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Mitsubishi MELSEC-A series User Manual

Mitsubishi MELSEC-A series
183 pages
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6.
PROGRAMMING
/MELSEC-A
6.4
ACPU
Remote
I/O
Station
Programming
6.4.1
Notes
on programming
Data communication with
a
remote
1/0
station
is
on
a
batch refresh
basis
after the
END
(or
FEND)
instruction
is
executed in the master
station program.
For detailed data link specifications, refer to the Data Link Unit
User’s Manual.
(1
)
There
is
a
short
time delay in the communication of control
data
between master and remote
1/0
stations which must be allowed
for when specifying the system.
(2)
The following data communication instructions are used between
master and remote stations:
Data write from master to AD71
:
RTOP instruction
Data read from AD71 to master
:
RFRP
instruction
Note that link registers
W,
are used for data communication
between master and remote stations.
(3)
The
RTOP
and
RFRP
instructions cannot
be
executed in the
same scan for one AD71 in
a
remote
1/0
station. (These may
be
used in the same scan if addressed to separate AD71 units.)
All data communication must therefore be interlocked
as
shown
in the examples that follow.
1/0
numbers have been assigned
as
X0
to 1F and
YO
to 1F.
(4)
Control signals between master and remote stations
The PLS instruction must not be used for control
1/0
communi-
cation.
6-46
I6
lNAl
66101P

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Mitsubishi MELSEC-A series Specifications

General IconGeneral
TypeProgrammable Logic Controller (PLC)
SeriesMELSEC-A
I/O CapacityVaries depending on the CPU and expansion modules used.
I/O PointsVaries depending on the CPU and expansion modules used.
Programming LanguageInstruction List
Program MemoryVaries by model
Data MemoryVaries by model
Communication ProtocolsMELSECNET
Communication PortsVaries by model
Power SupplyAC 100-240V, DC 24V (varies by model)
Expansion ModulesAvailable (varies by model)
I/O ModulesDigital, Analog
MemoryRAM, EEPROM
Operating Temperature0°C to 55°C
Storage Temperature-25°C to 75°C
Humidity5 to 95% RH, non-condensing
Vibration Resistance10 to 57Hz: 0.075mm amplitude, 57 to 150Hz: 9.8m/s²

Summary

Introduction to the AD71 Positioning Module

System Configuration Overview

Introduction to the AD71 Module

Explains the AD71 operating principles, glossary of terms, and MELSEC-A series system configurations.

MELSEC-A Series Equipment

Shows a schematic diagram of MELSEC-A series equipment for use with the AD71.

AD71 Programming Equipment

Details the available equipment for programming the AD71, including software and hardware.

AD71 Specifications and Features

General Specifications

Details general specifications such as operating ambient temperature, humidity, vibration, and shock resistance.

Performance Specifications and Functions

Outlines AD71 performance specifications like I/O points, control axes, interpolation, and available functions.

Positioning System Operation

Explains AD71 interfaces and the PC-initiated positioning procedure.

Operating Data Format and Functions

Describes parameters, zeroing data, and positioning data required for AD71 operation.

Buffer Memory Details

Details the AD71's battery-backed buffer memory for PC CPU data communication.

I/O Signals To and From PC CPU

Lists and explains I/O signals for non-numerical communication between the AD71 and PC CPU.

I/O Interface Electrical Specifications

Provides electrical specifications for AD71 I/O interfaces with external equipment.

Battery Specifications

Details the specifications of the AGBAT battery used for AD71 memory backup.

Handling and Safety Precautions

Handling Instructions

Provides guidelines for protecting the AD71 from mechanical shock, debris, and proper connection procedures.

AD71 Nomenclature

Identifies and explains the labels, LEDs, connectors, and switches on the AD71 unit.

Preparation for Use

Covers preparation steps, specifically focusing on battery connection and static electricity precautions.

Loading and Installation Guide

Installation Environment Requirements

Specifies unsuitable installation environments for the AD71 equipment.

System Design Precautions

Outlines precautions for system design, including base unit usage and panel temperature control.

Unit Installation and Removal

Details the procedure for installing and removing the AD71 unit from the base unit.

Wiring Precautions

Provides essential precautions for wiring, including cable length and I/O signal routing in noisy environments.

AD71 Programming

6.1 Writing Programs

Explains program structure for A6GPP, AD71TU, and sequence program operations.

6.2 Notes on Use of the A6GPP and AD71TU

Notes on using external programming units, including operational conditions and data transfer.

6.3.3 Start Positioning

Details how to initiate a positioning operation, simplifying it by pre-loading data into the buffer memory.

6.3.4 Jog Operation Program

Explains the program flow and conditions for controlling motor movement using jog operation.

6.3.5 Inching Function

Describes the operating principle of manual pulser inching, including pulse conversion and speed control.

6.3.7 Zeroing Procedure

Outlines the zeroing process, including flowcharts, conditions, and timing for system setup.

6.3.9 Positioning Stop Control

Explains how to stop the positioning process while the AD71 is busy using various stop signals.

6.4 Remote I/O Station Programming

Explains programming for remote I/O stations, including data communication and control signals.

Checklists for System Verification

7.1 General Pre-Test Checklist

Lists essential checks before testing the AD71, including battery, parameters, and data settings.

7.2 Tests and Adjustments

Outlines procedures for sequence checks and verifying positioning operation with the system.

Troubleshooting AD71 Issues

8.1 Error Detection and Handling

Details error detection mechanisms, error codes, and procedures for resetting errors in the AD71.

8.2 Common Troubleshooting Scenarios

Provides flowcharts for diagnosing and resolving common issues like drive problems, incorrect positioning, and speed errors.

Maintenance and Battery Information

9.1 Unit Storage Guidelines

Specifies recommended storage environments and handling for the AD71 unit.

9.2 Battery Maintenance and Replacement

Details battery change frequency, handling, and replacement procedures for memory backup.

Appendices: Reference Information

APPENDIX 1 Format Sheets and Parameters

Provides format sheets and detailed parameter lists for AD71 configuration.

APPENDIX 2 AD71 Processing Times

Illustrates AD71 processing times for pattern operations, excluding PC operating time.

APPENDIX 3 System Design Considerations

Offers system design considerations and connection diagrams for various servo motors and external equipment.

APPENDIX 4 Connection Diagrams

Provides connection diagrams for servo motors and external equipment like pulse motors and position units.

APPENDIX 5 Dimensions

Shows the physical dimensions of the AD71 unit.

APPENDIX 6 Data Conversion Tables

Contains tables for converting positioning data numbers to buffer memory addresses.

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