Mitsubishi Electric Simple Motion Board User manual

Type
User manual
Personal Computer Embedded Type
Servo System Controller
Simple Motion Board
User's Manual (Application)
-MR-EM340GF
1
SAFETY PRECAUTIONS
(Read these precautions before using this product.)
Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle
the product correctly.
The precautions given in this manual are concerned with this product only.
In this manual, the safety precautions are classified into two levels: " WARNING" and " CAUTION".
Under some circumstances, failure to observe the precautions given under " CAUTION" may lead to serious
consequences.
Observe the precautions of both levels because they are important for personal and system safety.
Make sure that the end users read this manual and then keep the manual in a safe place for future reference.
[Design Precautions]
WARNING
Configure safety circuits externally to ensure that the entire system operates safely even when a fault
occurs in the personal computer. Failure to do so may result in an accident due to an incorrect output
or malfunction.
(1) Configure external safety circuits, such as an emergency stop circuit, protection circuit, and
protective interlock circuit for forward/reverse operation or upper/lower limit positioning.
(2) If an incorrect home position return direction is set, motion control may continue without
deceleration. To prevent machine damage caused by this, configure an interlock circuit external to
the Simple Motion board.
(3) When the Simple Motion board detects an error, the motion slows down and stops or the motion
rapidly stops, depending on the stop group setting in parameter. Set the parameter to meet the
specifications of a positioning control system. In addition, set the home position return parameter
and positioning data within the specified setting range.
For the operating status of each station after a communication failure, refer to manuals relevant to the
network. Incorrect output or malfunction due to a communication failure may result in an accident.
When modifying data of a running Simple Motion board, configure an interlock in the program to
ensure that the entire system will always operate safely. For other forms of control (such as program
modification, parameter change, forced output, or operating status change) of a running Simple
Motion board, read the relevant manuals carefully and ensure that the operation is safe before
proceeding. Improper operation may damage machines or cause accidents. Determine corrective
actions to be taken in case of a communication failure.
Especially, when a remote Simple Motion board is controlled, immediate action cannot be taken if a
problem occurs in the Simple Motion board due to a communication failure. To prevent this, configure
an interlock in the program, and determine corrective actions to be taken in case of a communication
failure.
Do not write any data to the "system area" and "write-protect area" of the buffer memory in the Simple
Motion board. Doing so may cause malfunction of the Simple Motion board. For the "system area",
and "write-protect area", refer to the user's manual for the Simple Motion board.
WARNING
Indicates that incorrect handling may cause hazardous conditions, resulting in
death or severe injury.
CAUTION
Indicates that incorrect handling may cause hazardous conditions, resulting in
minor or moderate injury or property damage.
2
[Design Precautions]
[Design Precautions]
[Installation Precautions]
WARNING
If a communication cable is disconnected, the network may be unstable, resulting in a communication
failure of multiple stations. Configure an interlock in the program to ensure that the entire system will
always operate safely even if communications fail. Failure to do so may result in an accident due to an
incorrect output or malfunction.
To maintain the safety of the Simple Motion board against unauthorized access from external devices
via the network, take appropriate measures. To maintain the safety against unauthorized access via
the Internet, take measures such as installing a firewall.
If safety standards (ex., robot safety rules, etc.,) apply to the system using the Simple Motion board,
servo amplifier and servomotor, make sure that the safety standards are satisfied.
Construct a safety circuit externally of the Simple Motion board or servo amplifier if the abnormal
operation of the Simple Motion board or servo amplifier differs from the safety directive operation in
the system.
CAUTION
Do not install the control lines or communication cables together with the main circuit lines or power
cables. Keep a distance of 100 mm or more between them. Failure to do so may result in malfunction
due to noise.
After the personal computer is powered on or rebooted, the time taken for the Simple Motion board to
enter the RUN status varies depending on the system configuration, parameter settings, and/or
program size. Design circuits so that the entire system will always operate safely, regardless of the
time.
Do not power off or reboot the personal computer during the setting registration. Doing so will make
the data in the flash ROM undefined. The data need to be set in the buffer memory and to be written
to the flash ROM again. Doing so may cause malfunction or failure of the Simple Motion board.
WARNING
Shut off the external power supply (all phases) used in the system before mounting or removing the
Simple Motion board to or from the personal computer. Failure to do so may result in electric shock or
cause the Simple Motion board to fail or malfunction.
Do not touch any connectors while power is on. Doing so may cause electric shock or malfunction.
3
[Installation Precautions]
[Wiring Precautions]
CAUTION
Use the Simple Motion board in an environment that meets the general specifications in the Simple
Motion Board User's Manual. Failure to do so may result in electric shock, fire, malfunction, or
damage to or deterioration of the product.
Fix the Simple Motion board securely with the board-fixing screw. Tighten the screws within the
specified torque range. Undertightening can cause drop of the screw, short circuit, or malfunction.
Overtightening can damage the screw and/or Simple Motion board, resulting in drop, short circuit, or
malfunction. For the tightening torque of the board-fixing screws, refer to the manual supplied with the
personal computer.
Do not directly touch any conductive parts and electronic components of the Simple Motion board.
Hold the front panel or edge of the print board. Not holding by the front panel or edges may cause
malfunction or failure of the Simple Motion board.
Do not disassemble or modify the Simple Motion board. Doing so may cause failure, malfunction,
injury, or a fire.
Before handling the Simple Motion board, touch a conducting object such as a grounded metal to
discharge the static electricity from the human body. Failure to do so may cause the Simple Motion
board to fail or malfunction.
Install the Simple Motion board to a personal computer which is compliant with PCI Express
standard. Failure to do so may cause a failure or malfunction.
Securely insert the Simple Motion board into the slot following the board installation instruction of the
personal computer. Incorrect insertion of the Simple Motion board may cause malfunction, failure, or
drop of the board.
When installing the Simple Motion board, take care not to contact with other boards.
When installing the Simple Motion board, take care not to get injured by an implemented component
or a surrounding member.
Handle the Simple Motion board in a place where static electricity will not be generated. Failure to do
so may cause a failure or malfunction.
The Simple Motion board is included in an antistatic envelope. When storing or transporting it, be sure
to put it in the antistatic envelope. Failure to do so may cause a failure or malfunction.
Do not drop or apply a strong impact to the Simple Motion board. Doing so may cause a failure or
malfunction.
WARNING
Shut off the external power supply (all phases) used in the system before installation and wiring.
Failure to do so may result in electric shock or damage to the Simple Motion board.
After installation and wiring, attach the cover of the equipment the Simple Motion board is installed to
before turning it on for operation. Failure to do so may result in electric shock.
4
[Wiring Precautions]
[Startup and Maintenance Precautions]
CAUTION
Ground the controllers, servo amplifiers and servo motors embedded with a Simple Motion board with
a ground resistance of 100 ohm or less. Do not use a common grounding with other equipment.
Check the rated voltage and signal layout before wiring to the Simple Motion board, and connect the
cables correctly. Connecting a power supply with a different voltage rating or incorrect wiring may
cause fire or failure.
Connectors must be correctly connected. Incomplete connections may cause short circuit, fire, or
malfunction.
Securely connect the connector to the Simple Motion board. Poor contact may cause malfunction.
Do not install the control lines or communication cables together with the main circuit lines or power
cables. Keep a distance of 100 mm or more between them. Failure to do so may result in malfunction
due to noise.
Place the cables in a duct or clamp them. If not, dangling cable may swing or inadvertently be pulled,
resulting in damage to the Simple Motion board or cables or malfunction due to poor contact.
Check the interface type and correctly connect the cable. Incorrect wiring (connecting the cable to an
incorrect interface) may cause failure of the Simple Motion board and external device.
When disconnecting the cable from the Simple Motion board, do not pull the cable by the cable part.
For the cable with connector, hold the connector part of the cable. Pulling the cable connected to the
Simple Motion board may result in malfunction or damage to the Simple Motion board or cable.
Prevent foreign matter such as dust or wire chips from entering the personal computer. Such foreign
matter can cause a fire, failure, or malfunction.
For Ethernet cables to be used in the system, select the ones that meet the specifications in the user’s
manual of the Simple Motion board. If not, normal data transmission is not guaranteed.
WARNING
Shut off the external power supply (all phases) used in the system before cleaning or retightening the
board-fixing screws. Failure to do so may result in electric shock or malfunction.
Turn off the external power supply for the system in all phases before installing the Simple Motion
board to or removing it from the personal computer. Failure to do so may result in electric shock or
cause the Simple Motion board to fail or malfunction.
Do not connect or disconnect any communication cable while power is on. Doing so may result in a
malfunction.
5
[Startup and Maintenance Precautions]
CAUTION
When modifying data of a running Simple Motion board, configure an interlock in the program to
ensure that the entire system will always operate safely. For other forms of control (such as program
modification, parameter change, forced output, or operating status change) of a running Simple
Motion board, read the relevant manuals carefully and ensure that the operation is safe before
proceeding. Improper operation may damage machines or cause accidents. Determine corrective
actions to be taken in case of a communication failure.
Especially, when a remote Simple Motion board is controlled, immediate action cannot be taken if a
problem occurs in the Simple Motion board due to a communication failure. To prevent this, configure
an interlock in the program, and determine corrective actions to be taken in case of a communication
failure.
Do not disassemble or modify the Simple Motion board. Doing so may cause failure, malfunction,
injury, or a fire.
Use any radio communication device such as a cellular phone or PHS (Personal Handyphone
System) more than 25 cm away in all directions from the Simple Motion board. Failure to do so may
cause malfunction.
Shut off the external power supply (all phases) used in the system before mounting or removing the
Simple Motion board. Failure to do so may cause the Simple Motion board to fail or malfunction.
Tighten the board-fixing screws within the specified torque range. Undertightening can cause drop of
the component or wire, short circuit, or malfunction. Overtightening can damage the screw and/or
Simple Motion board, resulting in drop, short circuit, or malfunction. For the tightening torque of the
board-fixing screws, refer to the manual supplied with the personal computer.
After the first use of the product, do not mount/remove the Simple Motion board to/from the personal
computer more than 50 times. Exceeding the limit of 50 times may cause malfunction.
Maintenance must be performed by qualified maintenance personnel with knowledge.
Before handling the Simple Motion board, touch a conducting object such as a grounded metal to
discharge the static electricity from the human body. Failure to do so may cause the Simple Motion
board to fail or malfunction.
The Simple Motion board is included in an antistatic envelope. When storing or transporting it, be sure
to put it in the antistatic envelope. Failure to do so may cause a failure or malfunction.
The microprocessor built in the Simple Motion board will reach a high temperature during operation.
Do not touch it directly when replacing the Simple Motion board. Doing so may result in a burn.
Before testing the operation, set a low speed value for the speed limit parameter so that the operation
can be stopped immediately upon occurrence of a hazardous condition.
Confirm and adjust the program and each parameter before operation. Unpredictable movements
may occur depending on the machine.
When using the absolute position system function, on starting up, and when the Simple Motion board
or absolute position motor has been replaced, always perform a home position return.
Before starting the operation, confirm the brake function.
Do not perform a megger test (insulation resistance measurement) during inspection.
After maintenance and inspections are completed, confirm that the position detection of the absolute
position detection function is correct.
Extreme adjustments and changes may lead to unstable operation, so never make them.
6
[Startup and Maintenance Precautions]
[Operating Precautions]
[Disposal Precautions]
[Transportation Precautions]
CAUTION
Do not place the Simple Motion board or servo amplifier on metal that may cause a power leakage or
wood, plastic or vinyl that may cause static electricity buildup. Doing so can cause malfunction or
failure of the Simple Motion board.
CAUTION
When changing data and operating status, and modifying program of the running Simple Motion
board, read relevant manuals carefully and ensure the safety before operation. Incorrect change or
modification may cause system malfunction, damage to the machines, or accidents.
Do not power off or reboot the personal computer while the setting values in the buffer memory are
being written to the flash ROM in the Simple Motion board. Doing so will make the data in the flash
ROM undefined. The values need to be set in the buffer memory and written to the flash ROM again.
Doing so also can cause malfunction or failure of the Simple Motion board.
Note that when the reference axis speed is specified for interpolation operation, the speed of the
partner axis (2nd, 3rd, or 4th axis) may exceed the speed limit value.
Do not go near the machine during test operations or during operations such as teaching. Doing so
may lead to injuries.
CAUTION
When disposing of this product, treat it as industrial waste.
CAUTION
The halogens (such as fluorine, chlorine, bromine, and iodine), which are contained in a fumigant
used for disinfection and pest control of wood packaging materials, may cause failure of the product.
Prevent the entry of fumigant residues into the product or consider other methods (such as heat
treatment) instead of fumigation. The disinfection and pest control measures must be applied to
unprocessed raw wood.
The Simple Motion board is a precision machine, so do not drop or apply strong impacts on it.
7
CONDITIONS OF USE FOR THE PRODUCT
INTRODUCTION
Thank you for purchasing the personal computer embedded type servo system controllers.
This manual describes the functions and programming of the relevant products listed below.
Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the
functions and performance of the personal computer embedded type servo system controller to handle the product correctly.
When applying the program examples provided in this manual to an actual system, ensure the applicability and confirm that it
will not cause system control problems.
Please make sure that the end users read this manual.
Relevant products
MR-EM340GF
Symbols used in this manual are shown below.
A serial No. is inserted in the "**" mark.
• [Pr.**]: Symbols indicating positioning parameter or home position return parameter items
[Da.**]: Symbols indicating positioning data or block start data items
• [Md.**]: Symbols indicating monitor data items
• [Cd.**]: Symbols indicating control data items
(1) Mitsubishi Simple Motion board ("the PRODUCT") shall be used in conditions;
i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident;
and
ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the
case of any problem, fault or failure occurring in the PRODUCT.
(2) The PRODUCT has been designed and manufactured for the purpose of being used in general industries.
MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY (INCLUDING, BUT NOT LIMITED TO ANY AND ALL
RESPONSIBILITY OR LIABILITY BASED ON CONTRACT, WARRANTY, TORT, PRODUCT LIABILITY) FOR ANY
INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE
OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS, PRECAUTIONS, OR
WARNING CONTAINED IN MITSUBISHI'S USER, INSTRUCTION AND/OR SAFETY MANUALS, TECHNICAL
BULLETINS AND GUIDELINES FOR the PRODUCT.
("Prohibited Application")
Prohibited Applications include, but not limited to, the use of the PRODUCT in;
• Nuclear Power Plants and any other power plants operated by Power companies, and/or any other cases in which the
public could be affected if any problem or fault occurs in the PRODUCT.
• Railway companies or Public service purposes, and/or any other cases in which establishment of a special quality
assurance system is required by the Purchaser or End User.
• Aircraft or Aerospace, Medical applications, Train equipment, transport equipment such as Elevator and Escalator,
Incineration and Fuel devices, Vehicles, Manned transportation, Equipment for Recreation and Amusement, and
Safety devices, handling of Nuclear or Hazardous Materials or Chemicals, Mining and Drilling, and/or other
applications where there is a significant risk of injury to the public or property.
Notwithstanding the above, restrictions Mitsubishi may in its sole discretion, authorize use of the PRODUCT in one or
more of the Prohibited Applications, provided that the usage of the PRODUCT is limited only for the specific
applications agreed to by Mitsubishi and provided further that no special quality assurance or fail-safe, redundant or
other safety features which exceed the general specifications of the PRODUCTs are required. For details, please
contact the Mitsubishi representative in your region.
8
COMPLIANCE WITH EMC AND LOW VOLTAGE
DIRECTIVES
Method of ensuring compliance
To ensure that this product maintains EMC and Low Voltage Directives, please refer to the following manual.
Simple Motion Board User's Manual (Startup)
9
CONTENTS
CONTENTS
SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
CONDITIONS OF USE FOR THE PRODUCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
INTRODUCTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
RELEVANT MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
CHAPTER 1 START AND STOP 18
1.1 Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Multiple axes simultaneous start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1.2 Stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
1.3 Restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
CHAPTER 2 HOME POSITION RETURN CONTROL 34
2.1 Outline of Home Position Return Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Two types of home position return control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
2.2 Machine Home Position Return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Outline of the machine home position return operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36
Machine home position return method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Driver home position return method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
2.3 Fast Home Position Return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Outline of the fast home position return operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
2.4 Selection of the Home Position Return Setting Condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43
Outline of the home position return setting condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
CHAPTER 3 MAJOR POSITIONING CONTROL 44
3.1 Outline of Major Positioning Controls. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Data required for major positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Operation patterns of major positioning controls. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Designating the positioning address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Confirming the current value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Control unit "degree" handling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Interpolation control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
3.2 Setting the Positioning Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Relation between each control and positioning data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
1-axis linear control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67
2-axis linear interpolation control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
3-axis linear interpolation control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
4-axis linear interpolation control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Fixed-feed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
2-axis circular interpolation control with sub point designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .82
2-axis circular interpolation control with center point designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
3-axis helical interpolation control with sub point designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
3-axis helical interpolation control with center point designation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Speed-position switching control (INC mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Speed-position switching control (ABS mode). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Position-speed switching control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
10
Current value changing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
NOP instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
JUMP instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
LOOP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
LEND. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
CHAPTER 4 HIGH-LEVEL POSITIONING CONTROL 140
4.1 Outline of High-level Positioning Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Data required for high-level positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
"Block start data" and "condition data" configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
4.2 High-level Positioning Control Execution Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
4.3 Setting the Block Start Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Relation between various controls and block start data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Block start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Condition start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Wait start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
Simultaneous start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Repeated start (FOR loop) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Repeated start (FOR condition). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Restrictions when using the NEXT start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
4.4 Setting the Condition Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Relation between various controls and the condition data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Condition data setting examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
4.5 Start Program for High-level Positioning Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Starting high-level positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Example of a start program for high-level positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
CHAPTER 5 MANUAL CONTROL 160
5.1 Outline of Manual Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Three manual control methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
5.2 JOG Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Outline of JOG operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
JOG operation execution procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Setting the required parameters for JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Creating start programs for JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
JOG operation example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
5.3 Inching Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Outline of inching operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Inching operation execution procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
Setting the required parameters for inching operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Creating a program to enable/disable the inching operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
Inching operation example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
5.4 Manual Pulse Generator Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Outline of manual pulse generator operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Manual pulse generator operation execution procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Setting the required parameters for manual pulse generator operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Creating a program to enable/disable the manual pulse generator operation. . . . . . . . . . . . . . . . . . . . . . . . . . 186
CHAPTER 6 INTER-MODULE SYNCHRONIZATION FUNCTION 188
11
CONTENTS
CHAPTER 7 EXPANSION CONTROL 190
7.1 Speed-torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Outline of speed-torque control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Setting the required parameters for speed-torque control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Setting the required data for speed-torque control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
Operation of speed-torque control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
7.2 Advanced synchronous control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
7.3 Direct Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Outline of direct control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Differences between standard control and direct control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Setting the required parameters for direct control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
Start and stop of direct control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Control method of direct control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
List of parameters and data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
Direct control setting parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
Control data for direct control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Direct control monitor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
CHAPTER 8 CONTROL SUB FUNCTIONS 218
8.1 Outline of Sub Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Outline of sub functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
8.2 Functions for Compensating the Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Backlash compensation function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Electronic gear function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Near pass function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
8.3 Functions to Limit the Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
Speed limit function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
Torque limit function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
Software stroke limit function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
Hardware stroke limit function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
Forced stop function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
8.4 Functions to Change the Control Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
Speed change function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
Override function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
Acceleration/deceleration time change function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
Torque change function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
Target position change function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
8.5 Functions Related to Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
Pre-reading start function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
8.6 Absolute Position System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
8.7 Functions Related to Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
Stop command processing for deceleration stop function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
Continuous operation interrupt function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273
Step function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
8.8 Other Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
Skip function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
M code output function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
Teaching function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
Command in-position function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
Acceleration/deceleration processing function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
12
Deceleration start flag function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
Speed control 10 x multiplier setting for degree axis function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
Operation setting for incompletion of home position return function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
Controller in-position function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
8.9 Servo ON/OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
Servo ON/OFF. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
Follow up function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
CHAPTER 9 COMMON FUNCTIONS 307
9.1 Outline of Common Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
9.2 Parameter Initialization Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
9.3 Execution Data Backup Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310
9.4 External Input Signal Select Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
9.5 Link Device External Signal Assignment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
9.6 History Monitor Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328
9.7 Amplifier-less Operation Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
9.8 Virtual Servo Amplifier Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
9.9 Mark Detection Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
9.10 Event History Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
9.11 Servo Cyclic Transmission Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
9.12 Servo Transient Transmission Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
9.13 Test mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361
9.14 Servo Parameter Change Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365
9.15 User watchdog function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370
9.16 Remote operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372
Remote RESET. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372
9.17 Time setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
9.18 PCI Express connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374
PCI Express link-down detection function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374
9.19 Interrupt function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
9.20 DMA transmission function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392
9.21 Ethernet communication connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
CHAPTER 10 PARAMETER SETTING 401
10.1 Parameter Setting Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401
10.2 Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 402
10.3 Network Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 402
CHAPTER 11 SPECIFICATIONS OF I/O SIGNALS WITH USER PROGRAMS 403
11.1 List of Input/Output Signals with User Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403
11.2 Details of Input Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405
11.3 Details of Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 406
CHAPTER 12 DATA USED FOR POSITIONING CONTROL 407
12.1 Types of Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407
Parameters and data required for control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407
Setting items for servo network composition parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 410
Setting items for common parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 410
Setting items for positioning parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411
Setting items for home position return parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421
13
CONTENTS
Setting items for positioning data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422
Setting items for block start data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425
Setting items for condition data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425
Types and roles of monitor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426
Types and roles of control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429
12.2 List of Buffer Memory Addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 432
12.3 Basic Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
Servo network composition parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
Common parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454
Basic parameters1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
Basic parameters2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460
Detailed parameters1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461
Detailed parameters2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468
Home position return basic parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 477
Home position return detailed parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480
12.4 Positioning Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 482
12.5 Block Start Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
12.6 Condition Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499
12.7 Monitor Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507
System monitor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507
Axis monitor data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518
Servo network composition status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 542
12.8 Control Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543
System control data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543
Axis control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549
12.9 Memory Configuration and Data Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 578
Configuration and roles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 578
Buffer memory area configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 580
Data transmission timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 582
Data transmission process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 583
CHAPTER 13 PROGRAMMING 589
13.1 Precautions for Creating User Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589
13.2 List of Labels Used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 590
13.3 Creating a User Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592
General configuration of user program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592
13.4 Positioning Program Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 593
CHAPTER 14 TROUBLESHOOTING 606
14.1 Troubleshooting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 606
Troubleshooting using the LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 606
Troubleshooting using the Simple Motion board status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 609
14.2 Troubleshooting by Symptom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 610
14.3 Error and Warning Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 611
Error type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 611
Error code classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612
Error storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612
Warning type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 613
Warning code classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 613
Warning storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 613
14
Clearing errors and warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614
14.4 List of Warning Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 615
Simple Motion board detection warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 615
Servo amplifier detection warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 624
14.5 List of Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 625
Simple Motion board detection error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 625
Servo amplifier detection error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 654
APPENDICES 655
Appendix 1 How to Find Buffer Memory Addresses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 655
Appendix 2 Restrictions by the version. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 659
INDEX 661
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .664
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .665
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .666
15
RELEVANT MANUALS
e-Manual refers to the Mitsubishi FA electronic book manuals that can be browsed using a dedicated tool.
e-Manual has the following features:
• Required information can be cross-searched in multiple manuals.
• Other manuals can be accessed from the links in the manual.
• The hardware specifications of each part can be found from the product figures.
• Pages that users often browse can be bookmarked.
Manual name [manual number] Description Available form
Simple Motion Board User's Manual
(Application)
[IB-0300324] (This manual)
Functions, input/output signals, buffer memory, parameter
settings, programming, and troubleshooting of the Simple Motion
board
Print book
e-Manual
PDF
Simple Motion Board User's Manual
(Startup)
[IB-0300322]
Specifications, procedures before operation, system configuration,
wiring, and operation examples of the Simple Motion board
Print book
e-Manual
PDF
Simple Motion Board User's Manual
(Advanced Synchronous Control)
[IB-0300326]
Functions and programming for the synchronous control of the
Simple Motion board
Print book
e-Manual
PDF
Simple Motion Board User's Manual
(Network)
[IB-0300328]
Functions, parameter settings, troubleshooting, and buffer
memory of CC-Link IE Field Network
Print book
e-Manual
PDF
Simple Motion Board User's Manual
(API Library)
[IB-0300330]
API library and others that the host personal computer uses to
control the Simple Motion board
Print book
e-Manual
PDF
16
TERMS
Unless otherwise specified, this manual uses the following terms.
Term Description
API library A general name for the library that creates the application on the host personal computer controlling the Simple Motion
board
Axis Another term for a servo amplifier
Baton pass A token to send data over a network
Buffer memory A memory in the Simple Motion board, where data (such as setting values and monitoring values) are stored
CC-Link IE Field Network A high-speed and large-capacity open field network that is based on Ethernet (1000BASE-T)
Cyclic transmission A function by which data are periodically exchanged among stations on the network using link devices
Data link A generic term for cyclic transmission and transient transmission
Device A device (X, Y, RX, RY, or others) in the Simple Motion board
Disconnection A process of stopping data link if a data link error occurs
DMA transmission Automatic data transfer between a buffer memory of the MR-EM340GF and a memory in the host personal computer
EM Configurator A product name for start-up and examination tool for Simple Motion board
EM Software Development Kit A product name for software development kit for Simple Motion board
Host personal computer A general name for a personal computer which operates user programs
Intelligent device station A station that exchanges I/O signals (bit data) and I/O data (word data) with another station by cyclic transmission. This
station responds to a transient transmission request from another station and also issues a transient transmission
request to another station.
Label A label that represents one of memory areas (I/O signals and buffer memory areas) specific to the Simple Motion board
in a given character string
Link device A device (RX, RY, RWr, or RWw) in a module on CC-Link IE Field Network
Link refresh Automatic data transfer between a link device of the master station and a device in a CPU module
Link scan (link scan time) Time required for all the stations on the network to transmit data. The link scan time depends on data volume and the
number of transient transmission requests.
Local station A station that performs cyclic transmission and transient transmission with the master station and other local stations
Master station A station that controls the entire network. This station can perform cyclic transmission and transient transmission with all
stations. Only one master station can be used in a network.
MR-EM340GF Another term for the Simple Motion board compatible with CC-Link IE Field Network
MR-J4-GF MR-J4-_GF_(-RJ) Servo amplifier series
MSI An interrupt name used by PCI Express
Network module A generic term for the following modules:
Ethernet interface module
CC-Link IE Controller Network module
Module on CC-Link IE Field Network
MELSECNET/H network module
MELSECNET/10 network module
RnENCPU (network part)
Operation cycle A motion operation cycle that is set in the inter-module synchronization cycle setting of the Simple Motion board
Remote device station A station that exchanges I/O signals (bit data) and I/O data (word data) with another station by cyclic transmission. This
station responds to a transient transmission request from another station.
Remote I/O station A station that exchanges I/O signals (bit data) with the master station by cyclic transmission
Remote input (RX) Bit data input from a slave station to the master station (For some areas in a local station, data are output in the opposite
direction.)
Remote output (RY) Bit data output from the master station to a slave station (For some areas in a local station, data are output in the
opposite direction.)
Remote register (RWr) Word data input from a slave station to the master station (For some areas in a local station, data are output in the
opposite direction.)
Remote register (RWw) Word data output from the master station to a slave station (For some areas in a local station, data are output in the
opposite direction.)
Return A process of restarting data link when a station recovers from an error
Routing A process of selecting paths for communication with other networks. There are two types of routing: dynamic routing that
auto-selects the communication routes, and static routing where communication routes are arbitrarily set.
Servo amplifier A generic term for a drive unit
Unless specified in particular, indicates the motor driver unit of the sequential command method which is controlled by
the Simple Motion board (belonging to own station).
17
Simple Motion board The abbreviation for the personal computer embedded type servo system controller Simple Motion board
Slave station A generic term for a local station, remote I/O station, remote device station, and intelligent device station
Submaster station A station that serves as a master station to control the entire network if the master station is disconnected. Only one
master station can be used in a network.
Transient transmission A function of communication with another station, which is used when requested by EM Configurator
User program A general name for applications using the API library
Term Description
18
1 START AND STOP
1.1 Start
1 START AND STOP
This chapter describes start and stop methods of the positioning control for the Simple Motion board.
1.1 Start
The Simple Motion board operates the start trigger in each control, and starts the positioning control. The following table
shows the start signals for each control. This section describes the start using the positioning start signal [Y10 to Y1F] and the
external command signal.
In the control other than the manual control, the following start methods can be selected.
•Normal start (Page 145 Block start)
Multiple axes simultaneous start (Page 24 Multiple axes simultaneous start)
The positioning data, block start data, and condition data are used for the position specified at the control. The data that can
be used varies by the start method.
Servo ON conditions
Setting of servo parameter
User program READY signal [Y0] ON
All axis servo ON [Y1] ON
[API library]
To turn the user program READY signal ON, use the MMC_Controller::SetUserProgramReady method.
Starting conditions
To start the control, the following conditions must be satisfied.
The necessary start conditions must be incorporated in the user program so that the control is not started when the conditions
are not satisfied.
Operation state
n: Axis No. - 1
For labels, refer to the following.
Page 435 Axis monitor data
Control details Start trigger
Major positioning control Turns ON the positioning start signal [Y10 to Y1F].
Turns ON the external command signal (DI).
High-level positioning control
Home position return control
Manual control JOG operation Turns ON the "[Cd.181] Forward run JOG start" or the "[Cd.182] Reverse run JOG start".
Inching operation
Manual pulse generator operation Operates the manual pulse generator.
Monitor item Operation state Buffer memory address
[Md.26] Axis operation status "0: Standby" or "1: Stopped" 2409+100n
  • Page 1 1
  • Page 2 2
  • Page 3 3
  • Page 4 4
  • Page 5 5
  • Page 6 6
  • Page 7 7
  • Page 8 8
  • Page 9 9
  • Page 10 10
  • Page 11 11
  • Page 12 12
  • Page 13 13
  • Page 14 14
  • Page 15 15
  • Page 16 16
  • Page 17 17
  • Page 18 18
  • Page 19 19
  • Page 20 20
  • Page 21 21
  • Page 22 22
  • Page 23 23
  • Page 24 24
  • Page 25 25
  • Page 26 26
  • Page 27 27
  • Page 28 28
  • Page 29 29
  • Page 30 30
  • Page 31 31
  • Page 32 32
  • Page 33 33
  • Page 34 34
  • Page 35 35
  • Page 36 36
  • Page 37 37
  • Page 38 38
  • Page 39 39
  • Page 40 40
  • Page 41 41
  • Page 42 42
  • Page 43 43
  • Page 44 44
  • Page 45 45
  • Page 46 46
  • Page 47 47
  • Page 48 48
  • Page 49 49
  • Page 50 50
  • Page 51 51
  • Page 52 52
  • Page 53 53
  • Page 54 54
  • Page 55 55
  • Page 56 56
  • Page 57 57
  • Page 58 58
  • Page 59 59
  • Page 60 60
  • Page 61 61
  • Page 62 62
  • Page 63 63
  • Page 64 64
  • Page 65 65
  • Page 66 66
  • Page 67 67
  • Page 68 68
  • Page 69 69
  • Page 70 70
  • Page 71 71
  • Page 72 72
  • Page 73 73
  • Page 74 74
  • Page 75 75
  • Page 76 76
  • Page 77 77
  • Page 78 78
  • Page 79 79
  • Page 80 80
  • Page 81 81
  • Page 82 82
  • Page 83 83
  • Page 84 84
  • Page 85 85
  • Page 86 86
  • Page 87 87
  • Page 88 88
  • Page 89 89
  • Page 90 90
  • Page 91 91
  • Page 92 92
  • Page 93 93
  • Page 94 94
  • Page 95 95
  • Page 96 96
  • Page 97 97
  • Page 98 98
  • Page 99 99
  • Page 100 100
  • Page 101 101
  • Page 102 102
  • Page 103 103
  • Page 104 104
  • Page 105 105
  • Page 106 106
  • Page 107 107
  • Page 108 108
  • Page 109 109
  • Page 110 110
  • Page 111 111
  • Page 112 112
  • Page 113 113
  • Page 114 114
  • Page 115 115
  • Page 116 116
  • Page 117 117
  • Page 118 118
  • Page 119 119
  • Page 120 120
  • Page 121 121
  • Page 122 122
  • Page 123 123
  • Page 124 124
  • Page 125 125
  • Page 126 126
  • Page 127 127
  • Page 128 128
  • Page 129 129
  • Page 130 130
  • Page 131 131
  • Page 132 132
  • Page 133 133
  • Page 134 134
  • Page 135 135
  • Page 136 136
  • Page 137 137
  • Page 138 138
  • Page 139 139
  • Page 140 140
  • Page 141 141
  • Page 142 142
  • Page 143 143
  • Page 144 144
  • Page 145 145
  • Page 146 146
  • Page 147 147
  • Page 148 148
  • Page 149 149
  • Page 150 150
  • Page 151 151
  • Page 152 152
  • Page 153 153
  • Page 154 154
  • Page 155 155
  • Page 156 156
  • Page 157 157
  • Page 158 158
  • Page 159 159
  • Page 160 160
  • Page 161 161
  • Page 162 162
  • Page 163 163
  • Page 164 164
  • Page 165 165
  • Page 166 166
  • Page 167 167
  • Page 168 168
  • Page 169 169
  • Page 170 170
  • Page 171 171
  • Page 172 172
  • Page 173 173
  • Page 174 174
  • Page 175 175
  • Page 176 176
  • Page 177 177
  • Page 178 178
  • Page 179 179
  • Page 180 180
  • Page 181 181
  • Page 182 182
  • Page 183 183
  • Page 184 184
  • Page 185 185
  • Page 186 186
  • Page 187 187
  • Page 188 188
  • Page 189 189
  • Page 190 190
  • Page 191 191
  • Page 192 192
  • Page 193 193
  • Page 194 194
  • Page 195 195
  • Page 196 196
  • Page 197 197
  • Page 198 198
  • Page 199 199
  • Page 200 200
  • Page 201 201
  • Page 202 202
  • Page 203 203
  • Page 204 204
  • Page 205 205
  • Page 206 206
  • Page 207 207
  • Page 208 208
  • Page 209 209
  • Page 210 210
  • Page 211 211
  • Page 212 212
  • Page 213 213
  • Page 214 214
  • Page 215 215
  • Page 216 216
  • Page 217 217
  • Page 218 218
  • Page 219 219
  • Page 220 220
  • Page 221 221
  • Page 222 222
  • Page 223 223
  • Page 224 224
  • Page 225 225
  • Page 226 226
  • Page 227 227
  • Page 228 228
  • Page 229 229
  • Page 230 230
  • Page 231 231
  • Page 232 232
  • Page 233 233
  • Page 234 234
  • Page 235 235
  • Page 236 236
  • Page 237 237
  • Page 238 238
  • Page 239 239
  • Page 240 240
  • Page 241 241
  • Page 242 242
  • Page 243 243
  • Page 244 244
  • Page 245 245
  • Page 246 246
  • Page 247 247
  • Page 248 248
  • Page 249 249
  • Page 250 250
  • Page 251 251
  • Page 252 252
  • Page 253 253
  • Page 254 254
  • Page 255 255
  • Page 256 256
  • Page 257 257
  • Page 258 258
  • Page 259 259
  • Page 260 260
  • Page 261 261
  • Page 262 262
  • Page 263 263
  • Page 264 264
  • Page 265 265
  • Page 266 266
  • Page 267 267
  • Page 268 268
  • Page 269 269
  • Page 270 270
  • Page 271 271
  • Page 272 272
  • Page 273 273
  • Page 274 274
  • Page 275 275
  • Page 276 276
  • Page 277 277
  • Page 278 278
  • Page 279 279
  • Page 280 280
  • Page 281 281
  • Page 282 282
  • Page 283 283
  • Page 284 284
  • Page 285 285
  • Page 286 286
  • Page 287 287
  • Page 288 288
  • Page 289 289
  • Page 290 290
  • Page 291 291
  • Page 292 292
  • Page 293 293
  • Page 294 294
  • Page 295 295
  • Page 296 296
  • Page 297 297
  • Page 298 298
  • Page 299 299
  • Page 300 300
  • Page 301 301
  • Page 302 302
  • Page 303 303
  • Page 304 304
  • Page 305 305
  • Page 306 306
  • Page 307 307
  • Page 308 308
  • Page 309 309
  • Page 310 310
  • Page 311 311
  • Page 312 312
  • Page 313 313
  • Page 314 314
  • Page 315 315
  • Page 316 316
  • Page 317 317
  • Page 318 318
  • Page 319 319
  • Page 320 320
  • Page 321 321
  • Page 322 322
  • Page 323 323
  • Page 324 324
  • Page 325 325
  • Page 326 326
  • Page 327 327
  • Page 328 328
  • Page 329 329
  • Page 330 330
  • Page 331 331
  • Page 332 332
  • Page 333 333
  • Page 334 334
  • Page 335 335
  • Page 336 336
  • Page 337 337
  • Page 338 338
  • Page 339 339
  • Page 340 340
  • Page 341 341
  • Page 342 342
  • Page 343 343
  • Page 344 344
  • Page 345 345
  • Page 346 346
  • Page 347 347
  • Page 348 348
  • Page 349 349
  • Page 350 350
  • Page 351 351
  • Page 352 352
  • Page 353 353
  • Page 354 354
  • Page 355 355
  • Page 356 356
  • Page 357 357
  • Page 358 358
  • Page 359 359
  • Page 360 360
  • Page 361 361
  • Page 362 362
  • Page 363 363
  • Page 364 364
  • Page 365 365
  • Page 366 366
  • Page 367 367
  • Page 368 368
  • Page 369 369
  • Page 370 370
  • Page 371 371
  • Page 372 372
  • Page 373 373
  • Page 374 374
  • Page 375 375
  • Page 376 376
  • Page 377 377
  • Page 378 378
  • Page 379 379
  • Page 380 380
  • Page 381 381
  • Page 382 382
  • Page 383 383
  • Page 384 384
  • Page 385 385
  • Page 386 386
  • Page 387 387
  • Page 388 388
  • Page 389 389
  • Page 390 390
  • Page 391 391
  • Page 392 392
  • Page 393 393
  • Page 394 394
  • Page 395 395
  • Page 396 396
  • Page 397 397
  • Page 398 398
  • Page 399 399
  • Page 400 400
  • Page 401 401
  • Page 402 402
  • Page 403 403
  • Page 404 404
  • Page 405 405
  • Page 406 406
  • Page 407 407
  • Page 408 408
  • Page 409 409
  • Page 410 410
  • Page 411 411
  • Page 412 412
  • Page 413 413
  • Page 414 414
  • Page 415 415
  • Page 416 416
  • Page 417 417
  • Page 418 418
  • Page 419 419
  • Page 420 420
  • Page 421 421
  • Page 422 422
  • Page 423 423
  • Page 424 424
  • Page 425 425
  • Page 426 426
  • Page 427 427
  • Page 428 428
  • Page 429 429
  • Page 430 430
  • Page 431 431
  • Page 432 432
  • Page 433 433
  • Page 434 434
  • Page 435 435
  • Page 436 436
  • Page 437 437
  • Page 438 438
  • Page 439 439
  • Page 440 440
  • Page 441 441
  • Page 442 442
  • Page 443 443
  • Page 444 444
  • Page 445 445
  • Page 446 446
  • Page 447 447
  • Page 448 448
  • Page 449 449
  • Page 450 450
  • Page 451 451
  • Page 452 452
  • Page 453 453
  • Page 454 454
  • Page 455 455
  • Page 456 456
  • Page 457 457
  • Page 458 458
  • Page 459 459
  • Page 460 460
  • Page 461 461
  • Page 462 462
  • Page 463 463
  • Page 464 464
  • Page 465 465
  • Page 466 466
  • Page 467 467
  • Page 468 468
  • Page 469 469
  • Page 470 470
  • Page 471 471
  • Page 472 472
  • Page 473 473
  • Page 474 474
  • Page 475 475
  • Page 476 476
  • Page 477 477
  • Page 478 478
  • Page 479 479
  • Page 480 480
  • Page 481 481
  • Page 482 482
  • Page 483 483
  • Page 484 484
  • Page 485 485
  • Page 486 486
  • Page 487 487
  • Page 488 488
  • Page 489 489
  • Page 490 490
  • Page 491 491
  • Page 492 492
  • Page 493 493
  • Page 494 494
  • Page 495 495
  • Page 496 496
  • Page 497 497
  • Page 498 498
  • Page 499 499
  • Page 500 500
  • Page 501 501
  • Page 502 502
  • Page 503 503
  • Page 504 504
  • Page 505 505
  • Page 506 506
  • Page 507 507
  • Page 508 508
  • Page 509 509
  • Page 510 510
  • Page 511 511
  • Page 512 512
  • Page 513 513
  • Page 514 514
  • Page 515 515
  • Page 516 516
  • Page 517 517
  • Page 518 518
  • Page 519 519
  • Page 520 520
  • Page 521 521
  • Page 522 522
  • Page 523 523
  • Page 524 524
  • Page 525 525
  • Page 526 526
  • Page 527 527
  • Page 528 528
  • Page 529 529
  • Page 530 530
  • Page 531 531
  • Page 532 532
  • Page 533 533
  • Page 534 534
  • Page 535 535
  • Page 536 536
  • Page 537 537
  • Page 538 538
  • Page 539 539
  • Page 540 540
  • Page 541 541
  • Page 542 542
  • Page 543 543
  • Page 544 544
  • Page 545 545
  • Page 546 546
  • Page 547 547
  • Page 548 548
  • Page 549 549
  • Page 550 550
  • Page 551 551
  • Page 552 552
  • Page 553 553
  • Page 554 554
  • Page 555 555
  • Page 556 556
  • Page 557 557
  • Page 558 558
  • Page 559 559
  • Page 560 560
  • Page 561 561
  • Page 562 562
  • Page 563 563
  • Page 564 564
  • Page 565 565
  • Page 566 566
  • Page 567 567
  • Page 568 568
  • Page 569 569
  • Page 570 570
  • Page 571 571
  • Page 572 572
  • Page 573 573
  • Page 574 574
  • Page 575 575
  • Page 576 576
  • Page 577 577
  • Page 578 578
  • Page 579 579
  • Page 580 580
  • Page 581 581
  • Page 582 582
  • Page 583 583
  • Page 584 584
  • Page 585 585
  • Page 586 586
  • Page 587 587
  • Page 588 588
  • Page 589 589
  • Page 590 590
  • Page 591 591
  • Page 592 592
  • Page 593 593
  • Page 594 594
  • Page 595 595
  • Page 596 596
  • Page 597 597
  • Page 598 598
  • Page 599 599
  • Page 600 600
  • Page 601 601
  • Page 602 602
  • Page 603 603
  • Page 604 604
  • Page 605 605
  • Page 606 606
  • Page 607 607
  • Page 608 608
  • Page 609 609
  • Page 610 610
  • Page 611 611
  • Page 612 612
  • Page 613 613
  • Page 614 614
  • Page 615 615
  • Page 616 616
  • Page 617 617
  • Page 618 618
  • Page 619 619
  • Page 620 620
  • Page 621 621
  • Page 622 622
  • Page 623 623
  • Page 624 624
  • Page 625 625
  • Page 626 626
  • Page 627 627
  • Page 628 628
  • Page 629 629
  • Page 630 630
  • Page 631 631
  • Page 632 632
  • Page 633 633
  • Page 634 634
  • Page 635 635
  • Page 636 636
  • Page 637 637
  • Page 638 638
  • Page 639 639
  • Page 640 640
  • Page 641 641
  • Page 642 642
  • Page 643 643
  • Page 644 644
  • Page 645 645
  • Page 646 646
  • Page 647 647
  • Page 648 648
  • Page 649 649
  • Page 650 650
  • Page 651 651
  • Page 652 652
  • Page 653 653
  • Page 654 654
  • Page 655 655
  • Page 656 656
  • Page 657 657
  • Page 658 658
  • Page 659 659
  • Page 660 660
  • Page 661 661
  • Page 662 662
  • Page 663 663
  • Page 664 664
  • Page 665 665
  • Page 666 666
  • Page 667 667
  • Page 668 668
  • Page 669 669
  • Page 670 670

Mitsubishi Electric Simple Motion Board User manual

Type
User manual

Ask a question and I''ll find the answer in the document

Finding information in a document is now easier with AI