TECHNICAL BULLETIN TECHNICAL BULLETIN
Contents
1. M code 0 to 255 M code 0 means M code has not been specified AD75P Set the same value as that of the AD71 To disable the M code output set 0 initial value AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Title Procedures for Replacing Positioning Module AD71 with AD75P Relevant Models A1SD75P01 S3 AD75PL S3 Example 1 Example 2 Positioning pattern Positioning end Positioning method Absolute M code 20 Positioning speed 10000 pulse s Dwell time 0 Positioning address 223344 pulses AD71 Positioning information bit 0001010000000000 Positioning speed 1000 Dwell time 0 Positioning address 223344 Page 17 39 Date of Issue Oct 03 AD75P Positioning identifier 0100H HEX M code 20 Dwell time 0 Command speed 10000 Positioning address 223344 Positioning pattern Change speed and continue positioning Positioning method Increment M code 255 Positioning speed 30000 mm min Dwell time 100ms Positioning address 789001um AD71 Positioning information bit 1111111100001111 Positioning speed 3000 Dwell time 10 Positioning address 789000 4 2 Number of positioning data AD75P Positioning identifier 0203H HEX M code 255 Dwell t2. 7 Emergency stop area for AD71S2 To retain the emergency stop function of the AD71S2 set 1 Sudden stop to both Stop group 2 sudden stop selection and Stop group 3 sudden stop selection in the AD75P s detailed parameters 2 Refer to the AD75P User s Manual Section 5 2 4 Detailed parameters 2 for details 0 Normal decelerated stop 1 Sudden stop AD71S2 stop factor Setting on AD75P Emergency stop triggered by e Set the same time value as the AD71S2 deceleration time for emergency external input stop address 7888 7908 to Sudden stop deceleration time e Set 1 Sudden stop to Stop group 3 Emergency stop triggered by e Set the same time value as the AD71S2 deceleration time for emergency JOG signal OFF stop address 7888 7908 to Deceleration time e Set 1 Deceleration time 1 to Jog operation deceleration time selection 8 Travel distance change area for AD71S2 Set the same value as the one in the AD71S2 s travel distance change area to the AD75P Cd 21 Speed position changeover control movement amount change register Note that different methods are used for the AD71S2 and AD75P to enable the speed position switching For the AD71S2 it is enabled by external input where as for the AD75P it is set with Cd 20 Speed position changeover enable flag 9 Restart request area for AD71S2 The AD75P will resume the positioning from the stopped position to the positioning data end point when
3. 1 is set in Cd 13 Restart Command It is not required to turn ON the positioning start signal YO 10 Manual pulse generator output speed for AD71S7 The AD71S7 manual pulse generator output speed setting is not applicable to the AD75P For the AD75P the command output during the manual pulse generator operation is as follows No of command pulses No of input pulses of manual pulse generator x Cd 23 Manual pulse generator 1 pulse input magnification Command frequency Manual pulse generator input frequency x Cd 23 Manual pulse generator 1 pulse input magnification The speed during the manual pulse generator operation in the AD75P is not limited by Speed limit value AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Page 22 39 Title Procedures for Replacing Positioning Module Date of Issue Oct 03 AD71 with AD75P Relevant Models A1SD75PL01 S3 AD75PL S3 6 OS data area Including monitor information AD75P AD71 Axis monitor Output speed Current feed value Md 29 Current value NS Feedrate Md 31 Torque limit value ER Torgue limit stored value Md 45 For AD71S2 S 1 Speed position changeover control i
4. 1B 7 g m E LG 28 2B 2B GND LG 30 Signal Yaxis Xaxis TLAN 29 name Pin signal dT T v N15R 26 sp so 12VDC AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Page 7 39 Title Procedures for Replacing Positioning Module Date of Issue Oct 03 AD71 with AD75P Relevant Models A1SD75P01 S3 AD75PL S3 1 Ifthe upper limit switch FLS signal and or lower limit switch RLS signal of the AD75P will not be used connect it to the OV terminal SG on the servo amplifier side 2 For the pulse output choose either the open collector or the differential driver depending on the external device When choosing the differential driver connect the cable referring to the connection example Reference 1 on the previous page 3 The manual pulse generator for the AD71 is not compatible with the AD75P therefore it is recommended to use one designed for the AD75P Recommended Mitsubishi Electric Corp MR HP01 The input pulse from the manual pulse generator MR HPO1 is counted in multiples of 4 MR HPO1 External Dimensions 36 Gasket 12 0 G 3 M4 stud L10 Panel cut 3 p4 8 P C D72 Equally arranged MANUAL TYPE SERIALNO d 60 05 802 16 20 27 0 05 Un
5. T12 0015 A Page 35 39 Title Procedures for Replacing Positioning Module Date of Issue Oct 03 AD71 with AD75P Relevant Models A1SD75PL01 S3 AD75PL S3 2 Monitor data Buffer memory address Common for axis 1 and axis 2 50 Md 1 In test mode flag 451 2 Module name Md 452 Md 3 OS type 455 456 457 Md 4 OS version 460 Md 5 Clock data hour minute 461 Md 6 Clock data second 100 ms pointer No Md 9 Start time Hour minut 465470 475 480 485 490 495 500 505 510 515 520 525 530 535 540 Md 10 Start time Second 100 ms Start history System monitor data OASE Mata Operation ype 535 550 ses 560 565 570 575 580 ses 590 ses 600 605 610 ets 20 Md 15 Start time Hour minut 536 551 556561 566 571 576 581 586 sex 596 601 606 611 ete e Md 16 Start time Second 100 ms pointer No be re ee e n n on es es o e oce ere reo on MTB Axis in wich ne error N Monitor data Start history during errors 682 686 nua o4 Axis error occurrence time zo sao 6341638 642 646 650 654 658 662 678 Md 21 Udur min te Axis error occurrence time fis e epo pce fenem der rz uM 688 Md 23 Error history pointer pointer No Md 24 Axis in which the warning occurred Md 25 Axis warning No 751 Axis warning occurrence time os or 711 715 719 723 727 731 735 739 743
6. X42 PLS M103 lt Current value change command pulse gt M103 Y10 xi DTOP HO K1154 D106 K1 lt New current value write to AD75 gt Point TOP HO K1150 K9003 K1 Current value change 9003 write Point SET Y10 Current value change execution Y10 xi x4 RST Y10 Positioning start signal OFF XOA fet ath EES EA SIE Ee GP oa ae ES X1 Start complete signal X4 BUSY signal XA Error detection signal X42 Current value change command i Y10 Positioning start signal 1 M103 Current value change command pulse I I I 1 1 AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Title Procedures for Replacing Positioning Module AD71 with AD75P Relevant Models A1SD75P01 S3 AD75PL S3 9 Restart program Restart program RS W24 N24 1 FROM Ho K809 D32 KI D32 KI we itt Mos Mos xi Xi TP HO K152 Kl Ki FROM HO K1152 Daa KI D33 KO Ke st N25 10 Parameter initialization program Parameter initialization program x3C 1 PLS M26 N26 x4 EE ST m27 M27 YID D34 KO 1 RST 11 Flash ROM write program Flash ROM write program D35 Heh o EE HO KIT39 Kl FROM HO KIT39 D34 KI KI M27 M28 M29 FROM HO K1138 D35 0 EE RT Page 30 39 Date of I
7. 747 Md 26 Hour minute Md 27 Axis warning occurrence time pene reor np npe npa se 753 Md 28 Warning history pointer Error history Warning history AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Title Procedures for Replacing Positioning Module AD71 with AD75P Page 36 39 Relevant Models A1SD75PL01 S3 AD75PL S3 B er memory address Item Memory area 800 900 802 902 804 904 m ee Md 32 Valid M code 807 907 Md 33 Axis error No 908 Md 34 Axis warning No Md 35 Axis operation status Md 36 Current speed 812 912 Md 38 Speed position changeover control positioning amount Md 39 External input output signal Md 41 Target value Md 42 Target speed Md 43 Zero point absolute position 838 to 847 938 to 947 Md 56 MEG Positioning data being executed AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN Axis monitor data Date of Issue Oct 03 Monitor data TECHNICAL BULLETIN Issue No T12 0015 A Page 37 39
8. Data backup Contents of the buffer memory are Parameters positioning data and positioning To back up data 1 must be method always backed up The operation after start information in the buffer memory are power on or PLC CPU reset is based written to flash ROM for backup by setting 1 on the backed up memory data set in Flash ROM to Flash ROM write request The No of a XE UR er of flash flash ROM write Up to 100000 ROM writes is 100000 times At the time of power on or PLC CPU reset the flash ROM data are transferred to the buffer memory For details refer to Section 7 3 Note that the same procedures as AD71 is taken at power on or PLC CPU reset when the data has been written to the buffer memory with the ladder program 7 3 Programming restrictions 1 Restrictions on number of FROM TO instructions in 1 scan The number of FROM TO and DFRO DTO instructions for 16 and 32 bit data transfer respectively that can be executed in one scan is shown below a For a 1 or 2 axis module up to 10 FROM TO or DFRO DTO instructions are executable for each axis b For a 3 axis module the number of the FROM TO and DFRO DTO instructions varies depending on the functions executed n the circular interpolation control or S pattern acceleration deceleration 4 times axis e Simultaneous CHG input to 2 axes in speed position changeover control 4 times axis Other than the above 10 times axis Circular S pa
9. Move Move MOVP MOVP MOVP MOVP TOP HO KO 2 Positioning data setting A No 2 Positioning data setting program For positioning data No 1 axis 1 Positioning identifier Operation pattern Positioning complete Control method 1 axis liner control ABS Acceleration time No 1 Deceleration time No 2 E M9038 MOVP MOVP MOVP MOVP DMOVP DMOVP DMOVP TOP HO K1300 H190 K9843 K300 KO K18000 K4126 KO D56 D50 D51 D52 D53 D54 D55 D57 D58 D59 D60 D62 D64 K10 lt Setting of unit setting 0 mm gt lt Setting of No of pulses per rotation gt lt Setting of movement amount per rotation gt lt Setting of unit magnification 1 fold gt lt Setting of pulse output mode cw ccw gt lt Setting of rotation direction forward rotation for increment gt lt Setting of basic parameters 1 to AD75 gt lt Setting of positioning identifier gt lt Setting of M code 9843 gt Setting of dwell time 300ms lt Dummy data gt lt Setting of command speed 180 00mm min gt Positioning address 412 6um setting Setting arc address 0 0um gt Setting of positioning data No 1 to AD75 gt MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Page 27 39 Title
10. When JOG operation is not performed contact of M9 is not needed When manual pulse generator operation is not performed contact of M11 is not needed o RR X x o X2B EE PIS M7 lt Positioning start command pulse gt SET MB lt Positioning start command hold gt SET Y10 Positioning start execution RST M8 Positioning start command storage OFF AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Page 28 39 Title Procedures for Replacing Positioning Module Date of Issue Oct 03 AD71 with AD75P Relevant Models A1SD75P01 S3 AD75PL S3 4 Reset program Reset program Y10 X1 X4 RST Y10 lt Positioning start signal OFF gt XOA X2C XOD TOP HO K1153 Ki Ki lt M code OFF request write gt 5 JOG operation program JOG operation program i X2D T DMOVP K2000000 D10 JOG operation speed setting DTOP Ho K1160 DIO Kl JOG operation speed write XE Co x oat WT SET M9 In J flag ON X2F TAFE Point X2E X2F L XMEM RST M9 lt JOG operation completed gt X2E M9 Y17 T Y16 Forward run JOG operation execution X2F M9 Yi6 mH Y17 lt Reverse run JOG operation execution gt 6 Manual pulse generator operation program Manual pulse generator ope
11. i aveli Bo ES erae amount positioning amount after switched ON Md 38 E Edi 1 Output speed The AD71 data value is multiplied by a 1000 for the unit of mm inch or degree or by 10 for pulse for the AD75P Example Unit mm Feed rate 20000 mm min AD71 AD75P Address X Y j 600 601 Output speed 2000 Md 31 Feedrate 2000000 2 Current value Torque limit value and Set movement amount The AD75P and AD71 stores the same values Example Current value 1000 pulses AD71 AD75P Address X Y J 602 603 604 605 Current value 1000 Md 29 Current feed value 1000 Example Torque limit value 300 AD71 AD75P Address X Y PEE iP 606 607 Torque limit value 300 Md 45 Torque limit stored value 300 Example Set movement amount 100 pulses AD71 AD75P Address X Y Set movementamou nt 100 Speed position changeover control 608 609 610 611 positioning amount after switched ON 100 AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Page 23 39 Title Procedures for Replacing Positioning Module Date of Issue Oct 03 AD71 with AD75P Relevant Models A1SD75PL01 S3 AD75PL S3 7 Positioning control program 7 1 Differences in I O signals AD71 AD75P Watchdog timer error X0 Zero p
12. AY40 that outputs a signal YO corresponding to the ladder program which mimics the functionality e g Mechanical brake release Please select an appropriate output module suitable for your system The following table shows specifications of the AD71 START signal and main output modules Output START signal of AD71 Open collector Contact output Transistor output Open collector Transistor output Open collector Load voltage 4 75 to 26 4V DC 5 to 125V DC 10 2 to 40V DC 4 5 to 15V DC Load current 10mA Max AM MITSUBISHI ELECTRIC CORPORATION 2A 100mA HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN 16mA TECHNICAL BULLETIN Issue No T12 0015 A Page 9 39 Title Procedures for Replacing Positioning Module Date of Issue Oct 03 AD71 with AD75P Relevant Models A1SD75P01 S3 AD75PL S3 3 Parameter Settings 3 1 Setting the AD75P parameters Correlation of AD71 and AD75P parameters Set the AD75P parameters corresponding to the AD71 parameters AD75P parameters AD71 parameters OREN OT TOE EE CARES Fae FAT RARE EES Parameter information Unit setting Pr 1 Travel per pulse No of pulses per rotation Pr 2 Speed limit value Movement amount per rotation Pr 3 JOG speed limit value Unit magnification Pr
13. F 21 21 PPR 11 DOG 11 11 PULSE R 4 4 NP 35 STOP 14 14 PULSE R 2222 NPR 36 COM 35 35 J PGO 5V 24 24 1 LZ 8 COM 36 36 PGO COM 25 25 1 r1 LZR 9 READY 7 7 PULSE 19 EE EG EE LG 3 COM 26 PULSE 20 20 2 PGO 24V 6 6 Reference 1 PGO COM 25 25 CLEAR 5 5 CLEAR 23 23 PULSEF 1 1 i PULSE 19 19 PULSER 2 2 MR HOA PULSE 20 2 y AE VDD 22 E Cin 20 5V EMG 46 PULSER A O lt pert RB A Manual SON H2 PULSER A 27 27 O pees 3 B pulse 1 5 0 RES 15 PULSER B 10 10 zm generator SP iss PULSER B 28 28 O Signal 2 1 ESN S9 she axis axis 5G TL 3 gt of PC 14 SG 40 AD71 Near point switch DOG 8B 8B E 5 Z E PS ES anes 1 STOP HE BA fe Ii j 7 7 j Positioning sto ic a POWERI 7a 7a eas ae EE ELE HH 4 g STOP VDD 22 RDY 7B 7B F RD 49 EET d ee 10A 10A H He c P15R 1 Pag 10B 10B F 2 E s z FH E E OP 33 MMC E A cican CATA SN E CR 37 14B 14B SG 7 POWER 17A 17A s E 3 3 F 3 z EE PULSE 15A 15A HFH EE s PPO 18 F 15B 15B eu uude ee j x SG 47 f se PULSE 16A 16A E fi Fo R__ 16B 168 Eu 5 1A 1A Phase A Manual C A P15R 1 je 2A 2A Phase B pulse le i i TLAP 27 jenerator Ll generator 1B
14. Issue No T12 0015 A Title Procedures for Replacing Positioning Module AD71 with AD75P Relevant Models A1SD75P01 S3 AD75PL S3 1 Parameter information b15 bO Page 10 39 Date of Issue Oct 03 B lt Address X Y Se AD7l 7872 7892 AD75P Unit setting 00 mm 01 inch 10 degree 11 pulse Pr 1 Unit setting 0 mm 1 inch 2 degree 3 pulse Rotation direction setting Ll 0 Current value increment with forward run pulse output 1 Current value increment with reverse run pulse output Pr 6 Rotation direction setting 0 Current value increment with forward run pulse output 1 Current value increment with reverse run pulse output Pulse output mode 0 pulse SIGN 1 Forward or reverse pulse Pr 5 Pulse output mode 0 pulse SIGN 1 Forward or reverse pulse Positioning method ME AAE 00 Absolute 01 Increment 10 Absolute increment combined OE ed ESE OON ee EEN EE ON EER IDEE Positioning method Setting is not reguired as it is specified with positioning data M code ON signal output timing Pr 19 M code ON signal output timing d 0 WITH mode 0 WITH mode 1 AFTER mode 1 AFTER mode Example Unit setting pulse Pulse output mode Forward reverse pulse Rotation direction setting Forward run M code ON timing WITH mode AD71 AD75P bit 100000
15. NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Is sue No T12 0015 A Title Procedures for Replacing Positioning Module AD71 with AD75P Relevant Models A1SD75PL01 S3 AD75PL S3 1 Functional comparison between AD71 and AD75P 1 1 Table of functional comparisons The following table shows functional comparisons between the AD71 and AD75P For programs refer to Chapter 7 O Compatible no restrictions A Compatible with restrictions x No alternative Function No of control axes AD71 Page 3 39 Date of Issue Oct 03 AD75P AD71 AD71S1 2 axes AD71S2 A1SD71 S2 AD71S7 A1SD71 S7 AD75P2 S3 A1SD75P2 S3 2 axes Compatibility O Manual pulse generator operation 1 Available Available Available A Applicable manual pulse generator HD52B Mitsubishi Electric Corp OSM 01 2 C Nemicon MR HDPOI Mitsubishi Electric Corp Usable products are different between AD71 and AD75P JOG operation Available Available Zero point return Available Available Positioning 1 time positioning End Available Available independent positioning n time positioning Continued Available Available continuous positioning Continue positioning while changing speed Pattern change Position control Available Available continuous path Linear interp
16. Procedures for Replacing Positioning Module Date of Issue Oct 03 AD71 with AD75P Relevant Models A1SD75P01 S3 AD75PL S3 3 Positioning program PLC READY signal Y1D ON program The M27 contact is not required when the parameters are not be initialized The M29 contact is not required when not writing to the flash ROM M9039 W27 M29 n A A a SL lt PLC READY signal ON OFF gt a Positioni tart No setting program A ositioning sta g prog Point 1 Machine zero point return o t ee OH X23 1 Tor Ho KH50 K900 Ki Machine zero point return 9001 write 4 2 Positioning with positioning data No 1 Control other than speed position changeover control X25 MOVP KI D7 lt Positioning data No 1 setting gt TOP HO K1150 D7 K1 lt Positioning data No write gt 3 Positioning with positioning data No 1 Speed position changeover control x26 wv D7 lt Positioning data No 1 setting gt TOP HO K1150 D7 KT lt Positioning data No 1 write gt X27 EET HO K1163 KI Kl lt Speed position changeover signal enable setting X28 TOP HO K1163 KO Ki Speed position changeover signal prohibit setting X29 DMOVP K10000 D8 lt New movement amount write gt DTOP HO K1164 D8 Ki Positioning start signal input program When high speed zero point return is not made contacts of M5 and M6 are not needed When M code is not used contact of XOD is not needed
17. information b15 bO Address X Y AD71 7918 7928 AD75P Zero point return method Pr 45 Zero point return method 00 Pulse generator zero point signal 0 Near point dog method 1 Stopper stop method 1 01 Stopper method 1 2 Stopper stop method 2 Time out of the dwell timer 10 Stopper method 2 Signal from the drive unit Zero point return direction Pr 46 Zero point return direction 0 Positive direction 1 Negative direction 0 Positive direction 1 Negative direction Example Zero point return method Pulse generator method Zero point return direction Negative direction AD71 AD75P bit 00000010 Zero point return basic parameters Zero point return method 0 Zero point return direction 3 Zero point return acceleration time selection Zero point return deceleration time selection These items are required to be set for the AD75P although they are not provided for the AD71 Therefore to keep the consistency in these values select the default value 0 Setting the default 0 ensures the value Acceleration deceleration time of the positioning data are the same AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Page 15 39 Title Procedures for Replacing Positioning Modu
18. value in the current value change data area buffer memory address 41 42 341 342 If positioning stops temporarily turn ON the positioning start signal YD to restart However for the increment system restart is not supported In the absolute system when stopped restart is supported if the current positioning data No is set When the operation stops unexpectedly during the control switch in the speed positioning control switching mode Restart can be done by setting 1 to Restart area Buffer memory address 205 505 and turning ON the positioning start signal YD The same method as positioning start is used ladder program Writing 9001 to Cd 11 Positioning start No and turning ON the positioning start signal YO starts zero point return The operation depends on the parameter setting of zero point return data Positioning is started after writing the positioning data No to Cd 11 Positioning start No in the buffer memory and then turning ON the start signal YO for each axis Also as the AD75P does not have an interpolation start signal YO same as AD71 interpolation operation has to be set in the positioning data Write a new speed value to Cd 16 New speed value in the buffer memory and set 1 to Cd 19 JOG speed Write a new current data value to Cd 15 New current value in the buffer memory and 9003 to Cd 11 Positioning start No and then turn O
19. 11 Basic parameters 1 Unit setting 3 Pulse Pulse output mode 1 Forward reverse pulse Rotation direction setting 0 Forward run Detailed parameters 1 M code ON signal output timing 0 WITH mode 2 Movement amount per pulse Error compensation AD71 AD75P Address X Y No of pulses per rotation 7873 7893 Movement amount per rotation Travel per pulse Unit magnification Sy Enter 1 as these are not provided i for AD71 i Set the same value as that of AD71 When using the error compensation function of the AD71 refer to the AD75P User s Manual Section 12 3 2 Electronic gear function to set No of pulses per rotation Movement amount per rotation and Unit magnification AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Title Procedures for Replacing Positioning Module AD71 with AD75P Relevant Models A1SD75PL01 S3 AD75PL S3 Page 11 39 Date of Issue Oct 03 3 Speed limit value JOG speed limit value Bias speed at start The units for the Speed limit value JOG speed limit value and Bias speed at start of the AD71 and AD75P differ as shown in the following table Unit AD71 X1 degree min X10 pulse s AD75P x10 inch min X10 degree min X10 pulse s WT x 1000 x 1000 x 1000 1 For t
20. 4 Acceleration and deceleration times Pulse output mode Pr 5 Backlash compensation r Rotation direction setting Pr 6 Upper stroke limit Lower stroke limit L m Speed limit value Pr 7 Error compensation Acceleration time 0 Pr 8 Travel per manual pulse during inching Deceleration time 0 Pr 9 Starting bias speed Bias speed at start Pr 10 Positioning Complete signal output time Dose eem tier IE DER EER HR HS Detailed parameters 1 Backlash compensation amount Pr 12 Software stroke limit upper limit value Pr 13 Deceleration time for emergency stop Software stroke limit lower limit value Pr 14 Positioning mode AP REA N ENTE NEY TEATS neve Ee M code ON signal output timing Pr 19 Logic selection for pulse output to the Prod drive unit Detailed parameters 2 JOG speed limit value Pr 32 Stepping motor mode selection Pr 11 For details on the AD75P parameters refer to the AD75P User s Manual Section 5 2 List of parameters AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN
21. 40 tT Positioning data No being executed Md 54 i Start data No 20 AD75P axis control data area Axis control data Start axis f H Positioning start No Cd 11 Pointer Axis error reset Cd 12 Speed change data l Present value change data gt New current value Cd 15 Status New speed value Cd 16 JOG speed Speed change request Cd 17 Error code JOG speed C419 M code M code comment area This function is not provided for the AD75P Error reset Attention is required when using this For AD71S2 Detailed parameters 2 Emergency stop area p Stop group sudden stop selection Pr 38 Travel distance change area Stop group 2 sudden stop selection Pr 39 Stop group 3 sudden stop selection Pr 40 For AD71S7 Axis control data Manual pulse output speed i I i l i i I i i I Restart request area I I i I i I i I i I I i i Restart command Cd 13 Speed position changeover enable flag Cd 20 p Speed position changeover control Cd 21 Use the block start function to utilize the points set for continuous positioning of the AD71 For details refer to the AD75P User s Manual Section 10 3 2 Block start AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA M
22. 5 2 3 Detailed parameters of the AD75P User s Manual The AD75P substitutes electronic gears No of writes to flash ROM is up to 100 000 When replacing the A1SD71 S2 or A1SD71 S7 mount a blanking module in the empty slot AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Page 4 39 Title Procedures for Replacing Positioning Module Date of Issue Oct 03 AD71 with AD75P Relevant Models A1SD75PL01 S3 AD75PL S3 1 2 Replacement procedure flowchart This flow chart shows the procedures to replace the AD71 with the AD75P This bulletin provides relevant explanations in the order shown below lt Reference section gt Disconnect the wiring for BE ai 2 1 Comparison between AD71 and AD75P for connecting the signal cable AD71 and rewire for AD75P 2 2 Servo amplifier connection example l Y 3 1 Setting the AD75P parameters Rewrite the parameter data 3 2 AD75P zero point return parameter setting for AD75P 4 1 AD75P positioning data setting v Rewrite the positioning data 5 Data for positioning control start for AD75P 6 OS data area Y Be ibd ladder program 7 1 Differences in VO signals ud 7 2 Precautions for replacing AD71 with AD75P 7 3 Programming restrictions v Perform an operation test using the JOG function 8 AD7
23. ECHNICAL BULLETIN Issue No T12 0015 A Title Procedures for Replacing Positioning Module AD71 with AD75P Relevant Models A1SD75PL01 S3 AD75PL S3 Page 24 39 7 2 Precautions for replacing AD71 with AD75P When programming pay attention to the fact that the AD75P is different from the AD71 in I O numbers for I O signals and buffer memory addresses Precautions for other than these differences are shown in the Points for replacement column below AD71 AD75P Points for replacement PLC ready Y1D is turned ON with the sequence Ee a al as AD71 program Ready status When AD71 is ready X1 toggles to When AD75P is fe eed XO toggles to OFF confirmation ON undi JOG operation Zero point return Positioning operation Speed change Current value change Restart JOG speed is set in the buffer memory Turning ON or OFF the forward reverse JOG start YD starts or stops JOG operation accordingly Zero point return is started when the zero point return signal YL is turned ON for each axis The operation depends on parameter setting of zero point return data Positioning is started after writing the positioning data No to the start data No area in the buffer memory and turning ON the start signal YO for each axis The start signal YO for interpolation is provided separately Write a new speed value in the speed change data area buffer memory address 40 340 Write a new current data
24. INAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Page 19 39 Title Procedures for Replacing Positioning Module Date of Issue Oct 03 AD71 with AD75P Relevant Models A1SD75P01 S3 AD75PL S3 1 Start data No The number of positioning data to be used is set in the Cd 11 Positioning start No of the AD75P Setting example AD71 AD75P Address X Y Start data Cd 11 Cd 11 Positioning start No 0 300 1 to 600 Positioning data No 1 to 400 Positioning data No 7000 to 7010 Block start specification 8001 to 8050 Indirect specification 9001 Machine zero point return 9002 High speed zero point return 9003 New current value For continuous positioning set using pointers when the interpolation start or both axis start is set for the next point the AD71 does not start the next point until the current positioning of both axes is completed a For the AD71 For interpolation start because the Ist point is still Point update being processed by the Y axis operation when the X axis operation is switched to the 2nd point the next l sitioning of the X axis is forced to wait Start data No i positioning o Waitfor Start data No completion 300 of Y axis M N X axis i P Fe i Ist point 2nd point Dwell i I l 20 Start data No i Start data No 21 Dwell 180 l l 19 22 bg Yaris NN
25. JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Page 34 39 Title Procedures for Replacing Positioning Module Date of Issue Oct 03 AD71 with AD75P Relevant Models A1SD75PL01 S3 AD75PL S3 Buffer memory address ltem Memory area 44 194 WT 46 196 DH 48 198 FEES ap Pr 33 JOG operation acceleration time selection 201 Pr 34 JOG operation deceleration time selection 202 Pr 35 Acceleration deceleration process selection Pr 36 S pattern proportion 206 BEBE Stop group 1 sudden siop esse 200 Beer Positioning compet inal ouputtine zm rb Zero ge een dresin Pr 47 Zero point address Pr 48 Zero point return speed Pr 49 Creep speed Pr 50 Zero point return retry mr N Pr 51 Zero point return dwell time Pr 52 Setting for the movement amount after near point dog ON Pr 53 Zero point return acceleration time selection ae Pr 54 Zero point return deceleration time selection EE Detailed parameters 2 Positioning parameters Zero point return basic parameters Zero point return parameters Zero point return detailed parameters AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No
26. N the positioning start signal YD Setting 1 to Cd 13 Restart command after a temporary stop restarts the positioning For the absolute and increment systems the restart command can be used In the absolute system when stopped set the to Cd 11 and turn ON the Y D to restart current positioning data No Positioning start No positioning start signal positioning Date of Issue Oct 03 Operation ready status of X device is ON for AD71 and OFF for AD75P There is no zero point return signal Y O for AD75P Writing 9001 to Positioning start No and turning ON the positioning start signal YL starts zero point return To start interpolation the operation must be specified in the positioning data q in Speed change request is Setting required to execute this function Writing 9003 to Positioning start No and turning ON the positioning start signal YL is required Restart command restarts positioning in the AD75P Setting 1 to AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Page 25 39 Title Procedures for Replacing Positioning Module Date of Issue Oct 03 AD71 with AD75P Relevant Models A1SD75PL01 S3 AD75PL S3 AD71 AD75P Points for replacement
27. No T12 0015 A Page 38 39 Title Procedures for Replacing Positioning Module Date of Issue Oct 03 AD71 with AD75P Relevant Models A1SD75PL01 S3 AD75PL S3 4 Positioning data ae memey adds _ ee e address Item Memory area Axsi 1 Axis2 2 Da Operation pattern Control method 1300 2300 Acceleration time No Deceleration time No 1301 2301 Da 9 Mcode condition data 1302 2302 Da 8 Dwell time JUMP destination positioning data No 1303 2303 Not used 1304 2304 1305 2305 Da 7 Command speed 1306 2306 Da 5 EIS 1307 2307 Positioning address movement amount 1308 2308 1309 2309 Da 6 Arc address 2290 to 2299 3290 to 3299 No 100 i Shape Start data No 4300 4350 4550 4600 Special start command Parameter 4349 4399 4599 4649 50th point Da 14 Condition target 4400 4650 Da 15 Condition operator 4402 4652 4403 4653 Da 16 Address 4404 4654 4405 4655 Da 17 Parameter 1 4406 4656 4407 4657 Da 18 Parameter 2 AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN No 1 Positioning data 1st point Start block data Positioning data Positioning start information Condition data TECHNICAL BULLETIN Issue No T12 0015 A P
28. P Relevant Models A1SD75PL01 S3 AD75PL S3 Introduction The performance of the AD75P is improved compared to the AD71 as explained below 1 Reduced start processing time a With the addition of enhanced high speed processing the start processing time for positioning control start is reduced to 20ms Compared to the AD71 the maximum processing times for independent positioning and for interpolation positioning are 58ms and 94ms respectively 2 Easier maintenance a Positioning data and parameter settings are stored in the AD75P flash ROM therefore data can be retained without the need for batteries b The 17 segment display provides a visual means for checking errors or input signals c The history function enables checking of historical data such as start errors or warning data When using the AD75P it is recommended to also obtain the GX Configurator AP configuration software package This software provides an easier method to reconfigure positioning data debug the positioning control system etc In this bulletin the module names are referred to as shown in the table below Generic term Model Name AD71 AD71 AD71S1 AD7182 AD71S7 AISD71 2 AISD71 S7 AD7182 AD7182 A1SD71 2 AD71S7 AD71S7 A1SD71 S7 AD75P AD75P1 S3 AD75P2 S3 AD75P3 S3 A1SD75P1 S3 A1SD75P2 S3 A1SD75P3 3 AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN
29. SP operation test AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Title Procedures for Replacing Positioning Module AD71 with AD75P Relevant Models A1SD75PL01 S3 AD75PL S3 2 Rewiring Page 5 39 Date of Issue Oct 03 2 1 Comparison between AD71 and AD75P for connecting the signal cable 1 axis control Signal cable AD71 signal connector 40 pin is usable for X and Y axes Signal cable ADT75P signal connector 36 pin is separate for each axis One to one connection cable to the driver 2 axis control Connector type 1 Signal cable 3 Driver X Axis Driver Y Axis Signal cable AD71 signal connector 40 pin is usable for X and Y axes Bifurcated type cable Connector Connector cover Manufacturer Mitsubishi Electric Corp Set AGCON The connector is included with both the AD71 and AD75P Signal cable g Driver Axis 1 Driver Axis 2 Signal cable ADT75P signal connector 36 pin is separate for each axis Straight pin to pin connection type cable to the driver Connector 10136 3000VE Connector cover 10336 56F0 008 Manufacturer Sumitomo 3M Ltd New signal cables are required for the AD75P as the connector shape for the external signal conne
30. TECHNICAL BULLETIN Issue No T12 0015 A Page 1 39 Title Procedures for Replacing Positioning Module AD71 with AD75P Relevant Models A1SD75P01 S3 AD75PL S3 Thank you for your continued support of Mitsubishi programmable logic controllers MELSEC A series This bulletin is written for those intending to replace the AD71 A1SD71 positioning module with the AD75P A1SD75P including relevant information such as specification changes method of replacement and recommended equipment such as connectors cables etc Contents Introduction dei E eU Ep UE eel OR atts SIR N EER 2 1 Functional comparison between AD71 and AD75 iese se ee Ge Se Ge SA GRA GR Gee ee be ee ee ee Ge Se ee ee ee 3 1 1 Tabl oftunctional Comparisons ss sesse EE eot e e GER GR REUS ee beg Ee n N Gee eg ee eg 3 1 2 Replacement procedure flowchart ete rentem ee eg Ee ipe EA se me Se ee dee Ee Ee ed 4 2 GER EE EE lend ee Dp Dm epe me 5 2 1 Comparison between AD71 and AD75P for connecting the signal cable sesssss 5 2 2 Servo amplifier connection example is esse pd t devote ei HE He een 6 3 Parametersettngs ER nere itn re Re rat eere e EP EE ES 9 3 1 Setting the AD75P parameters Correlation of AD71 and AD75P parameters sess 9 3 2 ADT7SP zero point return parameter setting sss eene nennen eene en rennen 13 4 Positioning data settings EE EE EE OE 15 4T AD75P positioning Gata setting
31. Title Procedures for Replacing Positioning Module Date of Issue Oct 03 AD71 with AD75P Relevant Models A1SD75PL01 S3 AD75PL S3 3 Control data Buffer memorv address item Axis 1 1103 Cd 4 Target axis System control data 1108 to 1137 Cd 8 Read write positioning data I F 1138 Cd 9 Flash ROM write request 1139 Cd 10 Parameter initialization request 1 185 ode Cd 15 New current value f 120 15 Cd 16 New speed value 1158 1208 Cd 17 Speed change request 1159 1209 Cd 18 Positioning operation speed override 60 0 1161 1211 Cd 19 JOG speed 1163 1213 Cd 20 Speed position changeover enable flag 64 4 Cd2i peed position changeover control movement amount 1165 1215 change register 1167 1217 Cd 22 Manual pulse generator enable flag ies 1515 Cd 23 Manual pulse generator 1 pulse input magnification Control data Axis control data 1 BE 1535 Cd 33 New acceleration time value ic io Cd 34 New deceleration time value Acceleration deceleration time change during speed 1188 1238 Cd 35 change enable disable selection AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue
32. age 39 39 Title Procedures for Replacing Positioning Module Date of Issue Oct 03 AD71 with AD75P Relevant Models A1SD75PL01 S3 AD75PL S3 Buffer memory address M idi EO Condition judgment target data of the condition data AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN Indirectly specification Positioning start information s S s DO o i ca S o Oo n PLC CPU memory area Block transmission area
33. ction and signal specifications are different from the AD71 The following dedicated cables are available for connecting the AD75P to the servo amplifier please use the correct cable corresponding to the servo amplifier used Dedicated cable AD75P MR COA AD75C20SC AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Title Procedures for Replacing Positioning Module AD71 with AD75P Relevant Models A1SD75P01 S3 AD75PL S3 2 2 Servo amplifier connection example Connection example with the servo amplifier MR H A N Page 6 39 Date of Issue Oct 03 AD75 Differential driver i FLS 12 12 PULSE F 3 3 5 f m PP 10 1 RLS 13 13 PULSE
34. e input magnification refer to the AD75P User s Manual Section 11 3 Manual pulse generator operation AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Page 12 39 Title Procedures for Replacing Positioning Module Date of Issue Oct 03 AD71 with AD75P Relevant Models A1SD75P01 S3 AD75PL S3 7 Emergency stop deceleration time for AD71S2 8 9 With the Deceleration time for emergency stop of the AD71S2 set the same value to Sudden stop deceleration time of the AD75P Detailed parameters 2 Refer to the AD75P User s Manual Section 6 5 6 Stop program for further details AD71 AD75P Address X Y Deceleration time for Sudden stop deceleration time 1000 7888 7908 emergency stop 1000 Positioning mode for AD71S2 Setting the Position control mode Speed position switching mode and Speed control mode in the positioning mode of the AD71S2 is different to the AD75P Therefore for the AD75P set it using the positioning identifier of the positioning data Logic selection for pulse output to the drive unit No setting item is provided for the AD71 because only negative logic output is available For the AD75P set it to 1 to select negative logic 0 Positive logic 1 Negative logic AD71 AD75P Logic selec
35. eie eite etsi edel icti eec 15 4 2 Numbef of positonine data necem peres nitet itg ec ee eoe Re de pee Fd e iota Pee 17 5 Data for positioning control start eerte iere pere EE O rE T EEr sre e eee eoe ege eh 18 6 OS data area Including monitor information esse esse es se ee ee ee AA eene enne nennen nennen entente enne 22 7 Positioning control programm N eeepc tet EE seve 23 TA Dafterencesan VO signals odo ei ise edet to eee 23 7 2 Precautions for replacing AD71 with AD75P sss eene eene entente nnne 24 7 3 Programming restrictions est EE EE KEER GEE Ee See ng UR tee pei Sede chases pee dieere perite ete 25 7 4 Ladder program examples for AD75P es ee ee ee ee enne eene nennen 26 8 AD75P operation test tonic e IC RE RA D OR RE EEN EE 32 Appendix Tables of AD75P buffer memory addresses essere 33 13 Parameter bid iie ete eee t e feet ie eec n tede 33 3 Monitor data Md ss ESE DS DG RU UNDE LIN E 35 3 Control data Ca AR EE GE ams as aeos in Lees bau i mds oos LIS 37 4 Boston di Ball assu stt teinte e baa ae e te Oo oO d 38 AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN Date of Issue Oct 03 TECHNICAL BULLETIN Issue No T12 0015 A Page 2 39 Title Procedures for Replacing Positioning Module Date of Issue Oct 03 AD71 with AD75
36. et 1 to the Speed change request 3 New current value The method for this is different between the AD75P and AD71 For the AD75P set a new current value in the axis control data area and input 9003 to the positioning start No The current value will then change after normal positioning start 4 JOG speed Multiply the AD71 value by a 1000 for the unit of mm inch or degree or by 10 for pulse for the AD75P Although the JOG start signal YD device No and the buffer memory address for the JOG speed setting are changed the control method is not changed Example Unit pulse JOG speed 20000 pulse s AD71 AD75P Address X Y JOG speed 2000 Cd 19 JOG speed 20000 44 344 5 Manual pulse enabled The Manual pulse enabled can be set with Cd 22 Manual pulse generator enable flag 6 Error reset For the AD71 the error reset function address 201 resets the error for both the X and Y axes simultaneously However for the AD75P the error reset is set in Cd 12 for each axis independently which is set from the ladder program AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Page 21 39 Title Procedures for Replacing Positioning Module Date of Issue Oct 03 AD71 with AD75P Relevant Models A1SD75PL01 S3 AD75PL S3
37. g to the commands set Normal JOG operation means that the control of the AD75P and the driver servo amplifier is normal 4 Operation check of positioning system Start the programs for zero point return and positioning and check for normal control AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Page 33 39 Title Procedures for Replacing Positioning Module Date of Issue Oct 03 AD71 with AD75P Relevant Models A1SD75PL01 S3 AD75PL S3 Appendix Tables of AD75P buffer memory addresses The following is the buffer memory addresses shown in this bulletin 1 Parameter Buffer memory address item Memory area C o f o Pi Umseug O ist LPt2 No ot pulses per rotation Ap Movement amount per rotation Al Unit magnification Am Basic parameters 2 Basic parameters 1 Positioning parameters Detailed parameters 1 Acceleration time 1 Acceleration time 2 E mmimeewemes Detailed parameters 2 Deceleration time 1 AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA
38. he AD75P multiply the AD71 data by a 1000 for mm inch or degree or by 10 for pulse Please revise values when they are set through not only sequence programs but also using GOT or via Ethernet Example Unit mm inch degree AD71 JOG speed limit value 2000 mm min AD75P Address X Y JOG speed limit value 200 JOG speed limit value 200000 7875 7895 Example Unit pulse Speed limit value 20000 pulse s AD71 AD75P Address X Y Speed limit value 2000 Speed limit value 20000 7874 1894 4 Acceleration and deceleration times For the Acceleration and deceleration times of the AD71 enter the same value into both the Acceleration time 0 and Deceleration time 0 of the AD75P Basic parameters 2 Example Acceleration and deceleration times 200ms AD71 AD75P Address X Y Acceleration and deceleration Pr 8 Acceleration time 0 200 7876 7896 times 200 Pr 9 Deceleration time 0 200 5 Backlash compensation amount Example Unit pulse Backlash compensation amount 200 AD71 AD75P Address X Y Backlash compensation Pr 12 Backlash compensation amount 200 7877 7897 amount 200 6 Travel amount per pulse of manual pulse generator The AD75P does not have the setting item equivalent to Travel per manual pulse during inching of the AD71 Since it is determined by the setting of the axis control data Cd 23 Manual pulse generator 1 puls
39. i lt pie i i lst point 1 2nd point 1 T X axis START X axis BUSY i Y axis START Y axis BUSY Lo The above method is not supported by the AD75P During interpolation when the X axis is started while the Y axis is still executing positioning will stop and an error will occur Therefore for the AD75P separate the start of the positioning into two instances as shown in the diagram b For the AD75P This can be done by creating a ladder program to ensure that the 2 axis linear interpolation or both axis start is executed after completion of the 2 axis positioning AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Page 20 39 Title Procedures for Replacing Positioning Module AD71 with AD75P Relevant Models A1SD75P01 S3 AD75PL S3 b For the AD75P Date of Issue Oct 03 Start data No Ist positioning gt p d 54 2nd positioning Start data No Dwell Dwell 300 Dwell X axis Y axis X axis BUSY IE Y axis START 4 MN I Y axis BUSY 4 L T X axis START l L 1 2 Speed change data The method for this is different between the AD75P and AD71 Therefore to change the speed for the AD75P set a new speed value in the axis control data area and s
40. ime 100 Command speed 3000000 Positioning address 789000 The AD71 has capability of up to 400 data settings where data No 1 to 400 can be directly set in the ladder program However for the AD75P although data No 1 to 100 can be set directly from the ladder program data from No 101 to 400 must be set using the block transmission method as the AD75P buffer memory does not have the area to store this data Refer to the AD75P User s Manual Section 7 2 Data transmission process for details AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Page 18 39 Title Procedures for Replacing Positioning Module Date of Issue Oct 03 AD71 with AD75P Relevant Models A1SD75P01 S3 AD75PL S3 5 Data for positioning control start AD75P monitor area AD71statdataare GRR SR RR Roe oe hee ese 1 Start data No 1 Manual pulse generator enable flag Cd 22 Manual pulse enabled Manual pulse generator 1 pulse input lo P p Cd 23 Executing data No l Valid M code Md 32 Start data No 2 i i Axis error No Md 33 i Start axis Status Md
41. it mm The manual pulse generator for the AD71 and for the AD75 has identical dimensions except for the following three parts Al Bl and Cl Please pay attention when replacing them Reference Manual pulse generator external dimensions for the AD71 OSM 01 2 C DY S 0 5 80 2 60 0 5 These are different from MR HDPO1 AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Title Procedures for Replacing Positioning Module AD71 with AD75P Relevant Models A1SD75PL01 S3 AD75PL S3 Page 8 39 Date of Issue Oct 03 4 The external start signal STRT and the in position signal INPS INPS COM for the AD75P does not need to be connected 5 Although for the AD71S2 the speed position switching enable signal 1A 1B is used for the AD75P write data to the Speed position changeover enable flag Cd 20 in order to switch between speed position 6 The START signal Mechanical brake release 11A and 11B for the AD71 is functionally different from the AD75P START signal External start and cannot be used for the same task Therefore to replicate the AD71 START signal functionality in the AD75P it is recommended to create a ladder program which performs the same function Then to connect an output module e g
42. le AD71 with AD75P Relevant Models A1SD75PL01 S3 AD75PL S3 4 Positioning data settings 4 1 AD75P positioning data setting The positioning data stored in the AD75P buffer memory configuration is different from the AD71 Therefore refer to the following positioning data configuration and replace the AD71 positioning data with those of the corresponding AD75P data Da 6 Arc address is omitted from the following AD75P positioning data area AD71 parameters Positioning method m Positioning mode EE AD75P positioning data area ER Positioning identifier Data No 1 Da 1 L to Da 4 Positioning address Data No 1 Da 5 Command speed Data No 1 Da 7 Dwell time Data No 1 Da 8 M code Data No 1 Da 9 AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN Date of Issue Oct 03 TECHNICAL BULLETIN Issue No T12 0015 A Title Procedures for Replacing Positioning Module AD71 with AD75P Relevant Models A1SD75P01 S3 AD75PL S3 1 Positioning information Positioning pattern positioning method positioning direction and M code 3872 5872 Address X Y Positioni
43. ng pattern Positioning method Positioning directio M code NE DEE HE em de n Page 16 39 Date of Issue Oct 03 Positioning direction Direction specification in the increment mode In the AD75P increment mode positioning in the negative direction is done by placing a minus sign before the address Settings are not required for these unused areas Control method bit2 0 ABS bit 00000001 Unused in the AD75P Fixed to 0 bit2 gt 1 INC bit 00000010 Acceleration time selection Set 0 Deceleration time selection Set 0 Positioning identifier of the AD75P Da l to Da 4 Y bls 1 y bO 0 0 0 0 0 Operation pattern Da 1 Acceleration time No Da 3 Deceleration time No Da 4 Control method Da2 1 Control method setting In the AD75P the positioning control e g linear circular interpolation speed control speed position switching control is specified in the control method setting which enables each positioning data to be set individually 2 M code AD71 b15 b8 bO Address X Y 3872 5872 Positioning information S
44. oint return request X6 X7 Battery error XA Error detection XB For both X and Y axes Zero point return complete XC XD Interpolation positioning start Y12 Zero point return start Y 13 Y14 M code OFF Y1B Y1C No watchdog timer error signal is provided When a watchdog timer error occurs AD75 Ready X0 turns ON The status can be checked in Md 40 Zero point return request flag Bit 3 1s shown when the zero point return is requested No battery error signal is provided Batteries are not required for memory backup because data is stored in the flash ROM Error detection is available for each axis independently Axis 1 XA Axis 2 XB The status can be checked in Md 40 Zero point return request flag Bit 3 1s shown when the zero point return is completed No interpolation start signal is provided Setting interpolation to positioning data and executing positioning start enables interpolation No zero point return start signal is provided Writing 9001 to Cd 11 Positioning start No and starting positioning start will execute zero point return Cd 14 M code OFF request is used Writing 1 turns M code OFF For details on the AD75P I O signals refer to the AD75P User s Manual AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN T
45. olation Available Available Speed Position control switching mode Available Available Speed control mode Available Available No of positioning data 400 axis 600 axis Acceleration Deceleration time Same for Accel and Decel times 1 pattern Individual setting for Accel Decel time 4 patterns for each Backlash compensation Available Available Error compensation Available N A M code Available Available M code comment display Available N A Data storage SRAM with battery backup Flash ROM without battery gt Ixlo 5lo o lolo ojo o No of occupied slots 32 points slot AD71S2 AD71S7 32 points slot AISD71 S2 A1SD71 S7 48 points 2 slots 32 points slot A 4 I O signal lines Upper Lower limit switch signal FLS RLS input signal N A Available External wiring is required for AD75P START signal Output signal Available N A Pulse output Output signal Open collector Differential driver Open collector Open collector Differential driver Other signals Available Available X 3 4 Current consumption 1 5A 0 8A for A1SD71 S2 S7 0 7A By setting Manual pulse generator selection parameter 2 axis operation with a manual pulse generator is available for the AD75P For further details refer to Section
46. on Pr53 time selection Zero point return deceleration time selection Pr54 Fixed to 0 value i I i i T i I I i T i I I i I d I 1 i o i 1 I i i I I i HS i Zero point return information O02 opr sn ESE SEE EE ESE cun i i i I 1 i Y i I 1 i T i I I i v i I I i T i I I i Y i I i i i REST Zero point return torque limit Pr 56 T i ii Leave parameters other than the above as defaults 1 Zero point return speed Zero point return creep speed For the AD75P multiply the AD71 data by a 1000 for mm inch or degree or by 10 for pulse For multiplication factor refer to Section 3 1 3 Example Unit mm Zero point return creep speed 300 mm min AD71 AD75P Address X Y Zero point return creep speed 300 Creep speed 30000 7915 7925 Example Unit pulse Zero point return speed 20000 pulse s AD71 AD75P Address X Y Zero point return speed 2000 Zero point return speed 20000 7914 7924 AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Page 14 39 Title Procedures for Replacing Positioning Module Date of Issue Oct 03 AD71 with AD75P Relevant Models A1SD75P01 S3 AD75PL S3 2 Zero point return
47. ration program PLS M10 Manual pulse generator operation command pulse gt Ki Di2 Manual pulse generator 1 pulse input magnification setting D12 K lt Manual pulse generator 1 pulse input magnification write gt KI K lt Manual pulse generator operation enable write gt es M11 lt Manual pulse generator operating flag ON gt X31 PLS M2 Manual pulse generator operation disable command pulse M12 M11 X4 m EE HO K1167 KO K Manual pulse generator operation disable write gt RST MIT Manual pulse generator operating flag OFF AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Title Procedures for Replacing Positioning Module AD71 with AD75P Relevant Models A1SD75P01 S3 AD75PL S3 7 Speed change program Speed change program Page 29 39 Date of Issue Oct 03 M13 Speed change command pulse M14 lt Speed change command hold gt K2000 D14 New speed value setting _ Point D16 Speed change request setting 8 Current value change program Current value change program K3 Speed change write Ki Speed change result read M14 Speed change command storage OFF gt D106 D107 New current value
48. se Error reset execution Error code read complete OFF Stop command pulse Stop execution Axis stop signal OFF due to axis stop AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Page 32 39 Title Procedures for Replacing Positioning Module Date of Issue Oct 03 AD71 with AD75P Relevant Models A1SD75PL01 S3 AD75PL S3 8 AD75P operation test Once the connection of the relevant signals and the creation of ladder programs are completed perform an operation test for start up of the positioning system using the AD75P 1 17 segment display check on AD75P module Turn on the PLC and check the following 17 segment display on the AD75P module when the program is in run a IDLE The AD75P has started normally b E An error has occurred in the AD75P Check the error details from the error code and fault find the cause of the error 2 Check for Ready ON and Servo ON After confirming the AD75P has started normally turn on the PLC ready signal power on the servo amplifier and verify the servo amplifier has started up without any error 3 Operation check by JOG operation Perform the JOG operation using the JOG operation program of the positioning control programs and check that the motor functions correctly accordin
49. ssue Oct 03 Restart command pulse Axis status read Restart command ON during stop A Point Restart request write Restart complete read Restart command storage OFF Parameter initializa Parameter initializa PLC READY outpu Parameter initializa Parameter initializa Parameter initializa ion command pulse ion command hold to AD75 standby ion write ion complete read ion command storage OFF Flash ROM write command pulse Flash ROM write command hold PLC READY output to AD75 standby Point Flash ROM write request write Flash ROM write complete read Flash ROM write command storage OFF AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Title Procedures for Replacing Positioning Module AD71 with AD75P Relevant Models A1SD75P01 S3 AD75PL S3 12 Error reset program Error reset program XOA M30 M FROM Ho K807 D36 l D36 KO ST X3E PLS M31 XOA H Top HO K ibl KI M30 XOA Heeh RT 13 Stop program Stop program Kt M30 Ma1 Ki M30 Page 31 39 Date of Issue Oct 03 Error code read Error code read complete confirmation Error reset command pul
50. tion for pulse output to the drive unit 1 10 Stepping motor mode When replacing the AD71 with the AD75P where the stepping motor is used set 1 to Stepping motor mode of the AD75P Basic parameters 2 For details refer to the AD75P User s Manual Section 12 6 6 Stepping motor mode function 0 Standard mode 1 Stepping motor mode AD71 AD75P Stepping motor mode 1 AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Page 13 39 Title Procedures for Replacing Positioning Module Date of Issue Oct 03 AD71 with AD75P Relevant Models A1SD75P01 S3 AD75PL S3 3 2 AD75P zero point return parameter setting Set the AD75P zero point return data corresponding to the AD71 data AD75P zero point return parameter area AD71 zero point return data area Zero point address Zero point return method Pr 45 Zero point return speed gt Zero point return direction Pr 46 Zero point return creep speed gt Zero point address Pr 47 Zero point return dwell time gt Zero point return speed Pr 48 Torque limit Creep speed Pr 49 Zero point return detailed parameters gt Zero point return dwell time Pr 51 Zero point return accelerati
51. ttern EORR poten n interpolation acceleration Changeover contro ontrol other control deceleration Simultaneous CHG than the left input to 2 axes AISD75P1 S3 F 7 AISD75P2 S3 A1SD75P3 S3 E F z 2 Restrictions on speed change intervals For the AD75P the speed change must be executed in intervals of 100ms or more AM MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN TECHNICAL BULLETIN Issue No T12 0015 A Title Procedures for Replacing Positioning Module AD71 with AD75P Relevant Models A1SD75P01 S3 AD75PL S3 7 4 Ladder program examples for AD75P Page 26 39 Date of Issue Oct 03 This section provides some basic program examples for the AD75P positioning control When creating programs for the AD75P refer to the following examples and compare them with those in the AD71 The program examples represent the case in which the AD75P is mounted in slot 0 of the main base unit For controls other than those shown as the examples refer to the AD75P User s Manual When using the peripheral software package for the AD75P to create data the following parameter setting program and the positioning data setting program are not required 1 Parameter setting Parameter setting program For basic parameter 1 axis 1 M9038
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