Introduction

This tutorial continues our exploration of controlling the Mitsubishi MR-J4-A servo drive using the Omron CP1H PLC, focusing specifically on implementing “Position Control.” This guide builds on previous tutorials, including the “ORG Search” and “JOG Process” tutorials. If you haven’t reviewed these articles yet, it is highly recommended to do so, as they provide essential foundational knowledge. The links to these tutorials are provided below:

• CP1H & MR-J4-A “ORG Search”
• CP1H & MR-J4-A “JOG Process”

1. Programming the Position Control

To effectively manage the position control of the MR-J4-A servo, we will first program the necessary instructions using the CX-Programmer software. This involves setting up data positions and configuring the control logic to enable precise movement of the servo to designated positions.

Step-by-Step Programming:

Teach Data Position:

• Purpose: This step involves defining specific positions that the servo will move to during operation. These positions are stored as data points within the PLC.
• Example: Define positions D200, D201, D202, etc., where each data register corresponds to a specific target position.
• Implementation: Use the MOV (Move) instruction to store these position values into designated data registers.

Example of Teach Data Position setup in CX-Programmer

1. Point Run Control:
   • Purpose: This step involves setting up the control logic that allows the servo to move to the taught positions on command.
   • Explanation: The Point Run Control logic will trigger the servo to move to a specific position based on the data stored in the PLC.
   • Implementation: Use the PLS2 (Pulse Output) command in combination with position data registers to direct the servo to the desired location.
   • Example: When input 001 is activated, the servo moves to the position stored in D200.

Example of Point Run Control setup in CX-Programmer

2. Pulses Output Configuration

The Pulse Output configuration is crucial for the accurate positioning of the servo. By controlling the number and frequency of pulses sent to the MR-J4-A, we can precisely manage the servo’s movements.

Key Configuration Parameters:

1. Pulse Frequency:
   • Purpose: Determines the speed at which the servo motor moves to the target position.
   • Adjustment: Configure this parameter based on the application’s speed requirements.
2. Pulse Count:
   • Purpose: Specifies the exact number of pulses required to move the servo to the target position.
   • Implementation: This count is calculated based on the desired position and the electronic gear ratio configured in the servo.

Example of Pulses Output Configuration

Conclusion

By following this detailed guide, you will be able to implement precise position control of the Mitsubishi MR-J4-A servo drive using the Omron CP1H PLC. This tutorial covers the programming of teach data positions, the setup of point run control logic, and the configuration of pulse output parameters. These steps are crucial for ensuring that your servo operates accurately and efficiently within your automation system.

For further insights, review the earlier tutorials on “ORG Search” and “JOG Process.” These foundational guides will enhance your understanding of the overall control process and help you achieve optimal performance with your servo control system.

This comprehensive approach ensures a thorough understanding and implementation of position control, making it easier to handle advanced automation tasks.