Page 2 - DANGER; Never insert your hand or any other object into a moving part.; CAUTION; Positioning Control
Cautions on Safety Make sure to read the manuals and pay careful attention to safety when designing a system.In practice, pay attention to the following contents and handle any products or demonstrationunits correctly. Cautions on practice DANGER • Never touch any terminal while the power is supplie...
Page 5 - FAX BACK
FAX BACK Mitsubishi has a world wide reputation for its efforts in continually developing and pushing backthe frontiers of industrial automation. What is sometimes overlooked by the user is the careand attention to detail that is taken with the documentation. However,to continue this processof impro...
Page 7 - Introduction; Manual Name
Positioning Control v Introduction This manual describes basic operation for those who learn positioning control for the first time,th e a im b e in g s o th at th ey ca n g et tra in in g u s in g d e m o n str a tio n u n its o f M its u b ish i FAequipment. The following relevant manuals are avai...
Page 9 - Contents
Positioning Control Contents vii 1. The World of Positioning Control...........................................................1-1 1.1 Welcome to the new world! ................................................................................. 1-1 1.2 Diversified actuators ..............................
Page 11 - The World of Positioning Control 1
1 The World of Positioning Control 2 Positioning by AC Servo System 3 Components of Positioning Control and Their Roles 4 Advanced Positioning 5 Actual Positioning 6 Product Line up A Appendix A: Tentative Selection of Motor Capacity Positioning Control The World of Positioning Control 1
Page 13 - The World of Positioning Control; Welcome to the new world!
The World of Positioning Control 1 1-1 1. The World of Positioning Control 1.1 Welcome to the new world! The positioning controller, together with the programmable controller, personal computer andoperator interface, is one of the four main units of FA (factory automation). Among them, the positioni...
Page 14 - Diversified actuators; Pneumatic
Positioning Control The World of Positioning Control 1 1-2 1.2 Diversified actuators • A power source which moves an element in a system is called actuator. A unit which detectsa position of a work piece or moving part is called sensor. • Diversified actuators and sensors, from simple ones to enhanc...
Page 16 - Positioning method type; ) There are three types of positioning method; Control method
Positioning Control The World of Positioning Control 1 1-4 1.3 Positioning method type 1) There are three types of positioning method *1 The stop precision shows a value in a case where low speed is 10 to 100 mm/s. Control method Description Schematic drawing Speed control Limit switch method Two li...
Page 18 - However, the coasting distance at stop is not eliminated.
Positioning Control The World of Positioning Control 1 1-6 < Pulse count method > - When a pulse encoder is attached to a moving part, and the motor speed is controlled bya number steps while the pulse number is counted, the movement quantity per pulse isdetermined in accordance with the relat...
Page 19 - Positioning by AC Servo System 2
1 The World of Positioning Control 2 Positioning by AC Servo System 3 Components of Positioning Control and Their Roles 4 Advanced Positioning 5 Actual Positioning 6 Product Line up A Appendix A: Tentative Selection of Motor Capacity Positioning Control Positioning by AC Servo System 2
Page 21 - Positioning by AC Servo System; When an AC servo system is introduced; Release from oil management; Why is the AC servo system attracting attention?
Positioning by AC Servo System 2 2-1 2. Positioning by AC Servo System 2.1 When an AC servo system is introduced • Positioning can be performed by many diversified methods. Recently, AC servo methodswhich offer many advantages are often introduced. • In the positioning system of an AC servo method, ...
Page 23 - Examples of AC servo systems; Constant feed
Positioning Control Positioning by AC Servo System 2 2-3 2.2 Examples of AC servo systems • Positioning indicates the operation to move an element, such as a workpiece or tool (drill orcutter) from a certain position (point) to another target position (point) and stop it with highefficiency and high...
Page 25 - Components of Positioning Control and Their Roles 3
1 The World of Positioning Control 2 Positioning by AC Servo System 3 Components of Positioning Control and Their Roles 4 Advanced Positioning 5 Actual Positioning 6 Product Line up A Appendix A: Tentative Selection of Motor Capacity Positioning Control Components of Positioning Control and Their Ro...
Page 27 - Components of Positioning Control and Their Roles
Components of Positioning Control and Their Roles 3 3-1 3. Components of Positioning Control and Their Roles Positioning control requires a number of components such as a positioning controller, servoa m p l i f i e r, s e r v o m o t o r a n d d r i v e m e c h a n i s m . T h i s s e c t i o n d e...
Page 28 - Position controller; Controls return to the zero point.
Positioning Control Components of Positioning Control and Their Roles 3 3-2 Positioning command control Deviation counter Smoothing circuit Inverter PWM (pulse width modulation) control Current control Speed command Feedback current Feedback pulse Servo amplifier R Regenerative brake Pulse magnifica...
Page 29 - Servo motor
Positioning Control Components of Positioning Control and Their Roles 3 3-3 PLG SM Servo motor When required Electromag netic brake Cooling fan In the case of large motor Moving element Ball screw Auxiliary device such as chuck, drill and cylinder Near pointdog switch Limit switch (LS) Limit switch ...
Page 30 - Positioning controller; Command pulse and feed quantity; There are the following three types of command pulse output modes.; Command pulse and feed speed
Positioning Control Components of Positioning Control and Their Roles 3 3-4 3.1 Positioning controller As the positioning controller gives position commands to the servo amplifier, positioningprograms should be created, and parameters defined. The contents related to programs andparameters are descr...
Page 31 - Setting the acceleration/deceleration time; Table
Positioning Control Components of Positioning Control and Their Roles 3 3-5 3.1.3 Setting the acceleration/deceleration time • When the start command is given, acceleration, operation at constant speed anddeceleration are performed for positioning. Set the acceleration time and the decelerationtime ...
Page 32 - Zero point return function; < Operation to return to the zero point >
Positioning Control Components of Positioning Control and Their Roles 3 3-6 3.1.5 Zero point return function • There are two types of servo motor encoders, incremental type (pulse count method) andabsolute type (absolute position detection method). • Incremental type is constructed so that the curre...
Page 33 - Servo amplifier and servo motor; Positioning control in accordance with command pulse; Accumulated pulses in deviation counter
Positioning Control Components of Positioning Control and Their Roles 3 3-7 3.2 Servo amplifier and servo motor Th e s e rvo amp lifi er c on tro ls t he m ov e m en t qu a nt ity a nd th e s pe e d in a c co rd an c e w ithcommands given by the positioning controller. The servo motor transmits rota...
Page 34 - Regenerative brake function
Positioning Control Components of Positioning Control and Their Roles 3 3-8 3.2.4 Regenerative brake function • During deceleration, because the servo motor rotates by the load inertia of the drivemechanism, it functions as a generator and electric power returns to the servo amplifier.The regenerati...
Page 35 - Drive mechanism; Concept of drive system movement quantity
Positioning Control Components of Positioning Control and Their Roles 3 3-9 3.3 Drive mechanism The drive mechanism converts the rotation motion of the servo motor into the reciprocating orvertical motion through a speed reducer, timing belt, ball screw, etc. to move the machine. 3.3.1 Concept of dr...
Page 36 - ) Examples of calculation equations; Speed reduction ratio
Positioning Control Components of Positioning Control and Their Roles 3 3-10 2) Examples of calculation equations a) Movement quantity per rotation of motor (mm/rev) b) Number of rotations of motor (rev/min.) (The maximum number of rotations is realized during quick feed.) Note:The number of rotatio...
Page 37 - Setting the target position; ) Incremental method
Positioning Control Components of Positioning Control and Their Roles 3 3-11 3.3.2 Setting the target position In positioning control, the target position can be set by the following two methods.(Available command units are "mm", "inch", "degree" or "pulse".) 1) Absol...
Page 39 - Advanced Positioning 4
1 The World of Positioning Control 2 Positioning by AC Servo System 3 Components of Positioning Control and Their Roles 4 Advanced Positioning 5 Actual Positioning 6 Product Line up A Appendix A: Tentative Selection of Motor Capacity Positioning Control Advanced Positioning 4
Page 41 - Advanced Positioning; Interpolation control
Advanced Positioning 4 4-1 4. Advanced Positioning 4.1 Interpolation control The interpolation function controls two or more axes alternately or simultaneously. Linearinterpolation and circular interpolation are usually offered. X axis < 2-axis linear interpolation > End point Start point Y ax...
Page 43 - Other controls
Positioning Control Advanced Positioning 4 4-3 4.2 Other controls In some models, controls in accordance with diversified special needs such as speed control,po sition f ollow -u p co ntro l a nd th ree -dime nsio na l in terp ola tion c on trol sh ow n be low areavailable. X axis Start point Speed ...
Page 47 - Actual Positioning 5
1 The World of Positioning Control 2 Positioning by AC Servo System 3 Components of Positioning Control and Their Roles 4 Advanced Positioning 5 Actual Positioning 6 Product Line up A Appendix A: Tentative Selection of Motor Capacity Positioning Control Actual Positioning 5
Page 49 - Actual Positioning; Demonstration Equipment; Basic Set
Actual Positioning 5 5-1 5. Actual Positioning Terms required for positioning control have been explained in the first three sections.In this section, let’s experience actual positioning control based on the knowledge you havelearned so far. The position controller FX 2N -20GM is used for the demons...
Page 50 - Operation of the demonstration equipment; Start point
Positioning Control Actual Positioning 5 5-2 5.2 Operation of the demonstration equipment Source the required demonstration equipment, and setup as in section 5.1. If a plotter is beingused refer to the operations manual for the particular unit and setup accordingly. Throughout this example it is as...
Page 51 - Program example; The program below demonstrates basic positioning using the FX
Positioning Control Actual Positioning 5 5-3 5.2.1 Program example The program below demonstrates basic positioning using the FX 2N -20GM. As this program is d e si g n e d to b e u s e d w it h o u t a m e c h a n ic a l p lo tt e r, th e e l e ct ri c a l z e ro p o i n t is u s e d f orreference....
Page 52 - Writing the program; Items inserted include:
Positioning Control Actual Positioning 5 5-4 5.2.2 Writing the program Using FX-PCS-VPS\Win-E, re-create the flow chart program shown in section 5.2.1. If assistance is required in the operation of the software, please refer to the Software manualJY992D86801. When opening a new file in VPS, choose ‘...
Page 53 - Parameters; Remember to change the setting for the Y axis also.
Positioning Control Actual Positioning 5 5-5 5.2.3 Parameters In addition to the preparation of a positioning program, diversified parameters should be set inthe FX 2N -20GM. In this example, only a few parameters need be set. If a plotting table is used, the parametersshould be set in accordance wi...
Page 55 - Operation; 0GM and PC, then download your program to the FX
Positioning Control Actual Positioning 5 5-7 5.2.4 Operation Now that your program has been written, check the communication cables between the FX 2N - 20GM and PC, then download your program to the FX 2N -20GM. Make sure that the GM unit is in ‘MANU’ mode before download, or it will be impossible t...
Page 56 - The next step, it to switch the FX
Positioning Control Actual Positioning 5 5-8 The next step, it to switch the FX 2 N -20GM to ‘A UTO’ mode, so that the program can be executed. Finally, on the Monitor screen click on either the X or Y axis start buttons. It does not matterwhich one, as both will start the program. Sit back and see ...
Page 57 - Product Line up 6
1 The World of Positioning Control 2 Positioning by AC Servo System 3 Components of Positioning Control and Their Roles 4 Advanced Positioning 5 Actual Positioning 6 Product Line up A Appendix A: Tentative Selection of Motor Capacity Positioning Control Product Line up 6
Page 59 - Product Line up; ) Outline of position controller models
Product Line up 6 6-1 6. Product Line up We are offering diversified position controllers, servo amplifiers and servo motors. You canselect desired units in accordance with your system and application.For the derails, refer to the catalog of each product. 6.1 Position controller 1) Outline of positi...
Page 60 - Mechanical support language in motion controller; Programming in virtual world
Positioning Control Product Line up 6 6-2 Model name/ unit name Positioning language Outline Motion controller A171SHA172SHA173SH Language dedicated to servo system[4-, 32-axis independent control, 2- to 4-axis linear interpolation control, 2-axis cir-cular interpolation control, speed control, equa...
Page 63 - Servo amplifier; ) Outline of serve amplifier models; Model name
Positioning Control Product Line up 6 6-5 6.2 Servo amplifier 1) Outline of serve amplifier models Model name Outline MR-J2-Jr Series • DC 24V • Size is extremely small, and capacity is small. • Applicable to 10 to 30 w. • Used for semiconductor manufacturing unit and small robots. • Setup software ...
Page 64 - kw or less
Positioning Control Product Line up 6 6-6 2) When and which servo amplifier? In addition to the series, take into account the following contents to determine the servoamplifier to be used. a) Determine the servo amplifier to be used in accordance with the rated output of the servo motor. b) Determin...
Page 67 - Tentative Selection of Motor Capacity A
1 The World of Positioning Control 2 Positioning by AC Servo System 3 Components of Positioning Control and Their Roles 4 Advanced Positioning 5 Actual Positioning 6 Product Line up A Appendix A: Tentative Selection of Motor Capacity Positioning Control Tentative Selection of Motor Capacity A
Page 69 - Tentative Selection of Motor Capacity
A-1 Appendix A: A-1: Tentative Selection of Motor Capacity Temporarily select the motor capacity at first while taking into account the following two points,and determine the model. • The rated torque of the motor should be larger than the effective torque. • The load inertia moment should not excee...
Page 70 - Motor effective torque; startup and acceleration.; Constant speed time
Positioning Control A-2 A-1-1: Motor effective torque When the motor effective torque obtained by the calculation below does not exceed the ratedtorque (100%) of the servo motor specifications, it is suitable. If the obtained effective torque exceeds 100%, increase the motor capacity and perform the...
Page 71 - ) How to obtain the cycle time; Motor torque during constant speed = Load torque
Positioning Control A-3 2) The torque during constant speed is the torque required to move the load at the constant speed. 3) The torque during deceleration is the torque required for deceleration and stop. 4) How to obtain the cycle time The representative machine operation pattern consists of acce...
Page 72 - Load inertia moment; The inertia moment gives no effect.
Positioning Control A-4 5) Machine load torque (TL) The rotation force required to move or cut an object is called load torque.During operation at constant speed, the motor is outputting the torque balancing this loadtorque. • The calculation equation to obtain the load torque varies depending on th...
