The Mitsubishi PLCFX3U-48MT-ES-A is used as the control element, and the Mitsubishi touch screen GT1155-QFBD-C is used as the operating element to directly control the specific program design of the Mitsubishi servo motor.
First, the selection of components in the control system
1. Selection of PLC
When Mitsubishi servo drives are used, high-frequency pulses are often required, so it is necessary to use a PLC that can generate high-frequency pulses. The PLC output of Mitsubishi FX3U transistor can carry out 6 points of simultaneous 100kHz high-speed counting and 3-axis independent 100kHz positioning function, and can be completed with a high speed of 4.5 times through the basic instruction of 0.065μs and PCMIX value, which fully meets the requirements of our control servo motor, so we choose Mitsubishi PLCFX3U-48MT-ES-A.
2. Selection of Mitsubishi servo motor
When selecting Mitsubishi servo motors and drives, we only need to know the rotation requirements and device methods of the motor drive load, we choose the Mitsubishi servo motor HF-KE73W1-S100 with a rated rotation distance of 2.4N·m, a rated speed of 3000r/min, and a resolution of 131072p/rev per revolution, and we choose the Mitsubishi servo drive MR-JE-70A for the driving force used with it. Mitsubishi's servo system has a high response of 500Hz, high-precision positioning, high-level active conditioning, can easily complete the gain setting, and selects adaptive vibration suppression control, with three control functions of direction, speed and rotation distance, which fully meets the requirements.
3. Mitsubishi touch screen GT1155-QFBD-C is selected to actively operate and control the servo motor.
Second, Mitsubishi PLC control system design
In order to ensure the accuracy of the system, we add an encoder to perform closed-loop control of the servo motor.
M806 controls servo emergency stop, M801 controls servo motor origin return, M802 controls servo punctuality, M803 controls servo reverse point, M804 is active conditioning, M805 is pressure correction that is, the compensation input of the encoder. When M50 and M53 are turned on at the same time, the servo motor outputs the pulse from Y0 at a speed of 2kHz, and the origin return action is done at the beginning, and when it touches the near point signal M30=ON, it becomes an inch speed of 1kHz, and the pulse is output from Y0 until M30=OFF. M30 is ON when the motor rolls at the same level as the zero point during active conditioning.
When the motor is on the front and back points, we choose the special table positioning command DTBLS1S2 that Mitsubishi FX3U has; Before using table positioning, we first need to set the positioning in the PLCparameter (PLC parameters) on the left side of the ladder diagram. For positive and negative point control, we choose the command DRVAS1S2D1D2 affirm the positioning command. In active operation, we use the powerful floating-point operation instructions in the PLC to calculate according to the multi-faceted parameters of the system; During operation, we only need to set the parameters on the touch screen, and the Mitsubishi servo motor will be converted into pulse signals according to the calculation formula in the program and output to the driver, and the driver will signal the motor to run.
In the process of Mitsubishi servo motor operation, in order to ensure that the motor can achieve the accuracy we need, we choose incremental encoder and servo motor to form a closed-loop control, we compare the calculated viewpoint with the encoder's practical measurement viewpoint, adjust the pulse output of the servo motor according to the results, and then complete high-precision positioning. The whole program is controlled by stepper instructions (and can also be controlled by general commands), which is simple and convenient.
3. Mitsubishi servo system settings
1. Wiring of Mitsubishi servo drive
The wiring of the servo system is very simple, we only need to access the corresponding plug according to the rules. Connect the plug of the three-phase power cord L1, L2 and L3 to CPN1, the servo motor plug to CN2, the encoder plug to CNP2, and the control line plug to CN1. When debugging the program, the special software of the servo motor is required, and it can be connected to the CN3 of the servo system through the RS422 interface.
2. Parameter setting of Mitsubishi servo drive
The system selects positioning control. Mitsubishi MR-JE series servo drive, there are two sets of parameters, one is the basic parameters, the other is the extended parameters, according to the requirements of the system, we first set the basic parameters, the first is NO.0, NO.1, NO.2, NO.3, NO.4, NO.5, NO.7, NO.18, NO.19, the extended parameters should be set according to the specific situation.
3. At the same time, we can also set the parameters through the servo setting software SETUP221E. In the process of debugging the servo motor, it is recommended to set it to speed mode first to conduct a jog test of the servo motor.
4 Mitsubishi touch screen programming
Set up the initial screen, set the button switch on the screen, and write the words pressure +, pressure -, origin return, active conditioning, pressure correction, servo emergency stop and so on on the switch.
The system is conditioned and controlled by Mitsubishi touch screen, which makes the operation simple, reduces the fault finding link in the operation process, and greatly improves the work efficiency. The system has been used for more than a year, and there has never been a failure, with good stability and accurate positioning, which saves a lot of time for users.
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