ViasequenceCPU,Viaexternalcommandsignal
Teachingfunction Provided
Markdetectionfunction
Markdetectionmode(ContinuousDetectionmode,SpecifiedNumberofDetectionsmode,RingBuffermode)
markdetectionsignal 4points
markdetectionsetting 16 4
Optional data monitor function 4points/axis
Master-slaveoperationfunction Provided
Amplifier-lessoperationfunction Provided
Digitaloscilloscopefunction bitdata:16channels,worddata:16channels(Note-2) bitdata:8channels,worddata:4channels
Defaultvalueis1.77ms.Ifnecessary,checktheoperationtimeandchangeto0.88ms.Note-1 : 8CHworddataand8CHbitdatacanbedisplayedinrealtime.Note-2 :
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Simple Motion
Item LD77MH16 LD77MH4
InputaxisServoinputaxis 16axes/module 4axes/module
Synchronousencoderaxis 4axes/module 1axis/module
Compositemainshaftgear 1/outputaxis
Mainshaftinputaxis 1/outputaxis
Mainshaftsubinputaxis 1/outputaxis
Mainshaftgear 1/outputaxis
Mainshaftclutch 1/outputaxis
Auxiliaryshaft 1/outputaxis
Auxiliaryshaftgear 1/outputaxis
Auxiliaryshaftclutch 1/outputaxis
Auxiliaryshaftcompositegear 1/outputaxis
Speedchangegear 1/outputaxis
Outputaxis 16axes/module 4axes/module
Item LD77MH16 LD77MH4
MemorycapacityStorageareaforcamdata 256kbytes
Workingareaforcamdata 1024kbytes
Numberofregistration Max.256programitems(accordingtomemorycapacity,camresolutionandnumberofcoordinates)
Comment Max.32characters(half-byte)foreachcamdata
Camdata
StrokeratiodatatypeCamresolution 256,512,1024,2048,4096,8192,16384,32768
Strokeratio -214.7483648to214.7483647[%]
CoordinatedatatypeCoordinatenumber 2to16384
Coordinatedata Outputvalue:-2147483648to2147483647
Camgeneratedautomatically Camgeneratedautomaticallyforrotarycutter
Synchronous control
Cam
MELSOFT-Related ToolProduct Model Application version Description
GXWorks2 SW1DNC-GXW2-E Version1.48Aorlater SettingofLD77MH4andLD77MH16
MRConfigurator2
SW1DNC-MRC2-E Version1.01Borlater SettingandadjustmentofMR-J3Seriesservoamplifier
EquipmentModel Description Standards
MELSEC-LseriesSimpleMotionModule
LD77MH4 Upto4axescontrol CE,UL
LD77MH16 Upto16axescontrol CE,UL
connectorforexternalinput signal cable
LD77MHIOCONManualpulsegenerator/incrementalsynchronousencoderinterface/Specificationsofforcestopinput
interface/externalcommandsignal/switchingsignalinterfaceprovidedwithSimpleMotionModule-
SSCNET# cable(Note-1)MR-J3BUSM •LD77MH4⇔MR-J3(W)-B
•LD77MH16⇔MR-J3(W)-B•MR-J3(W)-B⇔MR-J3(W)-B
Standardcordforinsideapanel: 0.15m(0.49ft.),0.3m(0.98ft.),0.5m(1.64ft.),1m(3.28ft.),3m(9.84ft.)
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MR-J3BUSM-A Standardcableforoutsideapanel:5m(16.40ft.),10m(32.81ft.),20m(65.62ft.) -
MR-J3BUSM-B(Note-2) Long-distancecable:30m(98.43ft.),40m(131.23ft.),50m(164.04ft.) -
Manualpulsegenerator MR-HDP01Pulseresolution:25PLS/rev--100PLS/reva f termagnificationby4Allowablespeed:200r/mininnormalrotationVoltageoutputAllowableloadRadialload:19.6 N Thrustload:9.8N
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showscablelength.(015:0.15m(0.49ft.),03:0.3m(0.98ft.),05:0.5m(1.64ft.),1:1m(3.28ft.),2:2m(6.56ft.),3:3m(9.84ft.),5:5m(16.40ft.),10:10m(32.81ft.),20:20m(65.62ft.),30:Note-1 : 30m(98.43ft.),40:40m(131.23ft.),50:50m(164.04ft.))CheckwithMitsubishiElectricregardingcableslessthan30mlong.Note-2 :
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MEMO
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Simple Motion
MEMO
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To use the products given in this publication properly, always read the relevant manuals before use.The products have been manufactured as general-purpose parts for general industries, and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life.Before using the products for special purposes such as nuclear power, electric power, aerospace, medicine or passenger movement vehicles, consult with Mitsubishi.The products have been manufactured under strict quality control. However, when installing the products where major accidents or losses could occur if the products fail, install appropriate backup or fail-safe functions in the system.
This publication explains the typical features and functions of the products herein and does not provide restrictions and other information related to usage and module combinations. Before using the products, always read the product user manuals.Mitsubishi Electric will not be held liable for damage caused by factors found not to be the cause of Mitsubishi Electric; opportunity loss or lost profits caused by faults in Mitsubishi Electric products; damage, secondary damage, or accident compensation, whether foreseeable or not, caused by special factors; damage to products other than Mitsubishi Electric products; and to other duties.
Precautions before use
1101(MDOC)New publication effective Jan. 2011.
Specifications subject to change without notice.