Mitsubishi MOTION CONTROLLERS Q172DCPU Instruction manual

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Mitsubishi MOTION CONTROLLERS Q172DCPU Instruction manual | Manualzz

MITSUBISHI ELECTRIC

Motion Controllers

Programming Manual

Common

Q173DCPU

Q172DCPU

01 01 2008

B(NA)-0300134

Version A

MITSUBISHI ELECTRIC

INDUSTRIAL AUTOMATION

SAFETY PRECAUTIONS

(Please read these instructions before using this equipment.)

Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly.

These precautions apply only to this product. Refer to the Q173DCPU/Q172DCPU Users manual for a description of the Motion controller safety precautions.

In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".

Indicates that incorrect handling may cause hazardous

DANGER

conditions, resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous

CAUTION

conditions, resulting in medium or slight personal injury or physical damage.

Depending on circumstances, procedures indicated by CAUTION may also be linked to serious results.

In any case, it is important to follow the directions for usage.

Please save this manual to make it accessible when required and always forward it to the end user.

A - 1

For Safe Operations

1. Prevention of electric shocks

DANGER

Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks.

Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks.

Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF. The insides of the Motion controller and servo amplifier are charged and may lead to electric shocks.

Completely turn off the externally supplied power used in the system before mounting or removing the module, performing wiring work, or inspections. Failing to do so may lead to electric shocks.

When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and then check the voltage with a tester, etc.. Failing to do so may lead to electric shocks.

Be sure to ground the Motion controller, servo amplifier and servomotor. (Ground resistance :

100 or less) Do not ground commonly with other devices.

The wiring work and inspections must be done by a qualified technician.

Wire the units after installing the Motion controller, servo amplifier and servomotor. Failing to do so may lead to electric shocks or damage.

Never operate the switches with wet hands, as this may lead to electric shocks.

Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this may lead to electric shocks.

Do not touch the Motion controller, servo amplifier or servomotor terminal blocks while the power is ON, as this may lead to electric shocks.

Do not touch the built-in power supply, built-in grounding or signal wires of the Motion controller and servo amplifier, as this may lead to electric shocks.

2. For fire prevention

CAUTION

Install the Motion controller, servo amplifier, servomotor and regenerative resistor on incombustible. Installing them directly or close to combustibles will lead to fire.

If a fault occurs in the Motion controller or servo amplifier, shut the power OFF at the servo amplifier’s power source. If a large current continues to flow, fire may occur.

When using a regenerative resistor, shut the power OFF with an error signal. The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead to fire.

Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may lead to fire.

Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this may lead to fire.

A - 2

3. For injury prevention

CAUTION

Do not apply a voltage other than that specified in the instruction manual on any terminal.

Doing so may lead to destruction or damage.

Do not mistake the terminal connections, as this may lead to destruction or damage.

Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.

Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this timing, these parts become very hot and may lead to burns.

Always turn the power OFF before touching the servomotor shaft or coupled machines, as these parts may lead to injuries.

Do not go near the machine during test operations or during operations such as teaching.

Doing so may lead to injuries.

4. Various precautions

Strictly observe the following precautions.

Mistaken handling of the unit may lead to faults, injuries or electric shocks.

(1) System structure

CAUTION

Always install a leakage breaker on the Motion controller and servo amplifier power source.

If installation of an electromagnetic contactor for power shut off during an error, etc., is specified in the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor.

Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off.

Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the correct combinations listed in the instruction manual. Other combinations may lead to fire or faults.

Use the CPU module, base unit and motion module with the correct combinations listed in the instruction manual. Other combinations may lead to faults.

If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller, servo amplifier and servomotor, make sure that the safety standards are satisfied.

Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system.

In systems where coasting of the servomotor will be a problem during the forced stop, emergency stop, servo OFF or power supply OFF, use dynamic brakes.

Make sure that the system considers the coasting amount even when using dynamic brakes.

In systems where perpendicular shaft dropping may be a problem during the forced stop, emergency stop, servo OFF or power supply OFF, use both dynamic brakes and electromagnetic brakes.

A - 3

CAUTION

The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF. These brakes must not be used for normal braking.

The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications, and must not be used for normal braking.

The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max. speed.

Use wires and cables that have a wire diameter, heat resistance and bending resistance compatible with the system.

Use wires and cables within the length of the range described in the instruction manual.

The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor.

Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation.

There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure (when the ball screw and servomotor are connected with a timing belt, etc.). Install a stopping device to ensure safety on the machine side.

(2) Parameter settings and programming

CAUTION

Set the parameter values to those that are compatible with the Motion controller, servo amplifier, servomotor and regenerative resistor model and the system application. The protective functions may not function if the settings are incorrect.

The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode, servo amplifier and servo power supply module. The protective functions may not function if the settings are incorrect.

Set the mechanical brake output and dynamic brake output validity parameters to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.

Set the stroke limit input validity parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect.

Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect.

Set the servomotor capacity and type (standard, low-inertia, flat, etc.) parameter to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.

Set the servo amplifier capacity and type parameters to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.

A - 4

CAUTION

Use the program commands for the program with the conditions specified in the instruction manual.

Set the sequence function program capacity setting, device capacity, latch validity range, I/O assignment setting, and validity of continuous operation during error detection to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.

Some devices used in the program have fixed applications, so use these with the conditions specified in the instruction manual.

The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error, etc. Thus, an error correspondence interlock program specified in the instruction manual must be used.

Use the interlock program specified in the intelligent function module's instruction manual for the program corresponding to the intelligent function module.

(3) Transportation and installation

CAUTION

Transport the product with the correct method according to the mass.

Use the servomotor suspension bolts only for the transportation of the servomotor. Do not transport the servomotor with machine installed on it.

Do not stack products past the limit.

When transporting the Motion controller or servo amplifier, never hold the connected wires or cables.

When transporting the servomotor, never hold the cables, shaft or detector.

When transporting the Motion controller or servo amplifier, never hold the front case as it may fall off.

When transporting, installing or removing the Motion controller or servo amplifier, never hold the edges.

Install the unit according to the instruction manual in a place where the mass can be withstood.

Do not get on or place heavy objects on the product.

Always observe the installation direction.

Keep the designated clearance between the Motion controller or servo amplifier and control panel inner surface or the Motion controller and servo amplifier, Motion controller or servo amplifier and other devices.

Do not install or operate Motion controller, servo amplifiers or servomotors that are damaged or that have missing parts.

Do not block the intake/outtake ports of the Motion controller, servo amplifier and servomotor with cooling fan.

Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the Motion controller, servo amplifier or servomotor.

A - 5

CAUTION

The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or apply strong impacts on them.

Securely fix the Motion controller, servo amplifier and servomotor to the machine according to the instruction manual. If the fixing is insufficient, these may come off during operation.

Always install the servomotor with reduction gears in the designated direction. Failing to do so may lead to oil leaks.

Store and use the unit in the following environmental conditions.

Conditions

Environment

Motion controller/Servo amplifier Servomotor

Ambient temperature

Ambient humidity

According to each instruction manual.

According to each instruction manual.

0°C to +40°C (With no freezing)

(32°F to +104°F)

80% RH or less

(With no dew condensation)

-20°C to +65°C

(-4°F to +149°F)

Storage temperature

According to each instruction manual.

Atmosphere

Indoors (where not subject to direct sunlight).

No corrosive gases, flammable gases, oil mist or dust must exist

Altitude 1000m (3280.84ft.) or less above sea level

Vibration According to each instruction manual

When coupling with the synchronous encoder or servomotor shaft end, do not apply impact such as by hitting with a hammer. Doing so may lead to detector damage.

Do not apply a load larger than the tolerable load onto the synchronous encoder and servomotor shaft. Doing so may lead to shaft breakage.

When not using the module for a long time, disconnect the power line from the Motion controller or servo amplifier.

Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store.

When storing for a long time, please contact with our sales representative.

Also, execute a trial operation.

A - 6

(4) Wiring

CAUTION

Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor.

After wiring, install the protective covers such as the terminal covers to the original positions.

Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier.

Correctly connect the output side (terminal U, V, W). Incorrect connections will lead the servomotor to operate abnormally.

Do not connect a commercial power supply to the servomotor, as this may lead to trouble.

Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control signal output of brake signals, etc. Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning.

Servo amplifier

VIN

(24VDC)

Do not connect or disconnect the connection cables between each unit, the encoder cable or PLC expansion cable while the

Control output signal

RA power is ON.

Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may lead to the cables combing off during operation.

Do not bundle the power line or cables.

(5) Trial operation and adjustment

CAUTION

Confirm and adjust the program and each parameter before operation. Unpredictable movements may occur depending on the machine.

Extreme adjustments and changes may lead to unstable operation, so never make them.

When using the absolute position system function, on starting up, and when the Motion controller or absolute value motor has been replaced, always perform a home position return.

A - 7

(6) Usage methods

CAUTION

Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amplifier or servomotor.

Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection.

Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized.

Do not make any modifications to the unit.

Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the

Motion controller or servo amplifier.

When using the CE Mark-compliant equipment, refer to the "EMC Installation Guidelines" (data number IB(NA)-67339) for the Motion controllers and refer to the corresponding EMC guideline information for the servo amplifiers, inverters and other equipment.

Use the units with the following conditions.

Item

Input power

Input frequency

Tolerable momentary power failure

100 to 120VAC

+10% +10%

-15%

200 to 240VAC

-15%

(85 to 132VAC) (170 to 264VAC)

Conditions

Q62P Q64P

100 to 240VAC

+10%

-15%

(85 to 264VAC)

24VDC

-35%

(15.6 to 31.2VDC)

100 to 120VAC

+10%

-15%

200 to 240VAC

+10%

-15%

(85 to 132VAC/

170 to 264VAC)

/

50/60Hz ±5%

20ms or less

A - 8

(7) Corrective actions for errors

CAUTION

If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the check details according to the instruction manual, and restore the operation.

If a dangerous state is predicted in case of a power failure or product failure, use a servomotor with electromagnetic brakes or install a brake mechanism externally.

Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally.

Shut off with servo ON signal OFF, alarm, electromagnetic brake signal.

Shut off with the emergency stop signal(EMG).

Servomotor

RA1 EMG

Electromagnetic brakes

24VDC

If an error occurs, remove the cause, secure the safety and then resume operation after alarm release.

The unit may suddenly resume operation after a power failure is restored, so do not go near the machine. (Design the machine so that personal safety can be ensured even if the machine restarts suddenly.)

(8) Maintenance, inspection and part replacement

CAUTION

Perform the daily and periodic inspections according to the instruction manual.

Perform maintenance and inspection after backing up the program and parameters for the Motion controller and servo amplifier.

Do not place fingers or hands in the clearance when opening or closing any opening.

Periodically replace consumable parts such as batteries according to the instruction manual.

Do not touch the lead sections such as ICs or the connector contacts.

Before touching the module, always touch grounded metal, etc. to discharge static electricity from human body. Failure to do so may cause the module to fail or malfunction.

Do not directly touch the module's conductive parts and electronic components.

Touching them could cause an operation failure or give damage to the module.

Do not place the Motion controller or servo amplifier on metal that may cause a power leakage or wood, plastic or vinyl that may cause static electricity buildup.

Do not perform a megger test (insulation resistance measurement) during inspection.

A - 9

CAUTION

When replacing the Motion controller or servo amplifier, always set the new module settings correctly.

When the Motion controller or absolute value motor has been replaced, carry out a home position return operation using one of the following methods, otherwise position displacement could occur.

1) After writing the servo data to the Motion controller using programming software, switch on the power again, then perform a home position return operation.

2) Using the backup function of the programming software, load the data backed up before replacement.

After maintenance and inspections are completed, confirm that the position detection of the absolute position detector function is correct.

Do not drop or impact the battery installed to the module.

Doing so may damage the battery, causing battery liquid to leak in the battery. Do not use the dropped or impacted battery, but dispose of it.

Do not short circuit, charge, overheat, incinerate or disassemble the batteries.

The electrolytic capacitor will generate gas during a fault, so do not place your face near the

Motion controller or servo amplifier.

The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary damage from faults. Replacements can be made by our sales representative.

(9) About processing of waste

When you discard Motion controller, servo amplifier, a battery (primary battery) and other option articles, please follow the law of each country (area).

CAUTION

This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life.

When considering this product for operation in special applications such as machinery or systems used in passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating applications, please contact your nearest Mitsubishi sales representative.

Although this product was manufactured under conditions of strict quality control, you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident.

(10) General cautions

CAUTION

All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections. When operating the product, always return the covers and partitions to the designated positions, and operate according to the instruction manual.

A - 10

REVISIONS

Print Date Manual Number

Jan., 2008 IB(NA)-0300134-A First edition

The manual number is given on the bottom left of the back cover.

Revision

Japanese Manual Number IB(NA)-0300126

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

© 200 8 MITSUBISHI ELECTRIC CORPORATION

A - 11

INTRODUCTION

Thank you for choosing the Mitsubishi Motion controller Q173DCPU/Q172DCPU.

Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the Motion controller you have purchased, so as to ensure correct use.

CONTENTS

Safety Precautions .................................................................................................................................. A- 1

Revisions................................................................................................................................................. A-11

Contents.................................................................................................................................................. A-12

About Manuals ........................................................................................................................................ A-14

1. OVERVIEW 1- 1 to 1-20

1.1 Overview ........................................................................................................................................... 1- 1

1.2 Features ............................................................................................................................................ 1- 3

1.2.1 Features of Motion CPU ................................................................................................................... 1- 3

1.2.2 Basic specifications of Q173DCPU/Q172DCPU ............................................................................. 1- 5

1.3 Hardware Configuration .................................................................................................................... 1- 8

1.3.1 Motion system configuration ............................................................................................................. 1- 8

1.3.2 Q173DCPU System overall configuration ........................................................................................ 1-10

1.3.3 Q172DCPU System overall configuration ........................................................................................ 1-12

1.3.4 Software packages............................................................................................................................ 1-14

1.3.5 Restrictions on motion systems........................................................................................................ 1-17

2. MULTIPLE CPU SYSTEM 2- 1 to 2-32

2.1 Multiple CPU System ........................................................................................................................ 2- 1

2.1.1 Overview............................................................................................................................................ 2- 1

2.1.2 Installation position of CPU module.................................................................................................. 2- 2

2.1.3 Precautions for using I/O modules and intelligent function modules............................................... 2- 3

2.1.4 Modules subject to installation restrictions ....................................................................................... 2- 4

2.1.5 How to reset the Multiple CPU system............................................................................................. 2- 5

2.1.6 Operation for CPU module stop error............................................................................................... 2- 6

2.2 Starting Up the Multiple CPU System ............................................................................................... 2- 9

2.2.1 Startup Flow of the Multiple CPU System ........................................................................................ 2- 9

2.3 Communication between the PLC CPU and the Motion CPU in the Multiple CPU System ............. 2-11

2.3.1 CPU shared Memory......................................................................................................................... 2-11

2.3.2 Multiple CPU high speed transmission............................................................................................. 2-14

2.3.3 Multiple CPU high speed refresh function........................................................................................ 2-25

2.3.4 Clock synchronization between Multiple CPU ................................................................................. 2-29

2.3.5 Multiple CPU synchronous startup ................................................................................................... 2-30

2.3.6 Control Instruction from PLC CPU to Motion CPU .......................................................................... 2-31

3. COMMON PARAMETERS 3- 1 to 3-22

3.1 System Settings ................................................................................................................................ 3- 1

3.1.1 System data settings......................................................................................................................... 3- 2

3.1.2 Common system parameters ........................................................................................................... 3- 4

A - 12

3.1.3 Individual parameters........................................................................................................................ 3-10

3.2 I/O number assignment..................................................................................................................... 3-15

3.2.1 I/O number assignment of each module .......................................................................................... 3-15

3.2.2 I/O number of each CPU modules ................................................................................................... 3-17

3.2.3 I/O number setting............................................................................................................................. 3-18

3.3 Servo Parameters ............................................................................................................................. 3-19

4. AUXILIARY AND APPLIED FUNCTIONS 4- 1 to 4-44

4.1 Limit Switch Output Function ............................................................................................................ 4- 1

4.1.1 Operations ......................................................................................................................................... 4- 1

4.1.2 Limit output setting data.................................................................................................................... 4- 4

4.2 Absolute Position System ................................................................................................................. 4- 8

4.2.1 Current value control......................................................................................................................... 4-10

4.3 High-Speed Reading of Specified Data ............................................................................................ 4-11

4.4 ROM Operation Function .................................................................................................................. 4-12

4.4.1 Specifications of 7-segment LED/Switches...................................................................................... 4-12

4.4.2 Outline of ROM operation ................................................................................................................. 4-14

4.4.3 Operating procedure of the ROM operation function....................................................................... 4-19

4.5 Security Function .............................................................................................................................. 4-21

4.5.1 Password registration/change .......................................................................................................... 4-21

4.5.2 Password delete................................................................................................................................ 4-23

4.5.3 Password check ................................................................................................................................ 4-24

4.5.4 Password save .................................................................................................................................. 4-25

4.6 All clear function................................................................................................................................ 4-26

4.7 Communication via Network ............................................................................................................. 4-27

4.7.1 Specifications of the communications via network........................................................................... 4-27

4.7.2 Access range of the communications via network........................................................................... 4-28

4.8 Monitor Function of the Main Cycle .................................................................................................. 4-33

4.9 Servo Parameter Reading Function.................................................................................................. 4-34

4.10 Optional Data Monitor Function ...................................................................................................... 4-35

4.11 Connect/Disconnect Function ......................................................................................................... 4-36

4.12 Remote operation ........................................................................................................................... 4-41

4.12.1 Remote RUN/STOP........................................................................................................................ 4-41

4.12.2 Remote latch clear .......................................................................................................................... 4-43

APPENDICES APP- 1 to APP-35

APPENDIX 1 Special relays/Special registers................................................................................... APP- 1

APPENDIX 1.1 Special relays ..............................................................................................................APP- 1

APPENDIX 1.2 Special registers .....................................................................................................APP- 5

APPENDIX 1.3 Replacement of special relays/special registers ........................................................APP-11

APPENDIX 2 System Setting Errors.................................................................................................. APP-13

APPENDIX 3 Self-diagnosis error code............................................................................................. APP-15

APPENDIX 4 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU ............ APP-26

APPENDIX 4.1 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU .........APP-26

APPENDIX 4.2 Comparison of devices................................................................................................APP-28

APPENDIX 4.3 Differences of each mode ...........................................................................................APP-35

A - 13

About Manuals

The following manuals are also related to this product.

In necessary, order them by quoting the details in the tables below.

Related Manuals

(1) Motion controller

Manual Name

Q173DCPU/Q172DCPU Motion controller User's Manual

This manual explains specifications of the Motion CPU modules, Q172DLX Servo external signal interface module, Q172DEX Synchronous encoder interface module, Q173DPX Manual pulse generator interface module, Power supply modules, Servo amplifiers, SSCNET cables, Synchronous encoder cables and others.

(Optional)

Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)

This manual explains the functions, programming, debugging, error lists and others for Motion SFC.

(Optional)

Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)

This manual explains the servo parameters, positioning instructions, device lists, error lists and others.

(Optional)

Q173DCPU/Q172DCPU Motion controller (SV22) Programming Manual (VIRTUAL MODE)

This manual explains the dedicated instructions to use the synchronous control by virtual main shaft, mechanical system program create mechanical module, servo parameters, positioning instructions, device lists, error lists and others.

(Optional)

Manual Number

(Model Code)

IB-0300133

(1XB927)

IB-0300135

(1XB929)

IB-0300136

(1XB930)

IB-0300137

(1XB931)

A - 14

(2) PLC

Manual Name

QCPU User's Manual (Hardware Design, Maintenance and Inspection)

This manual explains the specifications of the QCPU modules, power supply modules, base modules, extension cables, memory card battery and others.

(Optional)

QCPU User's Manual (Function Explanation, Program Fundamentals)

This manual explains the functions, programming methods and devices and others to create programs with the QCPU.

(Optional)

QCPU User's Manual (Multiple CPU System)

This manual explains the functions, programming methods and cautions and others to construct the

Multiple CPU system with the QCPU.

(Optional)

QCPU (Q Mode)/QnACPU Programming Manual (Common Instructions)

This manual explains how to use the sequence instructions, basic instructions, application instructions and micro computer program.

(Optional)

QCPU (Q Mode)/QnACPU Programming Manual (PID Control Instructions)

This manual explains the dedicated instructions used to exercise PID control.

(Optional)

QCPU (Q Mode)/QnACPU Programming Manual (SFC)

This manual explains the system configuration, performance specifications, functions, programming, debugging, error codes and others of MELSAP3.

(Optional)

I/O Module Type Building Block User's Manual

This manual explains the specifications of the I/O modules, connector, connector/terminal block conversion modules and others.

(3) Servo amplifier

(Optional)

Manual Name

MR-J3- B Servo amplifier Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for

MR-J3- B Servo amplifier.

(Optional)

Fully Closed Loop Control MR-J3- B-RJ006 Servo amplifier Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Fully

Closed Loop Control MR-J3- B-RJ006 Servo amplifier.

(Optional)

Manual Number

(Model Code)

SH-080483ENG

(13JR73)

SH-080484ENG

(13JR74)

SH-080485ENG

(13JR75)

SH-080039

(13JF58)

SH-080040

(13JF59)

SH-080041

(13JF60)

SH-080042

(13JL99)

Manual Number

(Model Code)

SH-030051

(1CW202)

SH-030056

(1CW304)

A - 15

MEMO

A - 16

1 OVERVIEW

1. OVERVIEW

1.1 Overview

This programming manual describes the common items of each operating system software, such as the Multiple CPU system of the operating system software packages

"SW8DNC-SV Q " for Motion CPU module (Q173DCPU/Q172DCPU).

In this manual, the following abbreviations are used.

Generic term/Abbreviation

Q173DCPU/Q172DCPU or

Motion CPU (module)

Description

Q173DCPU/Q172DCPU Motion CPU module

Q172DLX/Q172DEX/Q173DPX or

Motion module

MR-J3- B

Q172DLX Servo external signals interface module/

Q172DEX Serial Synchronous encoder interface module

(Note-1)

/

Q173DPX Manual pulse generator interface module

Servo amplifier model MR-J3- B

AMP or Servo amplifier General name for "Servo amplifier model MR-J3- B"

QCPU, PLC CPU or PLC CPU module QnUD(H)CPU

Multiple CPU system or Motion system Abbreviation for "Multiple PLC system of the Q series"

CPUn

Self CPU

Abbreviation for "CPU No.n (n= 1 to 4) of the CPU module for the Multiple CPU system"

Motion CPU being programmed by the currently open MT Developer project

Programming software package General name for MT Developer/GX Developer/MR Configurator

Operating system software

SV13

SV22

MT Developer

GX Developer

MR Configurator

General name for "SW8DNC-SV Q "

Operating system software for conveyor assembly use (Motion SFC) :

SW8DNC -SV13Q

Operating system software for automatic machinery use (Motion SFC) :

SW8DNC -SV22Q

Abbreviation for " Motion controller programming software

MT Developer 2 (Version 1.00A or later)"

Abbreviation for "MELSEC PLC programming software package

GX Developer (Version 8.48A or later)"

Abbreviation for "Servo setup software package

MR Configurator (Version C0 or later)"

Manual pulse generator or MR-HDP01 Abbreviation for "Manual pulse generator (MR-HDP01)"

Serial absolute synchronous encoder or Q170ENC

Abbreviation for "Serial absolute synchronous encoder (Q170ENC)"

SSCNET

(Note-2)

Absolute position system

Battery holder unit

High speed synchronous network between Motion controller and servo amplifier

General name for "system using the servomotor and servo amplifier for absolute position"

Battery holder unit (Q170DBATC)

External battery

Intelligent function module

General name for "Q170DBATC" and "Q6BAT"

Abbreviation for "MELSECNET/H module/Ethernet module/CC-Link module/

Serial communication module"

(Note-1) : Q172DEX can be used in SV22.

(Note-2) : SSCNET: Servo System Controller NETwork

1

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1 OVERVIEW

REMARK

For information about the each module, design method for program and parameter, refer to the following manuals relevant to each module.

Motion CPU module/Motion unit

PLC CPU, peripheral devices for PLC program design, I/O modules and intelligent function module

Operation method for MT Developer

• Design method for Motion SFC program

• Design method for Motion SFC parameter

• Motion dedicated PLC instruction

SV13/SV22 • Design method for positioning control program in the real mode

• Design method for positioning control parameter

SV22

(Virtual mode)

• Design method for mechanical system program

Q173DCPU/Q172DCPU User’s Manual

Manual relevant to each module

Help of each software

Q173DCPU/Q172DCPU Motion controller (SV13/SV22)

Programming Manual (Motion SFC)

Q173DCPU/Q172DCPU Motion controller (SV13/SV22)

Programming Manual (REAL MODE)

Q173DCPU/Q172DCPU Motion controller (SV22)

Programming Manual (VIRTUAL MODE)

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1 OVERVIEW

1.2 Features

The Motion CPU and Multiple CPU system have the following features.

1.2.1 Features of Motion CPU

(1) Q series PLC Multiple CPU system

(a) Load distribution of processing can be performed by controlling the complicated servo control with Motion CPU and the machine control or information control with PLC CPU. Therefore, the flexible system configuration can be realized.

(b) The Motion CPU and PLC CPU are selected flexibly, and the Multiple CPU system up to 4 CPU modules can be realized.

The Motion CPU module for the number of axis to be used can be selected.

Q173DCPU : Up to 32 axes

Q172DCPU : Up to 8 axes

The PLC CPU module for the program capacity to be used can be selected.

(One or more PLC CPU is necessary with the Multiple CPU system.)

Q03UDCPU : 30k steps

Q04UDHCPU : 40k steps

Q06UDHCPU : 60k steps

(c) The device data access of the Motion CPU and the Motion SFC program start can be executed from PLC CPU by the Motion dedicated PLC instruction.

(2) High speed operation processing

(a) The minimum operation cycle of the Motion CPU is made 0.44[ms], and it correspond with high frequency operation.

(b) High speed PLC control is possible by the universal model QCPU.

(For LD instruction)

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1 OVERVIEW

(3) Connection between the Motion controller and servo amplifier with high speed synchronous network by SSCNET

(a) High speed synchronous network by SSCNET connect between the

Motion controller and servo amplifier, and batch control the charge of servo parameter, servo monitor and test operation, etc.

It is also realised reduce the number of wires.

(b) The maximum distance between the Motion CPU and servo amplifier, servo amplifier and servo amplifier of the SSCNET cable on the same bus was set to 50(164.04)[m(ft.)], and the flexibility improved at the Motion system design.

(4) The operating system software package for your application needs

By installing the operating system software for applications in the internal flash memory of the Motion CPU, the Motion controller suitable for the machine can be realized.

And, it also can correspond with the function improvement of the software package.

(a) Conveyor assembly use (SV13)

Offer liner interpolation, circular interpolation, helical interpolation, constantspeed control, speed control, fixed-pitch feed and etc. by the dedicated servo instruction. Ideal for use in conveyors and assembly machines.

(b) Automatic machinery use (SV22)

Provides synchronous control and offers electronic cam control by mechanical support language. Ideal for use in automatic machinery.

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1 OVERVIEW

1.2.2 Basic specifications of Q173DCPU/Q172DCPU

(1) Module specifications

Internal current consumption (5VDC) [A]

Mass [kg]

Exterior dimensions [mm(inch)]

1.25

0.33

1.14

0.33

98 (3.85)(H) 27.4 (1.08)(W) 119.3 (4.69)(D)

(2) SV13/SV22 Motion control specifications/performance specifications

(a) Motion control specifications

Item Q173DCPU

Number of control axes

Operation cycle

(default)

Interpolation functions

Control modes

Acceleration/

SV13

SV22 deceleration control

Up to 32 axes

Q172DCPU

Up to 8 axes

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 18 axes

1.77ms/19 to 32 axes

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 12 axes

1.77ms/13 to 28 axes

3.55ms/29 to 32 axes

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 8 axes

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 8 axes

Linear interpolation (Up to 4 axes), Circular interpolation (2 axes),

Helical interpolation (3 axes)

PTP(Point to Point) control, Speed control, Speed-position control, Fixed-pitch feed,

Constant speed control, Position follow-up control, Speed control with fixed position stop,

Speed switching control, High-speed oscillation control, Synchronous control (SV22)

Automatic trapezoidal acceleration/deceleration,

S-curve acceleration/deceleration

Programming language

Servo program capacity

Number of positioning points

Peripheral I/F

Home position return function

JOG operation function

Manual pulse generator operation function

Synchronous encoder operation function

M-code function

Limit switch output function

Motion SFC, Dedicated instruction, Mechanical support language (SV22)

14k steps

3200 points

(Positioning data can be designated indirectly)

Via PLC CPU (USB/RS-232)

Proximity dog type (2 types), Count type (3 types), Data set type (2 types), Dog cradle type,

Stopper type (2 types), Limit switch combined type

(Home position return re-try function provided, home position shift function provided)

Provided

Possible to connect 3 modules

Possible to connect 12 modules Possible to connect 8 modules

M-code output function provided

M-code completion wait function provided

Number of output points 32 points

Watch data: Motion control data/Word device

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1 OVERVIEW

Motion control specifications (continued)

Item Q173DCPU

Absolute position system

Q172DCPU

Made compatible by setting battery to servo amplifier.

(Possible to select the absolute data method or incremental method for each axis)

Number of SSCNET systems

(Note-1)

2 systems 1 system

Motion related interface module

Q172DLX : 4 modules usable Q172DLX : 1 module usable

Q172DEX : 6 modules usable Q172DEX : 4 modules usable

Q173DPX : 4 modules usable

(Note-2)

Q173DPX : 3 modules usable

(Note-2)

(Note-1) : The servo amplifiers for SSCNET cannot be used.

(Note-2) : When using the incremental synchronous encoder (SV22 use), you can use above number of modules.

When connecting the manual pulse generator, you can use only 1 module.

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1 OVERVIEW

(b) Motion SFC Performance Specifications

Item Q173DCPU/Q172DCPU

Code total

(Motion SFC chart + Operation control

Motion SFC program capacity + Transition)

Text total

(Operation control + Transition)

Number of Motion SFC programs

Motion SFC chart size/program

Number of Motion SFC steps/program

Motion SFC program

Number of selective branches/branch

Operation control program

(F/FS)

/

Transition program

(G)

Execute specification

Number of devices

(Device In the Motion CPU only)

(Included the positioning dedicated device)

543k bytes

484k bytes

256 (No.0 to 255)

Up to 64k bytes (Included Motion SFC chart comments)

Up to 4094 steps

255

Number of parallel branches/branch

Parallel branch nesting

Number of operation control programs

255

Up to 4 levels

4096 with F(Once execution type) and FS(Scan execution type) combined. (F/FS0 to F/FS4095)

4096(G0 to G4095)

Up to approx. 64k bytes (32766 steps)

Number of transition programs

Code size/program

Number of blocks(line)/program

Number of characters/block

Number of operand/block

( ) nesting/block

Descriptive

Operation control program expression Transition program

Special relays

Data registers

Link registers

Special registers

Motion registers

(SM)

(D)

(W)

(SD)

(#)

Coasting timers (FT)

Multiple CPU area devices (U \G)

Up to 8192 blocks (in the case of 4 steps(min)/blocks)

Up to 128 (comment included)

Up to 64 (operand: constants, word device, bit devices)

Up to 32 levels

Calculation expression/bit conditional expression

Calculation expression/bit conditional expression/ comparison conditional expression

Up to 256

Up to 256 steps/all programs

Number of multi execute programs

Number of multi active steps

Executed task

Normal task

Event task

(Execution can be masked.)

Fixed cycle

External interrupt

PLC interrupt

Execute in main cycle of Motion CPU

Execute in fixed cycle

(0.88ms, 1.77ms, 3.55ms, 7.11ms, 14.2ms)

Execute when input ON is set among interrupt module QI60

(16 points).

Execute with interrupt instruction (D(P).GINT) from PLC CPU.

NMI task

Internal relays

Link relays

(M)

(B)

Execute when input ON is set among interrupt module QI60

(16 points).

8192 points

8192 points

Annunciators (F)

2256 points

8192 points

8192 points

2256 points

8736 points

1 point (888µs)

Up to 14336 points usable

(Note)

(Note): Usable number of points changes according to the system settings.

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1 OVERVIEW

1.3 Hardware Configuration

This section describes the Q173DCPU/Q172DCPU system configuration, precautions on use of system, and configured equipments.

1.3.1 Motion system configuration

This section describes the equipment configuration, configuration with peripheral devices and system configuration in the Q173DCPU/Q172DCPU system.

(1) Equipment configuration in Q173DCPU/Q172DCPU system

Extension of the Q series module

(Note-2)

Power supply module/

QnUD(H)CPU/ I/O module/

Intelligent function module of the Q series

Motion module

(Q172DLX, Q173DPX)

Motion module

(Q172DLX, Q172DEX, Q173DPX)

(Note-1)

(Note-1)

Battery holder unit

(Q170DBATC)

MITSUBISHI

LITHIUM BATTERY

Battery

(Q6BAT)

Main base unit

(Q38DB, Q312DB)

Motion CPU module

(Q173DCPU/Q172DCPU)

SSCNET cable

(MR-J3BUS M(-A/-B))

Extension cable

(QC B)

Q6 B extension base unit

(Q63B, Q65B, Q68B, Q612B)

Forced stop input cable

(Q170DEMICBL M)

Power supply module/

I/O module/Intelligent function module of the Q series

Servo amplifier

(MR-J3- B)

It is possible to select the best according to the system.

(Note-1) : Be sure to install the Battery (Q6BAT) to the Battery holder unit (Q170DBATC).

It is packed together with Q173DCPU/Q172DCPU.

(Note-2) : Q172DEX cannot be used in the extension base unit.

Mount it to the main base unit.

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1 OVERVIEW

(2) Peripheral device configuration for the Q173DCPU/Q172DCPU

The following (a)(b) can be used.

(a) USB configuration (b) RS-232 configuration

PLC CPU module

(QnUD(H)CPU)

PLC CPU module

(QnUD(H)CPU)

USB cable

MIT SUBISHI

Personal computer

RS-232 communication cable

(QC30R2)

MIT SUBISHI

Personal computer

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1 OVERVIEW

1.3.2 Q173DCPU System overall configuration

Motion CPU control module

Main base unit

(Q3 DB)

Q61P

PLC CPU/

Motion CPU

QnUD(H)

CPU

Q173D

CPU

QI60 QX

QY

Q6 AD

Q6 DA

Q172D

LX

Q172D

EX

Q173D

PX

I/O module/

Intelligent function module

100/200VAC

Extension base unit

(Q6 B)

Extension cable

(QC B)

UP to 7 extensions

USB/RS-232

Personal Computer

IBM PC/AT

Battery holder unit

Q170DBATC Analogue input/output

Input/output (Up to 256 points)

Interrupt signals (16 points)

Forced stop input cable

(Q170DEMICBL M)

EMI forced stop input (24VDC)

SSCNET cable

(MR-J3BUS M(-A/-B))

SSCNET (CN1)

SSCNET (CN2) d1

P

Manual pulse generator 3/module

(MR-HDP01) (Up to 1 module)

E

Serial absolute synchronous encoder cable

(Q170ENCCBL M)

Serial absolute synchronous encoder 2/module

(Q170ENC) (Up to 6 modules)

External input signals

FLS : Upper stroke limit

RLS : Lower stroke limit

STOP : Stop signal

DOG/CHANGE : Proximity dog/

Speed-position switching

Number of Inputs

8 axes/module

(Up to 4 modules) d16 d1 d16

M

E

M

E

M

E

M

E

MR-J3- B model Servo amplifier,

Up to 32 axes (Up to 16 axes/system)

External input signals of servo amplifier

Proximity dog

Upper stroke limit

Lower stroke limit

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1 OVERVIEW

CAUTION

Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system.

The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor.

Set the parameter values to those that are compatible with the Motion controller, servo amplifier, servomotor and regenerative resistor model and the system application. The protective functions may not function if the settings are incorrect.

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1 OVERVIEW

1.3.3 Q172DCPU System overall configuration

Motion CPU control module

Main base unit

(Q3 DB)

PLC CPU/

Motion CPU

Q61P QnUD(H)

CPU

Q172D

CPU

QI60 QX

QY

Q6 AD Q172D

LX

Q6 DA

Q172D

EX

Q173D

PX

I/O module /

Intelligent function module

100/200VAC

USB/RS-232

Personal Computer

IBM PC/AT

Battery holder unit

Q170DBATC

Extension base unit

(Q6 B)

Extension cable

(QC B)

UP to 7 extensions

E

Serial absolute synchronous encoder cable

(Q170ENCCBL M)

Serial absolute synchronous encoder 2/module

(Q170ENC) (Up to 6 modules)

External input signals

FLS : Upper stroke limit

RLS

STOP

: Lower stroke limit

: Stop signal

DOG/CHANGE : Proximity dog/

Speed-position switching

Number of Inputs

8 axes/module

(Up to 4 modules)

Analogue input/output

Input/output (Up to 256 points)

Interrupt signals (16 points)

Forced stop input cable

(Q170DEMICBL M)

EMI forced stop input (24VDC)

SSCNET cable

(MR-J3BUS M(-A/-B))

SSCNET (CN1) d1 d2 d3 d8

M

E

M

E

M

E

M

E

MR-J3- B model Servo amplifier,

Up to 8 axes

External input signals of servo amplifier

Proximity dog

Upper stroke limit

Lower stroke limit

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1 OVERVIEW

CAUTION

Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system.

The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor.

Set the parameter values to those that are compatible with the Motion controller, servo amplifier, servomotor and regenerative resistor model and the system application. The protective functions may not function if the settings are incorrect.

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1 OVERVIEW

1.3.4 Software packages

(1) Software packages

(a) Operating system software

Application

Software package

Q173DCPU Q172DCPU

For automatic machinery SV22 SW8DNC-SV22QA SW8DNC-SV22QC

(b) Motion controller programming software

Part name Model name Details

MT Developer2

SW1DNC-MTW2-E

(1 CD-ROM disk)

Conveyor Assembly Software

Automatic Machinery Software

Cam Data Creation Software

Digital Oscilloscope Software

Communication System Software

Document Print Software

Operation Manual (Help)

Installation manual (PDF)

(Note) : Operating environment to use MT Developer is Windows

R

Vista/Windows

R

XP/Windows

R

2000

English version only.

(2) Operating environment of personal computer

Operating environment is shown below.

IBM PC/AT with which Windows R Vista/Windows R XP/Windows R 2000 English version operates normally.

OS

CPU

Memory capacity

Video card

Available hard disk capacity

Disk drive

Display

Microsoft

R

Windows

R

Vista Home Basic

Microsoft

R

Windows

R

Vista Home Premium

Microsoft

R

Windows

R

Vista Business

Microsoft

R

Windows

R

Vista Ultimate

Microsoft

R

Windows

R

Vista Enterprise

Microsoft

R

Windows

R

XP Professional (Service Pack 2 or later)

Microsoft

R

Windows

R

XP Home Edition (Service Pack 2 or later)

Microsoft

R

Windows

R

2000 Professional (Service Pack 4 or later)

Desktop PC: Recommended Intel

R

Celeron

R

Processor 2.8GHz or more

Laptop PC: Recommended Intel

R

Pentium

R

Processor M 1.7GHz or more

Recommended 512MB or more

Card compatible with Microsoft

R

DirectX

R

9.0c or later

Installation: HD 1GB or more

Operation: Virtual memory 50MB or more

CD-ROM disk drive

Resolution 1024×768 pixels or higher

(Note-1) : Microsoft, Windows and DirectX are either registered trademarks or trademarks of Microsoft

Corporation in the United States and/or other countries.

(Note-2) : Intel, Celeron and Pentium are trademarks of Intel Corporation in the U.S. and other countries.

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1 OVERVIEW

(3) Operating system type/version

(a) Confirmation method in the operating system (CD)

1)

2)

3)

1) OS software type

2) OS software version

3) Serial number

Example) When using Q173DCPU, SV22 and version 00A.

1) SW8DNC-SV22QA

2) 00A

(b) Confirmation method in MT Debeloper

The operating system(OS) type/version of connected CPU is displayed on the installation screen of MT Developer.

(OS software) S V 2 2 Q A

A or B : Q173DCPU

C or D : Q172DCPU

V E R 3 0 0 A

OS version

3: Motion SFC compatibility

. : Motion SFC not compatibility

(4) Relevant software packages

(a) PLC software package

Model name

GX Developer

(b) Servo set up software package

Software package

SW8D5C-GPPW-E

Model name

MR Configurator

Software package

MRZJW3-SETUP221E

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1 OVERVIEW

POINTS

(1) When the operation of Windows is not unclear in the operation of this software, refer to the manual of Windows or guide-book from the other supplier.

(2) The following functions cannot be used when the computer is running under

Windows R Vista, Windows R XP or Windows R 2000.

This product may not perform properly, when these functions are used.

< Windows R Vista/Windows R XP>

• Activating the application with Windows R compatibility mode

• Fast user switching

• Remote desktop

• Large size

• x64 Edition (64 bit Windows R )

< Windows R 2000>

• Large fonts

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1 OVERVIEW

1.3.5 Restrictions on motion systems

(1) Combination of Multiple CPU system

(a) Motion CPU module cannot be used as standalone module.

Be sure to install the universal model PLC CPU module (Q03UDCPU/

Q04UDHCPU/Q06UDHCPU) to CPU No.1.

For Universal model PLC CPU module, "Multiple CPU high speed taransmission function" must be set in the Multiple CPU settings.

(b) Only Multiple CPU high speed main base unit (Q38DB/Q312DB) can be used.

(c) The combination of Q173DCPU/Q172DCPU and Q173HCPU(-T)/

Q172HCPU(-T)/Q173CPUN(-T)/Q172CPUN(-T) cannot be used.

(d) Up to four modules of PLC CPU modules (Q03UDCPU/Q04UDHCPU/

Q06UDHCPU/Motion CPU modules can be installed from the CPU slot (the slot on the right side of power supply module) to slot 2 of the main base unit.

CPU modules called as CPU No.1 to CPU No.4 from the left sequentially.

There is no restriction on the installation order of CPU No.2 to No.4.

For CPU module except CPU No.1, an empty slot can be reserved for addition of CPU module. An empty slot can be set between CPU modules.

However, the mounting condition when combining with the High performance PLC CPU module/Process CPU module/PC CPU module/C controller module is different depending on the specification of CPU modules, refer to the Manuals of each CPU modules.

(e) It takes about 10 seconds to startup (state that can be controlled) of Motion

CPU. Make a Multiple CPU synchronous startup setting suitable for the system.

(f) Execute the automatic refresh of the Motion CPU modules and PLC CPU modules (Q03UDCPU/Q04UDHCPU/Q06UDHCPU) by using the automatic refresh of Multiple CPU high speed transmission area setting.

When the High performance PLC CPU module/Process CPU module/PC

CPU module/C controller module is mounted in the combination of Multiple

CPU system, the Motion CPU module cannot be execute the automatic refresh with these modules.

(g) Use the Motion dedicated PLC instructions that starts by "D(P).". The Motion dedicated PLC instructions that starts by "S(P)." cannot be used. When the

High performance PLC CPU module/Process CPU module/PC CPU module/C controller module is mounted in the combination of Multiple CPU system, the Motion dedicated PLC instruction from these modules cannot be executed.

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1 OVERVIEW

(2) Motion modules

(a) Installation position of Q172DEX

(Note-1)

is only the main base unit.

It cannot be used on the extension base unit.

(b) Q172DLX/Q173DPX can be installed on any of the main base unit/ extension base unit.

(c) Q172DLX/Q172DEX

(Note-1)

/Q173DPX cannot be installed in CPU slot and I/O slot 0 to 2 of the main base unit. Wrong installation might damage the main base unit.

(d) Q172EX(-S1/-S2/-S3)/Q172LX/Q173PX(-S1) for Q173HCPU(-T)/

Q172HCPU(-T)/Q173CPUN(-T)/Q172CPUN(-T)/Q173CPU/Q172CPU cannot be used.

(e) Be sure to use the Motion CPU as the control CPU of Motion modules

(Q172DLX, Q172DEX

(Note-1)

, Q173DPX, etc.) for Motion CPU. They will not operate correctly if PLC CPU is set and installed as the control CPU by mistake. Motion CPU is treated as a 32-point intelligent module by PLC

CPU of other CPU.

(Note-1) : Q172DEX can be used in SV22. It cannot be used in SV13.

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1 OVERVIEW

(3) Other restrictions

(a) Motion CPU module cannot be set as the control CPU of intelligent function module (except some modules) or Graphic Operation Terminal(GOT).

(b) Be sure to use the external battery.

(c) There are following methods to execute the forced stop input.

• Use a EMI terminal of Motion CPU module

• Use a device set in the forced stop input setting of system setting

(d) Forced stop input for EMI terminal of Motion CPU module cannot be invalidated by the parameter.

When the device set in the forced stop input setting is used without use of

EMI terminal of Motion CPU module, apply 24VDC voltage on EMI terminal and invalidate the forced stop input of EMI terminal.

(e) Be sure to use the cable for forced stop input (sold separately). The forced stop cannot be released without using it.

(f) When the operation cycle is 0.4[ms], set the system setting as the axis select switch of servo amplifier "0 to 7".

If the axis select switch of servo amplifier "8 to F" is set, the servo amplifiers are not recognized.

(g) It is impossible to mount the main base unit by DIN rail when using the

Motion CPU module.

Doing so could result in vibration that may cause erroneous operation.

(h) The module name displayed by "System monitor" - "Product information list" of GX Developer is different depending on the function version of Motion modules (Q172DLX, Q172DEX, Q173DPX).

(Note): Even if the function version "C" is displayed, it does not correspond to the online module change.

Module name

Model display

Function version "B" Function version "C"

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1 OVERVIEW

MEMO

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2 MULTIPLE CPU SYSTEM

2. MULTIPLE CPU SYSTEM

2.1 Multiple CPU System

2.1.1 Overview

(1) What is Multiple CPU system ?

A Multiple CPU system is a system in which more than one PLC CPU module and Motion CPU module (up to 4 modules) are mounted on several main base unit in order to control the I/O modules and intelligent function modules.

Each Motion CPU controls the servo amplifiers connected by SSCNET cable.

(2) System configuration based on load distribution

(a) By distributing such tasks as servo control, machine control and information control among multiple processors, the flexible system configuration can be realized.

(b) You can increase the number of control axes by using a multiple Motion

CPU modules.

It is possible to control up to 96 axes by using the three CPU modules

(Q173DCPU).

(c) By distributing the high-load processing performed on a single PLC CPU over several CPU modules, it is possible to reduce the overall system PLC scan time.

(3) Communication between CPUs in the Multiple CPU system

(a) Since device data of other CPUs can be automatically read by the automatic refresh function, the self CPU can also use them as those of self CPU.

(Note): When the High performance PLC CPU module/Process CPU module/PC CPU module/C controller module is mounted in the combination of Multiple CPU system, the Motion dedicated PLC instruction from these modules cannot be executed.

(b) Motion dedicated PLC instructions can be used to access device data from the PLC CPU to Motion CPU and start Motion SFC program.

2

2 - 1

2 MULTIPLE CPU SYSTEM

2.1.2 Installation position of CPU module

Number of

CPUs

Up to four PLC CPUs and Motion CPUs can be installed from the CPU slot (the right side slot of the power supply module) to slots 2 of the main base unit.

The Motion CPU module cannot be installed in the CPU slot.

The PLC CPU module must be installed in the CPU slot (CPU No.1) in the Multiple

CPU system.

There is no restriction on the installation order for CPU modules (CPU No.2 to 4).

(Note): Refer to the manual for each CPU module when the High performance PLC

CPU module, Process CPU module, PC CPU module and C controller module is mounted in the combination of Multiple CPU.

Table 2.1 Example for CPU module installation

Installation position of CPU module

Power supply

CPU 0

QnUD(H)

CPU

Q17 D

CPU

1 2

—— —— 2

CPU

No.1

CPU

No.2

CPU

No.3

Power supply

CPU 0 1

QnUD(H)

CPU

Q17 D

CPU

QnUD(H)

CPU

CPU

No.4

2

Power supply

CPU 0

QnUD(H)

CPU

Q17 D

CPU

1

Q17 D

CPU

2

3 ——

CPU

No.1

CPU

No.2

CPU

No.3

CPU

No.4

Power supply

CPU 0 1

QnUD(H)

CPU

Q17 D

CPU

QnUD(H)

CPU

2

CPU empty

CPU

No.1

CPU

No.2

CPU

No.3

CPU

No.4

Power supply

CPU 0

QnUD(H)

CPU

Q17 D

CPU

1 2

Q17 D

CPU

QnUD(H)

CPU

Power supply

CPU 0

QnUD(H)

CPU

Q17 D

CPU

1

Q17 D

CPU

2

Q17 D

CPU

4

CPU

No.1

CPU

No.2

CPU

No.3

CPU

No.4

CPU

No.1

CPU

No.2

CPU

No.3

CPU

No.4

CPU 0

CPU

No.1

1

CPU

No.2

2

CPU

No.3

CPU

No.4

: Slot number

An empty slot can be reserved for future addition of a CPU module.

Set the number of CPU modules including empty slots in the Multiple CPU setting, and set the type of the slots to be emptied to "PLC (Empty)" in the CPU setting.

(Example 1)

CPU

Power supply

QnUD(H)

CPU

0

CPU empty

1

Q17 D

CPU

2

(Example 2)

CPU

Power supply

QnUD(H)

CPU

0

CPU empty

1

Q17 D

CPU

2

CPU empty

(Example 3)

CPU

Power supply

QnUD(H)

CPU

0

CPU empty

1

CPU empty

2

Q17 D

CPU

CPU

No.1

CPU

No.2

CPU

No.3

CPU

No.4

CPU

No.1

CPU

No.2

CPU

No.3

CPU

No.4

CPU

No.1

CPU

No.2

CPU

No.3

CPU

No.4

2 - 2

2 MULTIPLE CPU SYSTEM

2.1.3 Precautions for using I/O modules and intelligent function modules

(1) Modules controllable by the Motion CPU

Modules controllable by the Motion CPU are shown below.

• Motion modules (Q172DLX, Q172DEX, Q173DPX)

• I/O modules (QX , QY , QH , QX Y )

• Analogue modules (Q6 AD , Q6 AD- , Q6 DA , Q6 DA- )

• Interrupt module (QI60)

(2) Compatibility with the Multiple CPU system

The intelligent function modules of function version "B" or later support the

Multiple CPU system. Be sure to use the PLC CPU as a control CPU because of the intelligent function modules cannot be controlled by the Motion CPU.

(3) Access range from non-controlled CPU

(a) The Motion CPU can access only the modules controlled by the self CPU. It cannot access the modules controlled by other CPUs.

(b) Access range from non-controlled PLC CPU for the modules controlled by the Motion CPU are shown below.

Table 2.2 Access range to non-controlled module

Access target

I/O setting outside of the group

(Set by PLC CPU)

Disabled (Not checked) Enabled (Checked)

Input (X)

Output (Y)

Buffer memory

Read

Write

: Accessible : Inaccessible

REMARK

• The function version of an intelligent function module can be checked on the rated plate of the intelligent function module or in the GX Developer's system monitor product information list.

• Refer to the "Q173DCPU/Q172DCPU User's Manual" for the model name which can be controlled by the Motion CPU.

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2 MULTIPLE CPU SYSTEM

2.1.4 Modules subject to installation restrictions

(1) Modules subject to install restrictions for the Motion CPU are sown below. Use within the restrictions listed below.

Maximum installable modules per CPU

Q173DCPU Q172DCPU

Servo external signals interface module

Serial absolute synchronous interface module

Manual pulse generator interface module

Q172DLX

Q172DEX

(Note-2)

Q173DPX

(Note-1)

4 modules 1 module

6 modules

4 modules

(Note-2)

(Incremental serial encoder use)

1 module

(Manual pulse generator only use)

4 modules

3 modules

(Note-2)

(Incremental serial encoder use)

1 module

(Manual pulse generator only use)

Input module

Output module

Input/output composite module

Analogue input module

Analogue output module

Interrupt module

QX

QY

QH

QX Y

Q6 AD

Q6 AD-

Q6 DA

Q6 DA-

QI60

Total 256 points

1 module

(Note-1) : When the Manual pulse generator and the serial encoder are used at the same time with the SV22, the

Q173DPX installed in the slot of the smallest number is used for manual pulse generator input.

(Note-2) : SV22 only.

(2) A total of eight base units including one main base unit and seven extension base units can be used. However, the usable slots (number of modules) are limited to

64 per system including empty slots. If a module is installed in slot 65 or subsequent slot, an error (SP. UNIT LAY ERROR) will occur. Make sure all modules are installed in slots 1 to 64. (Even when the total number of slots provided by the main base unit and extension base units exceeds 65 (such as when six 12-slot base units are used), an error does not occur as long as the modules are installed within slots 1 to 64.)

POINT

(1) Q172DLX/Q172DEX/Q173DPX cannot be installed in CPU slot and I/O slot 0 to 2 of the main base unit. Wrong installation might damage the main base unit.

(2) Q172DEX can be installed in the main base unit only. It cannot be used in the extension base unit.

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2 MULTIPLE CPU SYSTEM

2.1.5 How to reset the Multiple CPU system

The entire Multiple CPU system can be reset by resetting CPU No.1.

The CPU modules of No.2 to No.4, I/O modules and intelligent function modules will be reset when PLC CPU No.1 is reset.

If a stop error occurs in any of the CPUs on the Multiple CPU system, either reset CPU

No.1 or restart the Multiple CPU system (power supply ON OFF ON) for recovery.

(Recovery is not allowed by resetting the error-stopped CPU modules other than CPU

No.1.)

POINT

(1) It is not possible to reset the CPU modules of No.2 to No.4 individually in the

Multiple CPU system.

If an attempt to reset any of those PLC CPU modules during operation of the

Multiple CPU system, a "MULTI CPU DOWN (error code: 7000)" error will occur for the other CPUs, and the entire Multiple CPU system will be halted.

However, depending on the timing in which any of PLC CPU modules other than No.1 has been reset, an error other than the "MULTI CPU DOWN" may halt the other PLC CPUs/Motion CPUs.

(2) A "MULTI CPU DOWN (error code: 7000)" error will occur regardless of the operation mode(All stop by stop error of CPU "n"/continue) set at the "Multiple

CPU setting" screen when any of PLC CPU modules of No.2 to No.4 is reset.

(Refer to Section 2.1.6.)

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2 MULTIPLE CPU SYSTEM

2.1.6 Operation for CPU module stop error

The entire system will behaves differently depending whether a stop error occurs in

CPU No.1 or any of CPU No.2 to No.4 in the Multiple CPU system.

(1) When a stop error occurs at CPU No.1

(a) A "MULTI CPU DOWN (error code: 7000)" error occurs at the other CPUs and the Multiple CPU system will be halted when a stop error occurs at the

PLC CPU No.1.

(Note-1)

(b) The following procedure to restore the system is shown below.

1) Confirm the error cause with the PLC diagnostics on GX Developer.

2) Remove the error cause.

3) Either reset the PLC CPU No.1 or restart the power to the Multiple CPU system (power ON OFF ON).

All CPUs on the entire Multiple CPU system will be reset and the system will be restored when PLC CPU No. 1 is reset or the Multiple CPU system is reapplied.

(2) When a stop error occurs at CPU other than No.1

Whether the entire system is halted or not is determined by the Multiple CPU setting's "Operating Mode" setting when a stop error occurs in a PLC CPU module/Motion CPU module other than CPU No.1.

The default is set for all CPUs to be stopped with a stop error.

When you do not want to stop all CPUs at occurrence of a stop error in a PLC

CPU module/Motion CPU module, remove the check mark that corresponds to the CPU No. so that its error will not stop all CPUs. (See arrow A.)

A

(a) When a stop error occurs in the CPU module for which "All station stop by stop error of CPU 'n' " has been set, a "MULTI CPU DOWN (error code:

7000)" error occurs for the other PLC CPU module/Motion CPU modules and the Multiple CPU system will be halted.

(Note-1)

2 - 6

2 MULTIPLE CPU SYSTEM

(b) When a stop error occurs in the CPU module for which " All station stop by stop error of CPU 'n' " has not been set, a "MULTI EXE. ERROR (error code: 7010)" error occurs in all other CPUs but operations will continue.

POINT

(Note-1) : When a stop error occurs, a "MULTI CPU DOWN (error code : 7000)" stop error will occur at the CPU on which the error was detected.

Depending on the timing of error detection, a "MULTI CPU DOWN" error may be detected in a CPU of "MULTI CPU DOWN" status, not the first

CPU on which a stop error occurs.

Because of this, CPU No. different from the one of initial error CPU may be stored in the error data's common information category.

To restore the system, remove the error cause on the CPU that is stopped by an error other than "MULTI CPU DOWN".

In the screen below, the cause of the CPU No.2 error that did not cause the "MULTI CPU DOWN" error is to be removed.

(c) Observe the following procedures to restore the system.

1) Confirm the error-detected CPU No. and error cause with the PLC diagnostics on GX Developer.

2) If the error code occurred in Motion CPU 10000 to 10999, confirm the error cause with Motion CPU error batch monitor of MT Developer.

3) Remove the error cause.

4) Either reset the PLC CPU No.1 or restart the power to the Multiple CPU system (power ON OFF ON).

All CPUs on the entire Multiple CPU system will be reset and the system will be restored when PLC CPU No.1 is reset or the power to the Multiple CPU system is reapplied.

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2 MULTIPLE CPU SYSTEM

(3) Operation at a Motion CPU error

Operations at a Motion CPU error are shown below.

Category

Operation disable errors

Type of error

System setting error

WDT error

Self-diagnosis error

Other CPU DOWN error

Self-diagnosis error

Operation Remark

Does not operate from the beginning (does not run).

Varies depending on the error.

Stops at a CPU DOWN error.

• All actual output PY points turn OFF.

No effect on other CPUs.

• All actual output PY points turn OFF.

Other CPUs may also stop depending on the parameter setting.

Operation corresponding to

STOP (M2000 OFF). Depends on the "Operation mode upon CPU

• All actual output PY points turn OFF. stop error" setting.

Operation continues when the continuous error occurred.

Operation continuous enable errors

Motion SFC error

Minor error

Major error

Servo error

Servo program setting error

Processing stops for each program or axis instead of the

Motion CPU stopping all the processing.

• Only the applicable program stops (the program may continue depending on the type of error).

• Actual output PY retains output.

• No effect on other CPUs.

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2 MULTIPLE CPU SYSTEM

2.2 Starting Up the Multiple CPU System

This section describes a standard procedure to start up the Multiple CPU system.

2.2.1 Startup Flow of the Multiple CPU System

START

Definition of functions with Multiple CPU system

Control and function executed in each

CPU module are defined.

Application and assignment of device

When automatic refresh of the CPU shared memory is performed, the number of refresh points is continuously obtained.

Selection of module

Select the module to achieve the function with the Multiple CPU system.

PLC CPU

Motion CPU

Installation of module

Install the selected module on the main base unit and extension base unit.

Start-up of GX Developer

Start-up GX Developer

(Ver. 8.48A or later).

Creation of parameters, etc.

Create the parameter such as Multiple

CPU setting and control CPU setting, and the PLC program.

PLC CPU

PLC CPU

Connection of PC to the PLC CPU module of CPU No. 1

Connect the PC that started

GX Developer to the PLC CPU module of CPU No. 1 with the RS-232 cable/

USB cable.

Multiple CPU system power ON

Turn ON the power of Multiple CPU system in the following state of PLC

CPU module of CPU No.1.

RUN/STOP/RESET switch : STOP

Write of parameter and program

Write parameter and PLC program in the PLC CPU of CPU No. 1.

For PLC CPU other than CPU No. 1, select the applicable PLC CPU by specifying the connection.

1)

Refer to Section 2.3

Refer to the "Q173DCPU/Q172DCPU User's

Manual"

Refer to the "Q173DCPU/Q172DCPU User's

Manual"

Refer to the GX Developer Manual.

Create the parameters for CPU No. 1 to 4 and

PLC programs.

Refer to the "QCPU User's Manual" (Function

Explanation/Program Fundamentals)".

2 - 9

2 MULTIPLE CPU SYSTEM

1)

Start-up of MT Developer

Start-up MT Developer.

Motion CPU

Creation of system settings and program, etc.

Create the system settings, servo data and Motion SFC program.

Write to the Motion CPU

Write the system settings, servo data and Motion SFC program.

PLC CPU

Motion CPU

Switch setting for all CPUs

Set RUN/STOP/RESET switch of PLC

CPU modules and RUN/STOP switch of

Motion CPU modules in CPU No.1 to 4 to RUN.

Reset PLC CPU module of CPU No.1

Set RUN/STOP/RESET switch of PLC

CPU module in CPU No.1 to RESET to reset the entire system.

PLC CPU

Status check in all CPU modules

Check if all CPUs of the Multiple CPU system are RUN status/error by resetting the CPU module of CPU No. 1.

PLC CPU

Motion CPU

Check and correction of errors

An error is checked with the PC diagnosis function of GX Developer and

Motion CPU error batch monitor of

MT Developer for correction.

Debug of each CPU module

Multiple CPU system is debugged for each PLC CPU/Motion CPU.

Actual operation

Check in the automatic operation.

Refer to the help for operation of MT Developer.

Refer to Section 3.1 for system settings.

Refer to the Programming Manual of each operating system software for details of program.

END

(Note) : Installation of the operating system software is required to the Motion CPU module before start of the Multiple CPU system.

Refer to Chapter 5 of the "Q173DCPU/Q172DCPU User's Manual" for installation of the Motion

CPU operating system software.

2 - 10

2 MULTIPLE CPU SYSTEM

2.3 Communication between the PLC CPU and the Motion CPU in the Multiple CPU System

2.3.1 CPU shared Memory

(1) Structure of CPU shared memory

The CPU shared memory is memory provided for each CPU module by which data is written or read between CPU modules of a Multiple CPU system.

The CPU shared memory consists of four areas.

• Self CPU operation information area

• System area

• User setting area

• Multiple CPU high speed transmission area

The CPU shared memory configuration and the availability of the communication from the self CPU using the CPU shared memory by program are shown below.

CPU shared memory

Write

Self CPU

Read

Other CPU

Write Read

Self CPU operation information area

(Note-2) (Note-2)

(0H) to

(1FFH)

(200H) to

(7FFH)

(800H)

0 to

511

512 to

2047

2048 to to

(FFFH)

(1000H) to

(270FH)

(2710H)

4095

4096 to

9999

10000 to

(5F0FH) to up to

24335

System area

User setting area

Unusable

Multiple CPU high speed transmission area

(Variable size in 0 to

14k[points]: 1k words in unit)

Multiple CPU high speed bus

(Note-1)

(Note-3)

(Note-2)

(Note-3)

(Note-2)

(Note-2)

(Note-3)

: Communication allowed : Communication not allowed

REMARK

(Note-1) : Use the MULTW instruction to write to the user setting area of the self

CPU in the Motion CPU.

Use the S. TO instruction to write to the user setting area of the self CPU in the PLC CPU.

(Note-2) : Use the MULTR instruction to read the shared memory of self CPU and other CPU in the Motion CPU.

Use the FROM instruction/Multiple CPU area device (U \G ) to read the shared memory of the Motion CPU from the PLC CPU.

(Note-3) : Refer to Section 2.3.2(1) for the access method of Multiple CPU high speed transmission area.

2 - 11

2 MULTIPLE CPU SYSTEM

(a) Self CPU operation information area (0H to 1FFH)

1) The following information of self CPU is stored as the Multiple CPU system

Table 2.3 Table of self CPU operation information areas

CPU shared memory address

Name Detail Description

(Note)

1H

2H

3H

4H

5H

6H to 10H

11H to 1BH

1CH Empty

1DH

Diagnostic error

Time the diagnostic error occurred

Error information identification code

Common error information Common error information

Individual error information

Switch status

The area to confirm if information is stored in the self CPU's operation information area (1H to 1FH) or not.

• 0: Information not stored in the self CPU's operation information area.

• 1: Information stored in the self CPU's operation information area.

Diagnostic error number An error No. identified during diagnosis is stored in BIN.

The year and month that the error number was stored in the CPU shared memory's 1H address is stored with two digits of the BCD code.

Time the diagnostic error occurred

Error information identification code

Individual error information

CPU switch status

The date and time that the error number was stored in the CPU shared memory's 1H address is stored with two digits of the BCD code.

The minutes and seconds that the error number was stored in the

CPU shared memory's 1H address is stored with two digits of the

BCD code.

Stores an identification code to determine what error information has been stored in the common error information and individual error information.

The common information corresponding to the error number identified during diagnosis is stored.

The individual information corresponding to the error number identified during diagnostic is stored.

Cannot be used

Stores the CPU module switch status.

1EH Empty — Cannot be used

1FH CPU operation status CPU operation status Stores the CPU module's operation status.

Corresponding special register

SD0

SD1

SD2

SD3

SD4

SD5 to SD15

SD16 to SD26

SD200

SD203

(Note) : Refer to the corresponding special register for details.

2) The self CPU operation information area is refreshed every time the applicable register has been changed in the main cycle.

3) Other PLC CPU can use FROM instruction to read data from the self

CPU operation information area.

However, because there is a delay in data updating, use the read data for monitoring purposes only.

(b) System area

The area used by the operating systems (OS) of the PLC CPU/Motion CPU.

(c) User setting area

The area for communication between CPU modules in the Multiple CPU system by MULTR/MULTW instruction of Motion CPU.

(PLC CPU use FROM/S.TO instruction or Multiple CPU area devices to communicate between CPU modules.)

Refer to the Programming Manual of operating system software for

MULTR/MULTW instruction.

2 - 12

2 MULTIPLE CPU SYSTEM

(d) Multiple CPU high speed transmission area

The area corresponding to the Multiple CPU high speed main base unit

(Q3 DB) and Multiple CPU high speed transmission that uses the drive system controllers including QnUD(H)CPU and Motion CPU.

The image chart of Multiple CPU high speed transmission area is shown below.

Refer to Section 2.3.2(1) for access to the Multiple CPU high speed transmission area of self CPU and other CPU.

U3E0\G10000 to

CPU No.1

CPU No.1

(Note-2)

Multiple CPU high speed transmission area

(Transmission)

U3E0\G

(Note-1)

U3E1\G10000 to

CPU No.2

Multiple CPU high speed transmission area

(Reception)

U3E1\G

(Note-1)

U3E2\G10000 to

CPU No.3

Multiple CPU high speed transmission area

(Reception)

U3E2\G

(Note-1)

U3E3\G10000 to

CPU No.4

Multiple CPU high speed transmission area

(Reception)

U3E3\G

(Note-1)

CPU No.2

CPU No.1

Multiple CPU high speed transmission area

(Reception)

CPU No.2

(Note-2)

Multiple CPU high speed transmission area

(Transmission)

CPU No.3

Multiple CPU high speed transmission area

(Reception)

CPU No.4

Multiple CPU high speed transmission area

(Reception)

CPU No.3

CPU No.1

Multiple CPU high speed transmission area

(Reception)

CPU No.2

Multiple CPU high speed transmission area

(Reception)

CPU No.3

(Note-2)

Multiple CPU high speed transmission area

(Transmission)

CPU No.4

Multiple CPU high speed transmission area

(Reception)

CPU No.4

CPU No.1

Multiple CPU high speed transmission area

(Reception)

CPU No.2

Multiple CPU high speed transmission area

(Reception)

CPU No.3

Multiple CPU high speed transmission area

(Reception)

CPU No.4

(Note-2)

Multiple CPU high speed transmission area

(Transmission)

(Note-1) : The final device is "10000+(A 1024-B-1)".

A : Data transmission size of each CPU (1k words in unit)

B : Size used in the automatic refresh of each CPU.

Refer to Section "2.3.2 Multiple CPU high speed transmission"

for the size setting of A and B.

(Note-2) : Transmission area to write/read in the self CPU.

Reception area from the other CPU can be read only.

It is updated every 0.88ms.

2 - 13

2 MULTIPLE CPU SYSTEM

2.3.2 Multiple CPU high speed transmission

(1) Multiple CPU high speed transmission

Multiple CPU high speed transmission is a function for fixed cycle data transmission between Multiple CPUs (Multiple CPU high speed transmission cycle is 0.88ms.).

Secure data transmission is possible without effecting the PLC CPU scan time or

Motion CPU main cycle because the data transmission and execution of PLC program and Motion SFC program can be executed with parallel processing.

High speed response between multiple CPUs is realized by synchronizing the

Multiple CPU high speed transmission cycle with Motion CPU operation cycle.

The following methods of data transmission exist between Multiple CPUs for

Multiple CPU high speed transmission.

• Multiple CPU area device method

Directly set the Multiple CPU high speed transmission area by Multiple CPU area device (U \G ) in the program.

• Automatic refresh method

Refresh the internal devices of each CPU by automatic refresh via "Multiple

CPU high speed transmission area".

CPU No.1 (PLC CPU)

PLC program

SM400

MOV W0

U3E0\

G10000

U3E0\

G10010.1

(a) Multiple CPU area device method

CPU shared memory

(User setting area (Note-1) )

CPU No.2 (Motion CPU)

CPU shared memory

(User setting area (Note-1) )

3)

Motion SFC program

G0

U3E0\G10010.1

G1

U3E0\G10110.5

SM400

MOV W1

U3E0\

G10100

U3E0\

G10110.5

END

1)

U3E0\G10000

U3E0\G10010

CPU No.1

transmitting data

4) U3E0\G10100

U3E0\G10110

U3E0\G10000

2) U3E0\G10010

5)

U3E0\G10100

U3E0\G10110

CPU No.1

transmitting data

6)

F0

W0=U3E0\G10010

F1

W1=U3E0\G10110

Multiple CPU high speed transmission in 0.88ms cycle

1), 4) : Write data in the user setting area (Note-1) by the instruction that uses the Multiple CPU area device.

3), 6) : Read data from the user setting area (Note-1) by the instruction that uses the Multiple CPU area device.

2), 5) : Transmit the contents of user setting area (Note-1) to the other CPU with by Multiple CPU high speed transmission in 0.88ms cycle.

Note-1: The area composed in the Multiple CPU high speed transmission area.

(Refer to Section "(3) Memory configuration of Multiple CPU high speed transmission area".)

2 - 14

2 MULTIPLE CPU SYSTEM

1) Access to Multiple CPU high speed transmission area a) Description of Multiple CPU area device

Word device : U \ G

CPU shared memory address (decimal) (10000 to up to 24335)

First I/O number of CPU module

CPU No.

CPU No.1

First I/O number 3E0(H)

CPU No.2

3E1(H)

CPU No.3

3E2(H)

CPU No.4

3E3(H)

Bit device : U \ G .

Bit specification (0 to F : Hexadecimal)

CPU shared memory address (decimal) (10000 to up to 24335)

First I/O number CPU module

CPU No.

CPU No.1

First I/O number 3E0(H)

CPU No.2

3E1(H)

CPU No.3

3E2(H)

CPU No.4

3E3(H)

(Example)

• Multiple CPU high speed transmission memory address of CPU No. 2:

10002

U3E1\G10002

• Bit 14 of CPU No. 3 Multiple CPU high speed transmission memory address 10200

U3E2\G10200.E b) Example of access in the program

<Motion SFC program>

• Store K12345678 to the Multiple CPU high speed transmission memory 10200,10201 of self CPU (CPU No.2).

U3E1\G10200L = K12345678

• Turn on bit 12 of the Multiple CPU high speed transmission memory 10301 of self CPU (CPU No.3)

SET U3E2\G10301.C

<Servo program>

• Program which executes the positioning for Axis 1 to position set in the Multiple CPU high speed transmission memory 10400,

10401 of CPU No.1 at the speed set in the 10402, 10403 of CPU

No.1, and uses bit 1 of CPU No.1 Multiple CPU high speed transmission memory 10404 of CPU No.1 as a cancel signal.

ABS-1

Axis

Speed

Cancel

1, U3E0\G10400

U3E0\G10402

U3E0\G10404.1

POINT

This method can be used to access only the Multiple CPU high speed transmission area of CPU shared memory. It cannot be used to access the CPU shared memory

(0 to 4095).

2 - 15

2 MULTIPLE CPU SYSTEM

CPU No.1 (PLC CPU)

PLC program

SM400

INC D0

Y0

SM400

INC D1

Y0

END

(b) Example of using automatic refresh method

Device memory

CPU shared memory

(Automatic refresh area

(Note-1)

)

CPU No.2 (Motion CPU)

CPU shared memory

(Automatic refresh area

(Note-1)

) Device memory

D0

1)

Refresh at the timing of END processing

CPU No.1

transmitting data

2)

CPU No.1

transmitting data

3)

D2000

Refresh at the timing of Motion

CPU main cycle

Multiple CPU high speed transmission in 0.88ms cycle

Parameter

CPU No.1 to CPU No.2

Transmit D0

Parameter

CPU No.1 to CPU No.2

Receive D2000

1) Transmit the content of D0 to the automatic refresh area (Note-1) at the time of END processing by parameter setting.

2) Transmit the content of automatic refresh area (Note-1) to the other CPU by Multiple CPU high speed transmission at 0.88ms cycle.

3) Read the content of automatic refresh area (Note-1) at the time of Motion CPU main cycle and transmit it to D2000 by parameter setting.

. Note-1: The area composed in the Multiple CPU high speed transmission area.

(Refer to Section "(3) Memory configuration of Multiple CPU high speed transmission area".)

(2) System configuration

Multiple CPU high speed transmission can be used only between CPU modules for the Multiple CPU high speed transmission installed in the Multiple CPU high speed main base unit (Q3 DB).

The system configuration specification is shown in Table 2.4.

Table 2.4 System configuration to use Multiple CPU high speed transmission

Object Restrictions

Base unit

CPU module

Multiple CPU high speed main base unit (Q3 DB) is used.

QnUD(H)CPU is used for CPU No. 1.

Q173DCPU/Q172DCPU and QnUD(H)CPU are used for CPU No. 2 to

CPU No. 4

"MULTI EXE. ERROR (error code: 7011) will occur if the power supply of Multiple

CPU system is turned on without matching the system configuration shown in

Table 2.4.

2 - 16

2 MULTIPLE CPU SYSTEM

(3) Memory configuration of Multiple CPU high speed transmission area

Memory configuration of Multiple CPU high speed transmission area is shown below.

1)

Multiple CPU high speed transmission area

[Variable in 0 to

14k[points] (Note-1) ]

2)

CPU No.1 send area

3)

CPU No.2 send area

6)

User setting area

7)

Automatic refresh area

4)

CPU No.3 send area

5)

CPU No.4 send area

(Note-1): Multiple CPU high speed transmission area;

14k[points]: Maximum value when constituted with two CPUs

13k[points]: Maximum value when constituted with three CPUs

12k[points]: Maximum value when constituted with four CPUs

Table 2.5 Description of area

No. Name

1)

Multiple CPU high speed transmission area

2)

3)

4)

5)

6)

CPU No. n send area

(n=1 to 4)

7)

User setting area

Automatic refresh area

Description

• Area for data transmission between each CPU module in the Multiple CPU system.

• The area up to 14k [points] is divided between each

CPU module that constitutes the Multiple CPU system.

• Area to store the send data of the each CPU module.

• Sends the data stored in the send area of self CPU to the other CPUs.

• Other CPU send area stores the data received from the other CPUs.

• Area for data communication with other CPUs using the Multiple CPU area device.

• Can be accessed by the user program using the

Multiple CPU area device.

• Refer to Section 2.3.2 (1) for details of this area.

• Area for communicating device data with other CPUs by the communication using the automatic refresh.

• Access by user program is disabled.

• Refer to Section "(4)(b) Automatic refresh setting" for details of this area.

Size

Setting range Setting unit

0 to 14k

0 to 14k

0 to 14k

0 to 14k

1k

1k

2

2

2 - 17

2 MULTIPLE CPU SYSTEM

(4) Parameter setting

The parameter setting list for use with the Multiple CPU high speed transmission is shown in Table 2.6.

Table 2.6 Multiple CPU high speed transmission parameter list

Name Description CPU

Multiple CPU high speed transmission area setting

Set the size of the Multiple CPU high speed transmission area allocated in each CPU module which composes the Multiple CPU system.

Automatic refresh setting

All CPUs

Set the range to execute the data transmission by the automatic refresh function among the user area in the Multiple CPU high speed transmission area.

(a) Multiple CPU high speed transmission area setting

Multiple CPU high speed transmission area setting screen and setting range are shown below.

2 - 18

2 MULTIPLE CPU SYSTEM

Table 2.7 Parameter setting items of Multiple CPU high speed transmission area setting

Item Setting description Setting/display value Restriction

Consistency check

— CPU

CPU specific send range

Automatic refresh

User setting area

CPU No. corresponding to displayed parameters. CPU No.1 to No.4

Set the number of points of data that each CPU module sends.

Default value assigned to each CPU is shown below.

Number of

CPUs

Default value of CPU specific send range [points]

CPU

No.1

CPU

No.2

CPU

No.3

CPU

No.4

2 7k 7k — —

Range: 0 to 14k [points]

Unit: 1k [point]

(Points: Word in units)

• Set the total of all CPUs to be the following points or lower.

When constituted with two

CPUs: 14k [points]

When constituted with three

CPUs: 13k [points]

When constituted with four

CPUs: 12k [points]

Provided

4 3k 3k 3k 3k

Number of points used in the automatic refresh function is displayed.

Number of points that is set by the "automatic refresh setting" is displayed.

Area size specified directly by program is displayed.

The value where the "number of points set in the automatic refresh" is subtracted from the "CPU specific send range setting" is displayed.

Range: 0 to 14336 [points]

Unit: 2 [points]

Do not exceed the CPU specific send range [points].

Range: 0 to 14336 [points]

Unit: 2 [points]

— —

2 - 19

2 MULTIPLE CPU SYSTEM

POINT

Selecting "Advanced setting" enables the ability to change the number of points from 1k to 2k in the system area used for Motion dedicated PLC instructions.

Changing the number of points in the system area to 2k increases the number of

Motion dedicated PLC instructions that can be executed concurrently in a scan.

The screen where "Advanced setting" is selected is shown below.

Refer to the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming

Manual (Motion SFC) " for the Motion dedicated PLC instruction.

Item

Setting/display value

(Points: Word in units)

CPU specific send range

Set the number of points of data that each CPU module sends.

Range: 0 to 14k [points]

Unit: 1k [points]

Restriction

Data size consistency check

• Set the total of all CPUs to be the following points or lower.

When constituted with two

CPUs: 14k [points]

When constituted with three CPUs: 13k [points]

When constituted with four

CPUs: 12k [points]

Provided

Total

Set the number of points for a system area to be assigned for

Range: 1k/2k [points]

(Default value of system area size is 1k [point].)

Display the total of number of points of the self CPU send area and the system area that are assigned to the each CPU module.

Range: 1 to 16k [points]

Unit: 1k [points]

Set the total of all CPUs to

16.0k points or lower.

Provided

2 - 20

2 MULTIPLE CPU SYSTEM

(b) Automatic refresh setting

Setting for use of the automatic refresh function in the Multiple CPU high speed transmission area.

Up to 32 setting ranges can be set for each CPU module.

Automatic refresh setting screen and setting range are shown below.

Table 2.8 Parameter setting items of automatic refresh setting

Item Setting description Setting range Restriction

CPU selection

Setting No.

Points

Start

Select the CPU module for editing of the

CPU specific send range setting.

CPU No.1 to No.4

• CPU No. which exceeds the number of CPU modules cannot be selected.

The setting No. for transmission of each

CPU module is displayed. Automatic refresh is executed between devices set to the same setting No. for all CPUs that constitute the Multiple CPU system.

1 to 32

Set the number of points for data communication.

Range: 2 to 14336 [points]

Unit: 2 [points]

• Setting which exceeds the number of points of the self CPU send area allocated to the each

CPU module (CPU specific send range) cannot be set.

• Bit device can be specified in units of 32 points (2 words) only.

Specifies the device which performs the data communication (automatic refresh).

Specifies the device sent by the self CPU when the "Send source CPU selection" is the self CPU, and specifies the device received by the self CPU when the CPU specific send range setting is the other

CPU.

Usable device ( X, Y, M, B,

D, W, #, SM, SD)

Note) Set "blank" when automatic refresh is not executed.

• Bit device can be specified in units of 16 points (1 word) only.

• Device number cannot be duplicated.

Data size consistency check

Provided

None

2 - 21

2 MULTIPLE CPU SYSTEM

POINT

The processing performance of automatic refresh improves when devices are transmitted in 2 word sets. Therefore, it is recommended to set the start device as 2 word unit by inputting an even device number.

1) Operation example of automatic refresh a) Parameter setting

The example of setting automatic refresh is shown below.

• CPU No.1 (PLC CPU) (GX Developer)

Set the device transmitted to CPU No.2.

• CPU No.2 (Motion CPU) (MT Developer)

Set the device received from CPU No.1.

Set the device received from CPU No.2. Set the device transmitted to CPU No.1.

(Note) : The operation example of automatic refresh is shown on the next page.

2 - 22

2 MULTIPLE CPU SYSTEM

POINT

Set the following operation for automatic refresh setting using GX Developer.

1) Select tab "Multiple CPU high speed communication area setting".

2) Set "Use Multiple CPU high speed communication ".

1)

2)

M0

Internal relay

M2399

M2400

M3039

M3040

M3199

M3200

M3839

M3840

D0

Data register

D639

D640 b) Operation example

The example of operating automatic refresh is shown below.

PLC CPU (CPU No.1)

Multiple CPU high speed transmission area

U3E0\G10000

CPU No.1

transmitting data

Automatic refresh area

EN

D p roc ess ing

EN

D p roc es sin g

U3E1\G10000

CPU No.2

receiving data

Transfer in 0.88ms

cycle

Transfer in 0.88ms

cycle

Motion CPU (CPU No.2)

Multiple CPU high speed transmission area

U3E0\G10000 M0

Internal relay

CPU No.1

receiving data

Automatic refresh area

U3E1\G10000

CPU No.2

transmitting data

M ai

Main n cy

cyc cle le

M2399

M2400

Axis status

M3039

M3040

M3199

M3200

M3839

Axis command signal

M3840

Automatic refresh area

Automatic refresh area

END

pro cess ing Main c ycle

M8191

Data register

D0

Axis monitor device

D639

D640

Control change register

D703

D704

D8191

(c) Data size consistency check

Whether the Multiple CPU setting parameters are the same for all CPUs or not is automatically checked. A "PARAMETER ERROR (error code: 3012,

3015) " will occur if they do not match.

2 - 23

2 MULTIPLE CPU SYSTEM

(5) Precautions

(a) Assurance of data sent between CPUs

Due to the timing of data sent from the self CPU and automatic refresh in any of the other CPUs, old data and new data may become mixed (data separation).

The following shows the methods for avoiding data separation at communications by automatic refresh.

1) Data consistency for 32 bit data

Transfer data with automatic refresh method is in units of 32 bits. Since automatic refresh is set in units of 32 bits, 32-bit data does not separate.

• For word data

2 words data can be prevented from separating by using an even number to set the first number of each device in automatic refresh setting.

2) Data consistency for data exceeding 32 bits

In automatic refresh method, data is read in descending order of the setting number in automatic refresh setting parameter.

Transfer data separation can be avoided by using a transfer number lower than the transfer data as an interlock device.

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2 MULTIPLE CPU SYSTEM

2.3.3 Multiple CPU high speed refresh function

This function is used to update the data between internal devices of Motion CPU and the Multiple CPU high speed transmission area. This occurs every operation cycle as defined in the device setting of automatic refresh in the self CPU.

Classification Item

Display

Setting No.

CPU

Description

Setting No. which executes high speed refresh is displayed.

CPU No. set in the automatic refresh setting is automatically displayed by setting devices.

Self CPU : Refresh from the internal device of Motion CPU to Multiple CPU high speed transmission area.

Other CPU : Refresh form the Multiple CPU high speed transmission area to internal device of Motion CPU.

1 to 128

(Up to 128)

CPU No. 1 to No.4

Restriction

User setting

Device setting

Set the device No. of Motion CPU to execute the high speed refreshes.

Usable device : D, W, #,

SD, M, X, Y, B, SM

• The start device number must be a multiple of 16 for the bit device.

• Do not set a device not setting also set in the automatic refresh.

• No. of "start device + number of points" cannot exceed setting range of each setting No. in automatic refresh setting.

• Do not overlap the device No. between setting No..

Points

Set the number of points to refresh data of each data in word unit.

(Note) Refresh is not executed when not set.

Refresh cycle Operation cycle (fixed)

Range: 2 to 256 [points]

Unit: 2 points

(Note-1)

• Sets the total of all CPUs to 256 points or lower.

(Note-1) : Point in word unit.

(1) Application example of Multiple CPU high speed refresh function

Multiple CPU high speed refresh function is used as in the following applications.

1) Read the data such as the real current value and synchronous encoder current value with PLC CPU at high speed.

2) Exchange the FIN waiting signal at high speed.

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2 MULTIPLE CPU SYSTEM

(2) Operation example of Multiple CPU high speed refresh function

(a) Parameter setting

The automatic refresh setting of Multiple CPU high speed refresh is shown below.

• CPU No.1 (PLC CPU) (GX Developer)

Set the device transmitted to CPU No.2.

• CPU No.2 (Motion CPU) (MT Developer)

Set the device received from CPU No.1.

Set the device received from CPU No.2. Set the device transmitted to CPU No.1.

Set the device to executed the Multiple CPU high speed refresh.

(Note) : The operating example of Multiple CPU high speed refresh function is shown in "(b) Operation example".

2 - 26

2 MULTIPLE CPU SYSTEM

POINT

Set the following operation for automatic refresh setting using GX Developer.

1) Select tab "Multiple CPU high speed communication area setting".

2) Set "Use Multiple CPU high speed communication ".

1)

2)

2 - 27

2 MULTIPLE CPU SYSTEM

M0

Internal relay

M2399

M2400

M3039

M3040

M3199

M3200

M3839

M3840

(b) Operation example

The example of operating Multiple CPU high speed refresh function is shown below.

PLC CPU (CPU No.1)

Multiple CPU high speed transmission area

U3E0\G10000

Motion CPU (CPU No.2)

Multiple CPU high speed transmission area

U3E0\G10000 M0

Internal relay

CPU No.1

transmitting data

CPU No.1

receiving data

Automatic refresh area

Transfer in 0.88ms

cycle

Automatic refresh area

M2399

M2400

M2495

M2496

EN

D pro ce ss ing

EN

D

pr oc es sin g

U3E1\G10000

CPU No.2

receiving data

U3E1\G10000

CPU No.2

transmitting data

Op era tion

cy

Ma

O pe ra tio cy n cle

M ai n cy cl e cle in c ycle

Axis status

M3039

M3040

M3199

M3200

M3295

M3296

Axis command signal

M3839

M3840

D0

Data register

D639

D640

END

pro ces sing

Automatic refresh area

Transfer in 0.88ms

cycle

Automatic refresh area

Opera tion c ycle

Opera tion c ycle

Opera tion c ycle

Main c ycle tion c ycle

M8191

Data register

D0

D2,D3

D12,D13

1 axis monitor device

D19

D20

D22,D23

D32,D33

2 axis monitor device

D39

D40

D42,D43

D52,D53

3 axis monitor device

D59

D60

D62,D63

D72, D73

4 axis monitor device

D79

D80

5 to 32 axis monitor device

D639

D640

Control change register

D703

D704

D8191

• Axis 1 to 4 status information (M2400 to M2495) is transferred to the automatic refresh area one every operation cycle of the Motion CPU.

• Axis 1 to axis 4 command signals are received from the automatic refresh area one every operation cycle of the Motion CPU.

• Real current values of Axis 1 to axis 4 and M-code is updated by setting

D0 to D639 of the Motion CPU to the automatic refresh area.

• Every 0.88ms, data in the automatic refresh area of all CPUs are transferred allowing each CPU to update its data upon its next independent operation cycle.

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2 MULTIPLE CPU SYSTEM

2.3.4 Clock synchronization between Multiple CPU

The clock of each CPU is synchronized with the clock of CPU No. 1.

The clock data used for synchronization in a Multiple CPU system can be edited.

(1) Setting of clock data

Set the clock of CPU No.1. The Motion CPU module operates automatically by the clock of CPU No.1.

POINT

The clock data of CPU No.1 is automatically set even if the clocks of CPU No. 2 to

4 are set independently.

(2) Synchronization of clock data

All clocks are synchronized with CPU No.1 immediately after turning

ON/resetting power and every 1-second interval thereafter.

(3) Information of clock

The clock data that CPU No. 1 transmits is year, month, day, day of week, hour, minute and second.

(4) Error

Since CPU No.1 sets the clock data at 1-second intervals, an error of up to 1 second may occur to the clock of CPU No.2 to 4.

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2 MULTIPLE CPU SYSTEM

2.3.5 Multiple CPU synchronous startup

Multiple CPU synchronous startup function synchronizes the startups of CPU No.1 to

CPU No.4. (It takes about ten seconds to startup for Motion CPU.)

Since this function monitors the startup of each CPU module, when other CPU is accessed by a user program, an interlock program which checks the CPU module startup is unnecessary.

With the Multiple CPU synchronous startup function, the startup is synchronized with the slowest CPU module to startup; therefore, the system startup may be slow.

POINT

Multiple CPU synchronous startup function is for accessing each CPU module in a

Multiple CPU system without needing an interlock.

This function is not for starting an operation simultaneously among CPU modules after startup.

(1) Multiple CPU synchronous startup setting

To use the Multiple CPU synchronous startup function, check No.1 to No.4 of target CPU in Multiple CPU settings in system setting of MT Developer. (Set it in the Multiple CPU setting of PLC parameter setting of GX Developer for

QnUD(H)CPU.)

"Set Sync. startup setting of CPU " is set for No.1 to 4 at default.

Set the same Multiple CPU synchronous startup for all CPUs that constitute the

Multiple CPU system.

The self-diagnosis error "PARAMETER ERROR (error code: 3015)" will occur if all CPU modules that constitute the Multiple CPU system do not have the same setting.

When this function is not used (each CPU startup without synchronization), startup of each CPU module can be confirmed by using special relays SM220 to

SM223 (CPU No.1 to 4 READY complete flag).

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2 MULTIPLE CPU SYSTEM

2.3.6 Control Instruction from PLC CPU to Motion CPU

Control can be instructed from the PLC CPU to the Motion CPU using the Motion dedicated PLC instructions listed in the table below.

Refer to the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming

Manual (Motion SFC)" for the details of each instruction.

(Control may not be instructed from one Motion CPU to another Motion CPU.)

Instruction name

D(P).SFCS

D(P).SVST

D(P).CHGA

D(P).CHGV

D(P).CHGT

D(P).GINT

D(P).DDWR

D(P).DDRD

Description

Start request of the Motion SFC program (Program No. may be specified.)

Start request of the specified servo program

Current value change request of the specified axis

Speed change request of the specified axis

Torque control value change request of the specified axis

Execute request of an event task to the other CPU (Motion CPU)

Write device data of the self CPU (PLC CPU) to the device of other CPU

(Motion CPU)

Read device data of other CPU (Motion CPU) to the device of self CPU

(PLC CPU)

For example, by using the D(P).SFCS instruction of Motion dedicated PLC instruction, the Motion SFC of the Motion CPU can be started from the PLC CPU.

<Example>

PLC CPU

Start request

Motion CPU

Motion SFC

D(P). SFCS instruction

2 - 31

2 MULTIPLE CPU SYSTEM

MEMO

2 - 32

3 COMMON PARAMETERS

3. COMMON PARAMETERS

3.1 System Settings

In the Multiple CPU system, the common system parameters and individual parameters are set for each CPU and written to each CPU.

(1) The base settings, Multiple CPU settings and Motion slot settings are set in the common system parameter setting.

(2) The system basic setting, self CPU installation position setting, servo amplifier setting, high-speed read setting and optional data monitor setting are set in the individual parameter setting.

(3) The data setting and correction can be performed in dialog form using MT

Developer.

3

3 - 1

3 COMMON PARAMETERS

3.1.1 System data settings

The table below lists the system data items to be set.

Item

Common system parameters

Individual parameters

Base setting

Multiple CPU setting

Motion slot setting

System basic setting

Main base

Extension base

No. of CPU

Module arrangement

Individual module

Operation cycle

8/12 slots

None/2/3/5/8/10/12 slots

2/3/4 modules

Within the main base and extension base slots

Varies depending on the module.

Main base: 8 slots

None

2 modules

None

Varies depending on the module.

Auto

Set the number of slots in the main base or extension base.

Set the total number of Multiple

CPUs including PLC CPU(s).

Error operation mode at the stop of CPU

Multiple CPU high speed transmission area setting

Stop/do not stop all CPUs upon an error in CPU No. 1 to 4.

(The setting range varies depending on the number of Multiple CPUs.)

CPU specific send range

0 to 14k points

System area

1 to 2k points

Automatic refresh setting

Point : 2 to 14336 points

Start : Set target device for automatic refresh.

Multiple CPU synchronous startup setting

Stop all CPUs upon error in CPU Nos. 1 to 4

Varies depending on the number of CPUs.

1

None

Set whether or not to stop the entire system when a CPU stop error occurs in each CPU.

Refer to Section 2.3.2.

Set/do not set CPU No. 1 to 4 as the synchronized startup.

(The setting range varies depending on the number of Multiple CPUs.)

Set CPU No. 1 to 4 as the synchronized startup.

Refer to Section 2.3.5.

Install the modules controlled by the self CPU in the main base and/or extension base(s).

Set detailed items for each module controlled by the self CPU.

Set the operation cycle of motion control.

Operation at STOP to RUN

0.4ms/0.8ms/1.7ms/3.5ms/7.1 ms/

14.2ms/Auto

M2000 is turned on by switching from STOP to RUN./M2000 is turned on by switching from STOP to RUN and setting 1 in the set register.

M2000 is turned on by switching from STOP to

RUN.

Set the condition in which the PLC ready flag (M2000) turns on.

Forced stop (Note-1)

None/X(PX) (0 to 1FFF)/

M (0 to 8191)

None

Set the bit device to use forced stop in the program.

However, the forced stop input by

EMI terminal of Motion CPU module cannot be invalidated using parameter setting.

Latch range

Self CPU installation position setting

M (0 to 8191)/B (0 to 1FFF)/

F (0 to 2047)/D (0 to 8191)/

W (0 to 1FFF)

Set self CPU/other CPU/CPU

(empty) for slots 0/1/2. (The setting range varies depending on the number of Multiple CPUs installed.)

None

None

Set the latch range of device memory.

Set the installation position of the self CPU in the main base.

3 - 2

3 COMMON PARAMETERS

Item

Individual parameters

Q173DCPU: Up to 2 systems, 32 axes

Q172DCPU: Up to 1 system, 8 axes

None

Set the model name, axis No. and other details for the servo amplifiers.

Amplifier setting

External signal input setting

Amplifier input invalid/Amplifier input valid

Amplifier input invalid

Input filter setting

None/0.8ms/1.7ms/2.6ms/3.5ms

3.5ms

High-speed data read setting

Optional data monitor setting

One Q172DEX/Q173DPX module and one input module.

Set 1 to 3 for each axis.

Q173DCPU: Up to 32 axes

Q172DCPU: Up to 8 axes

None

None

Set the high-speed read data.

Refer to Section 4.3.

Set the optional data monitor.

Refer to Section 4.10.

(Note-1) : The forced stop can also be executed by the EMI forced stop terminal of Motion CPU module or forced stop terminal of servo amplifier besides the forced stop input setting.

3 - 3

3 COMMON PARAMETERS

3.1.2 Common system parameters

(1) Parameters for operating the Multiple CPU system

In the Multiple CPU system, the common system parameters and individual parameter for each CPU are set and written into each CPU. Regarding the

Motion CPU, the items in System Settings related to the entire Multiple CPU system must be identical to the parameter settings in the PLC CPU.

PLC CPU parameters

PLC CPU parameters

Motion CPU parameters

Motion CPU parameters

Common system parameters

Common system parameters

Common system parameters

Common system parameters

Individual parameter

Individual parameter

Individual parameter

Individual parameter

Parameter write

QnUD(H)

CPU

QnUD(H)

CPU

Q173D

CPU

Q172D

CPU

3 - 4

3 COMMON PARAMETERS

Name in Motion CPU

No. of CPU

Operating mode

Multiple

CPU setting

Multiple CPU high speed transmission area setting

(2) Parameters common throughout the Multiple CPU system

In the Motion CPU, during initialization the parameters in the table below are verified against the parameters in the PLC CPU of CPU No. 1. Unmatched parameters generate a PARAMETER ERROR (error code: 3012, 3015), so the parameters show below must be set identically between Motion CPUs and the

PLC CPU of CPU No.1. (If the system settings are changed in a Motion CPU, it is necessary to reset. Therefore, the parameters are checked only during initialization.)

The parameter No. of unmatched parameter is set in the error individual information (SD16) by this error occurrence.

PLC CPUs can use the parameters of the other CPUs via "Multiple CPU parameter utilization" of GX Developer. Since Motion CPUs don't have this function, however, the common parameters must be set for each Motion CPU.

Table of Parameters cross-Multiple CPU system

Type of parameter

CPU specific send range

System area

Automatic refresh setting

Multiple CPU synchronous startup setting

Multiple

CPU settings

Name in PLC CPU

No. of PLC

Operating mode

Multiple CPU high speed transmission area setting

CPU specific send range

System area

Automatic refresh setting

Verification item

Number of CPUs

Operation mode for CPU stop error

Points of CPU specific send range

Parameter number

0E00H

0E01H

Remark

E008H Refer to Section 2.3.2.

System area size

Points of automatic refresh

E008H

E009H

Refer to Section 2.3.2.

This parameter can be set when "Advanced setting" is selected.

Refer to Section 2.3.2.

(Automatic refresh using

Multiple CPU high speed transmission area)

Multiple CPU synchronous startup setting

Synchronize Multiple CPU startup or not

E00BH Refer to Section 2.3.5.

Motion slot setting 0406H

Verify module only set in the system settings in the

Motion CPU side.

Base setting

I/O assignment

Detailed settings Control PLC Control CPU No.

Basic setting Slots

Total number of bases

Base No.

Base Number of base slots

0401H

Not verified if base settings are omitted in the PLC CPU side.

3 - 5

3 COMMON PARAMETERS

(a) Multiple CPU settings

Set the following items identically in Multiple CPU Settings (Motion CPU) in

MT Developer and in Multiple CPU Settings (PLC CPU) in GX Developer.

• Number of CPU modules (Included CPU empty slots)

• Operation mode when a CPU stop error occurred

• Multiple CPU high speed transmission area setting (Must be set the same for all CPUs)

• Multiple CPU synchronous startup setting

Multiple CPU Settings (Motion CPU) in MT Developer

Number of CPU modules

Error operation mode at the stop of CPU

Multiple CPU high speed transmission area setting

Multiple CPU synchronous startup setting

Multiple PLC Setting (PLC CPU setting) in GX Developer

Select tab "Multiple

CPU high speed communication area setting"

Set "Use multiple

CPU high speed communication".

3 - 6

3 COMMON PARAMETERS

(b) Motion slot settings

Set the modules controlled by the self CPU by the Motion Slot Settings

(Motion CPU) in MT Developer. In GX Developer, set the slot for Motion

CPU control as the CPU number of Motion CPU in I/O Assignment Settings

(PLC CPU).

Motion Slot Setting (Motion CPU) in MT Developer

Control CPU No.

I/O Assignment Setting (PLC CPU setting) in GX Developer

(Note): Motion slot setting items are different depending on the operating system software.

3 - 7

3 COMMON PARAMETERS

(c) Base settings

Set the total number of bases and number of slots in each base identically between Base Settings (Motion CPU) in MT Developer and I/O Assignment

Settings (PLC CPU) in GX Developer. In GX Developer, the detailed settings may be omitted by setting the base mode "Automatic".

Base Settings (Motion CPU) in MT Developer

Total number of bases and number of slots in each base

I/O Assignment Settings (PLC CPU setting) in GX Developer

3 - 8

(Note) : Only the Motion CPU

may be set without

setting the PLC CPU.

3 COMMON PARAMETERS

POINT

GOT is recognized as an intelligent function modules "16 points 10 slots" on the base (number of extension bases and slot No. are set in the GOT parameter.) for bus connection with GOT.

Set the one extension base (16 points 10 slots) for connection with GOT, then set

"10 slots" as number of extension bases for connection with GOT in the system setting (base setting).

<Example>

When the "2nd stage" of extension base is set as connection with GOT.

(Set "10" slot as "2nd stage" of extension base in the base setting.)

3 - 9

3 COMMON PARAMETERS

3.1.3 Individual parameters

(1) System basic setting

The following explains each item to be set in system basic setting.

(a) Operation cycle

1) Set the of motion operation cycle (cycles at which a position command is computed and sent to the servo amplifier).

The setting range is 0.4ms/0.8ms/1.7ms/3.5ms/7.1ms/14.2ms/Automatic setting. The actual operation cycle corresponding to 0.4ms is 0.444...ms.

Similarly, 0.8ms corresponds to 0.888…ms, 1.7ms to 1.777...ms, 3.5ms to 3.555...ms, 7.1ms to 7.111...ms, and 14.2ms to 14.222…ms, respectively.

2) The default value is "Automatic Setting". When "Automatic Setting" is selected, the operation cycle is set according to the table below based on the number of axes for servo amplifier set in the System Settings.

Operating system

SV13

SV22

Number of axes

1 to 6 axes

7 to 18 axes

19 to 32 axes

1 to 4 axes

5 to 12 axes

13 to 28 axes

29 to 32 axes

Operation cycle setting

0.4 ms

0.8 ms

1.7 ms

0.4 ms

0.8 ms

1.7 ms

3.5 ms

3 - 10

3 COMMON PARAMETERS

3) If the duration of motion operation has exceeded the operation cycle, the operation cycle over flag (M2054) turns ON. Even when "Automatic setting" is selected, the duration of motion operation may exceed the operation cycle depending on the control conditions. The actual duration of motion operation (unit: μs) is stored in SD522, and the current setting of operation cycle (unit: μs) is stored in SD523. Monitor these special registers and adjust the set value of operation cycle so that the actual duration of motion operation will not exceed the set operation cycle. (A

WDT or other error may occur in the Motion CPU.)

(b) Operation at STOP to RUN

Set the condition in which the "PLC ready" flag (M2000) turns ON. Select any one of the followings.

1) M2000 is turned on by switching from STOP to RUN.

Condition in which the M2000 turns from OFF to ON

• Change the RUN/STOP switch from STOP to RUN.

• Turn ON the power supply with the RUN/STOP switch set to RUN.

Condition in which the M2000 turns from ON to OFF

• Change the RUN/STOP switch from RUN to STOP.

2) M2000 is turned on by switching from STOP to RUN and setting 1 in the set register.

(M2000 turns ON when the switch is set to RUN and 1 is set in the setting register.)

Condition in which the M2000 turns from OFF to ON

• With the RUN/STOP switch set to RUN, set 1 in the setting register for "PLC ready" flag (D704). (The Motion CPU detects a change from

0 to 1 in the lowest bit in the D704).

Condition in which the M2000 turns from ON to OFF

• With the RUN/STOP switch set to RUN, set 0 in the setting register for "PLC ready" flag (D704). (The Motion CPU detects a change from

1 to 0 in the lowest bit in the D704).

• Change the RUN/STOP switch from RUN to STOP.

(c) Forced stop

Set the bit device used for executing a forced stop in which all servoamplifier axes are stopped immediately in the program.

Either X (PX) or M can be specified. No default value has been set. The set bit device is designated as contact B and performs the following control in response to ON/OFF of the device.

• Bit device is turned OFF …Forced stop input is ON (forced stop)

• Bit device is turned ON …..Forced stop input is OFF (forced stop is released.)

The forced stop input by EMI terminal of Motion CPU module cannot be invalidated using parameter setting.

3 - 11

3 COMMON PARAMETERS

(d) Latch range

Set the following latching ranges for M, B, F, D and W, respectively.

• Latch (1) : It is possible clear using the remote operation (Latch clear(1),

Latch clear (1)(2)).

• Latch (2) : It is possible clear using the remote operation (Latch clear

(1)(2)).

(2) Individual module settings

The setting items for each module are shown below.

QI60

Module name

Q172DLX

Q172DEX

Q173DPX

Item

External signal setting

Servo external signals input module

DOG

I/O response time

(Operation mode)

Synchronous encoder setting

Synchronous encoder input module

Synchronous encoder selection

I/O response time

(Operation mode)

High-speed data read setting

Manual pulse generator setting

(SV13)

Manual pulse

Manual pulse generator/

Synchronous encoder generator input setting module (SV22)

I/O response time

(Operation mode)

High-speed data read setting

Interrupt module

Input response time

Setting items for each module

Setting range Initial value

Number of usable modules

Q173DCPU Q172DCPU

Set the number of axes for which the 8 axes input is used.

Valid on leading edge/

Valid on trailing edge

0.4/0.6/1 ms

(DOG/CHANGE response time)

Unused

Valid on leading edge

0.4 ms

4 1

Used/Unused Unused

Q170ENC/MR-HENC Q170ENC

6 (SV22)

0.4/0.6/1 ms

(TREN response time)

0.4 ms

4 (SV22)

Used/Unused Unused

Used only

Used/Unused

0.4/0.6/1 ms

(TREN response time)

0.4 ms

Used/Unused Unused

0.1/0.2/0.4/0.6/1 ms

Used

P

Used

0.2 ms

1 (SV13)

4 (SV22)

1

1 (SV13)

3 (SV22)

1

3 - 12

3 COMMON PARAMETERS

Setting items for each module (Continued)

Number of usable modules

Module name Item Setting range Initial value

Q173DCPU Q172DCPU

QX Input module

First I/O No. 00 to FF0 (in units of 16 points)

I/O response time

(setting for high-speed input

1/5/10/20/70 ms

(0.1/0.2/0.4/0.6/1 ms) module in parentheses)

0

Point 0/16/32/64/128/256 16

High-speed data read

Used/Unused Unused setting

10 ms

(0.2 ms)

QY Output

First I/O No. module

00 to FF0 (in units of 16 points) 0

Point 0/16/32/64/128/256 16

First I/O No. 00 to FF0 (in units of 16 points) 0

QH /

QX Y

Q6 AD /

Q6 AD-

Q6 DA /

Q6 DA-

Input/Output composite module

Point 0/16/32/64/128/256 16

I/O response time 1/5/10/20/70 ms 10 ms

High-speed data read setting

First I/O No.

Used/Unused Unused

0

Input range

00 to FF0 (in units of 16 points)

4 to 20mA/0 to 20mA/1 to 5V/0 to

5V/-10 to 10V/0 to 10V/User range

4 to 20mA

Total 256 points or less

Total 256 points or less

Analogue input module

Temperature drift compensation

Resolution mode

Operation mode

First I/O No.

Used/None Used

Normal/High

Normal (A/D conversion)/Offset gain setting

Normal

Normal

(A/D conversion)

0

Output range

HOLD/CLEAR function

00 to FF0 (in units of 16 points)

4 to 20mA/0 to 20mA/1 to 5V/0 to

5V/-10 to 10V/User range

CLEAR only

4 to 20mA

Analogue output module

Output mode

Resolution mode

Operation mode

Normal (Asynchronous)/

Synchronous output

Normal/High

Normal (D/A conversion)/

Offset gain setting

CLEAR

Normal

(Asyn- chronous)

Normal

Normal

(D/A conversion)

3 - 13

3 COMMON PARAMETERS

(3) External signal input

Servo external signal (Upper stroke limit/Lower stroke limit/Stop signal/Proximity dog) can be selected for every axis from the following two methods.

(a) Q172DLX Servo external signals interface module use

Set the servo external signals interface module, and set axis No. as the

"External signal setting" in the system setting.

(b) Servo amplifier input device use (MR-J3-†B use only)

Set "Amplifier input valid" as the external signal input setting in the "Amplifier setting" of system setting.

There are following restrictions to use.

• Count type home position return cannot be used.

• Speed/position switching control cannot be executed.

• Stop signal (STOP) cannot be used.

The correspondence of external signal and input device is shown below.

External signals Input device (CN3)

(Note)

Upper stroke limit (FLS)

Lower stroke limit (RLS)

DI1

DI2

Proximity dog (DOG) DI3

(Note): Refer to the "MR-J3-†B Servo Amplifier Instruction Manual" for pin configurations.

Set the external signal setting in the "Input Filter Setting".

3 - 14

3 COMMON PARAMETERS

3.2 I/O number assignment

In the Multiple CPU system, I/O numbers are used for interactive transmission between the Motion CPU and I/O modules and intelligent function modules, or between PLC CPU and Motion CPU.

3.2.1 I/O number assignment of each module

The Multiple CPU system is different from the Single CPU system in the position (slot) of

I/O number "0H" for PLC CPU.

However, I/O number of control module can be assigned independently for each CPU for

Motion CPU.

(1) Position of I/O number "0H"

(a) The number of slots set with the Multiple CPU settings are occupied by the

PLC CPU/Motion CPU on the Multiple CPU system.

(b) I/O modules and intelligent function modules are installed from the right of the slots occupied by PLC CPU/Motion CPU.

(c) I/O number of Motion CPU control module can be assigned independently for each CPU.

The I/O number of PLC CPU control module for an I/O module or intelligent function module mounted to the next slot to those occupied by CPU modules is set as "0H" and consecutive numbers are then allocated sequentially to the right.

(d) Notation of I/O number

• Receiving of ON/OFF data by Motion CPU is deemed input (PX), while outputting of ON/OFF data from Motion CPU is deemed output (PY).

• I/O number is expressed in hexadecimal.

REMARK

1) If the number of CPU modules installed on the main base unit is less than the number set at the "Multiple CPU setting", set the open slot(s) to "PLC (Empty)".

Refer to Section 2.1.2 for the "PLC (Empty)" setting.

2) The I/O numbers for the Multiple CPU system can be confirmed with the system monitor of GX Developer.

3 - 15

3 COMMON PARAMETERS

(2) I/O number assignment of Motion CPU control module

Mitsubishi recommends that I/O No. assignment be set as common consecutive

No. throughout all CPUs.

However, the I/O number of the input modules, output modules and input/output composite modules controlled with the Motion CPU can also be set regardless as the I/O number of PLC CPU.

(I/O number of the Motion CPU control modules is indicated as PX/PY.)

I/O number of the Motion CPU control modules cannot be assigned by I/O assignment settings of PLC CPU.

I/O assignment

0

Q03UD

CPU

1

Q173D

CPU

2

QX41

3

QY41

4

QX41

5

QY41

PX0 to PX1F PY20 to PX3F X40 to X5F Y60 to Y7F

(X0 to X1F) (Y20 to Y3F)

CPU No. 1 CPU No. 2 CPU No. 2 control module

CPU No. 2 control module

CPU No. 1 control module

CPU No. 1 control module

(3) Setting of the Motion CPU control modules by the PLC CPU

Follow the table below when Motion CPU control modules are set in I/O

Assignment Settings of the PLC CPU. (The PLC CPU handles the Q172DLX,

Q172DEX and Q173DPX as intelligent function modules having 32 occupied points.) Type and number of points may be left unset.

Module name

Input module

Output module

Input/Output composite module

Analogue input module

Type

Input

Output

Composite I/O

Analogue input

Analogue output module Analogue output

Interrupt module (QI60) Interrupt

Number of points

Selected according to the module.

16 points

Remarks

• For the control CPU, set the CPU that corresponds to the

Motion CPU (required).

• Type and number of points may be left unset.

Q173DPX 32 points

POINT

(1) Set the I/O device of the Motion CPU within the range from PX/PY000 to

PX/PYFFF. Set the number of real I/O points within 256 points. (I/O No. may not be consecutive.)

(2) As for the Motion CPU, the Q172DLX, Q172DEX, Q173DPX and QI60 are not included in the number of real I/O points.

3 - 16

3 COMMON PARAMETERS

3.2.2 I/O number of each CPU modules

In the Multiple CPU system, I/O numbers are assigned to each CPU module to specify installed CPU modules.

The I/O number for each CPU module is fixed to the corresponding slot and cannot be changed.

The I/O number allocated to each CPU module in the Multiple CPU system is shown below.

CPU module installation position

First I/O number

CPU slot

3E00H

Slot 0

3E10H

Slot 1

3E20H

Slot 2

3E30H

The I/O number of PLC CPU/Motion CPU are used in the following cases.

• When writing data to the CPU shared memory of self CPU using the S. TO instruction.

• When reading data from the CPU shared memory of other CPU using the FROM instruction.

• When reading data from the CPU shared memory of other CPU using an intelligent function module device (U \G )

• When reading device data directly from the Motion CPU from the PLC CPU using the

"D(P).DDRD" instruction.

• When writing device data directly to the Motion CPU from the PLC CPU using the

"D(P).DDWR" instruction.

Refer to Section 2.3.6 or the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22)

Programming Manual (Motion SFC)" for the Motion dedicated PLC instruction.

3 - 17

3 COMMON PARAMETERS

3.2.3 I/O number setting

Set the modules installed in the each slot of the main base or extension base and assign the control CPU of applicable slot as the self CPU in the system setting for

Motion CPU.

The following modules must be set the I/O No..

• Input module • Output module • Input/Output composite module

• Analogue input module • Analogue output module

Refer to the help of MT Developer for the detailed operating procedure on the system settings screen.

Set the I/O No. of modules controlled with the Motion CPU module set in the system structure screen of MT Developer. The setting procedure of I/O No. is shown below.

(Example) For set the output module

<System Structure>

1) Double-click the slot position, display

the Motion Slot Settings screen.

<Motion Slot Settings>

2) Select the I/O module.

3) Click [Detail Setting].

<I/O Module Settings>

4) Set the first I/O No.

(PX No., PY No.).

6) Click [OK].

(Note): Display of system setting and motion slot setting are different depending on the operating system software.

5) Select applicable module type

and number of points for

the I/O module to be used.

POINT

I/O No.s cannot be assigned automatically, unlike a PLC CPU for which I/O No. are assigned automatically if such setting is omitted in the Motion CPU. In the Motion

CPU, be sure to set the first I/O No. in System Settings for each module used.

3 - 18

3 COMMON PARAMETERS

3.3 Servo Parameters

The servo parameters control the data fixed by the specifications of the servo amplifier and servomotor controlled in the parameter set for each axis and the control of the servomotor.

The servo parameters are set by the Setup software (MR Configurator).

Refer to the "Servo amplifier Instruction Manual" for details of the servo parameters.

Refer to the help for handling of MR Configurator.

Instruction Manual list is shown below.

Servo amplifier type Instruction manual name

MR-J3- B MR-J3- B Servo Amplifier Instruction Manual (SH-030051)

MR-J3- B-RJ006

Fully closed loop control MR-J3- B-RJ006 Servo Amplifier Instruction Manual

(SH-030056)

(1) Basic setting parameters

No. Symbol

PA01 — For manufacturer setting

PA02 REG Regenerative brake option

PA03 ABS Absolute position detection system

PA04 AOP1 Function selection A-1

PA05

PA06

PA07

— For manufacturer setting

PA08

PA09

ATU

RSP

Auto tuning mode

Auto tuning response

Name

PA11

PA12 — For manufacturer setting

PA13

PA14 POL Rotation direction selection

PA15 ENR Encoder output pulse

PA16

PA17

PA18

PA19

— For manufacturer setting

0000h

0000h

0000h

0000h

0

1

1

0

0000h

0000h

000Bh

0001h

12

1000.0

0000h

100 PLS

1000.0

0

4000

PLS/rev

POINTS

(1) When the items marked " " in the above table has changed, make the Multiple

CPU system reset or power supply OFF to ON. And, once turn OFF the servo amplifier power supply and then turn ON it again.

3 - 19

3 COMMON PARAMETERS

(2) Gain/filter parameters

No. Symbol Name

PB08

PB09

PB10

PB11

PB12

PB13

PB14

PB15

PB01

PB02

PB03

PB04

PB05

PB06

PB07

PB16

FILT

VRFT Vibration suppression control tuning mode (Advanced vibration suppression control)

FFC

For manufacturer setting

Feed forward gain

GD2

PG1

For manufacturer setting

Ratio of load inertia moment to servomotor inertia moment

Model loop gain

PG2

VG2

VIC

VDC

Position loop gain

Speed loop gain

Speed integral compensation

Speed differential compensation

NH1

For manufacturer setting

Machine resonance suppression filter 1

NHQ1 Notch shape selection 1

NH2 Machine resonance suppression filter 2

NHQ2 Notch shape selection 2

PB40

PB41

PB42

PB43

PB44

PB45

PB32

PB33

PB34

PB35

PB36

PB37

PB38

PB39

PB18

PB19

PB20

PB21

PB22

PB23

LPF

VRF1

VRF2

Low pass filter setting

Vibration suppression control - vibration frequency setting

Vibration suppression control - resonance frequency setting

For manufacturer setting

VFBF Low pass filter selection

PB24 MVS Slight vibration suppression control selection

PB25 — For manufacturer setting

PB26 CDP Gain changing selection

PB27 CDL Gain changing condition

PB28

PB29

PB30

PB31

CDT

GD2B

PG2B

VG2B

Gain changing time constant

Gain changing - ratio of load inertia moment to servo motor inertia moment

Gain changing - position loop gain

Gain changing - speed loop gain

VICB Gain changing - speed integral compensation

VRF1B Gain changing - vibration suppression control - vibration frequency setting

VRF2B Gain changing - vibration suppression control - resonance frequency setting

— For manufacturer setting

POINTS

(1) When the items marked " " in the above table has changed, make the Multiple

CPU system reset or power supply OFF to ON. And, once turn OFF the servo amplifier power supply and then turn ON it again.

33.7

100.0

100.0

0.00

0.00

100

0.0

0.0

0000h

0000h

0000h

10

1

7.0

37

823

0000h

0

0

500

%

7.0 times

24 rad/s

37 rad/s

823 rad/s

33.7

980 ms

0

4500

0000h

4500

Hz

Hz

0000h

3141

100.0

100.0

0.00

0.00

0000h

— rad/s

Hz

Hz

— ms times rad/s rad/s ms

Hz

Hz

— 0.0

1125

1125

0004h

0.0

0000h

3 - 20

3 COMMON PARAMETERS

(3) Extension setting parameters

No. Symbol

PC01 ERZ Error excessive alarm level

PC02 MBR Electromagnetic brake sequence output

PC03 ENRS Encoder output pulse selection

PC04 COP1 Function selection C-1

PC05 COP2 Function selection C-2

PC06 COP3 Function selection C-3

Name

PC24

PC25

PC26

PC27

PC28

PC29

PC30

PC31

PC32

PC08

PC09

PC10

PC11

— For manufacturer setting

MOD1 Analog monitor 1 output

MOD2 Analog monitor 2 output

MO1 Analog monitor 1 offset

PC12 MO2 Analog monitor 2 offset

PC13 MOSDL Analog monitor feedback position output standard data Low

PC14 MOSDH Analog monitor feedback position output standard data High

PC15

— For manufacturer setting

PC16

PC17 COP4 Function selection C-4

PC18

PC19 — For manufacturer setting

PC20

PC21 BPS Alarm history clear

PC22

PC23

— For manufacturer setting

POINTS

(1) When the items marked " " in the above table has changed, make the Multiple

CPU system reset or power supply OFF to ON. And, once turn OFF the servo amplifier power supply and then turn ON it again.

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0

0000h

0001h

0

0

0

0

0

3

0

0000h

0000h rev ms

0000h

0000h

50 r/min

— mV mV

PLS

10000PLS

3 - 21

3 COMMON PARAMETERS

(4) I/O Setting Parameters

No. Symbol Name

PD24

PD25

PD26

PD27

PD28

PD29

PD30

PD31

PD16

PD17

PD18

PD19

PD20

PD21

PD22

PD23

PD32

PD01

PD02

PD03

PD04

— For manufacturer setting

PD05

PD06

PD07 DO1 Output signal device selection 1 (CN3-13)

PD08 DO2 Output signal device selection 2 (CN3-9)

PD09 DO3 Output signal device selection 3 (CN3-15)

PD10

PD11

— For manufacturer setting

PD12

PD13

PD14 DOP3 Function Selection D-3

PD15

— For manufacturer setting

POINTS

(1) When the items marked " " in the above table has changed, make the Multiple

CPU system reset or power supply OFF to ON. And, once turn OFF the servo amplifier power supply and then turn ON it again.

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0004h

0003h

0000h

0004h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0005h

3 - 22

4 AUXILIARY AND APPLIED FUNCTIONS

4. AUXILIARY AND APPLIED FUNCTIONS

4.1 Limit Switch Output Function

4.1.1 Operations

This function is used to output the ON/OFF signal corresponding to the data range of the watch data set per output device.

Motion control data or optional word data can be used as watch data. (Refer to Section

"4.1.2 Limit output setting data" for details.) A maximum output device for 32 points can be set regardless of the number of axes.

(1) ON output to an output device is made while the watch data value is in the ON output region set with (ON Value) and (OFF Value) in this function.

(a) (ON Value), (OFF Value) and watch data value are handled as signed data.

ON output region where an ON output is made to the output device is governed by the magnitude relationship between (ON Value) and (OFF

Value) as indicated below.

Relationship between (ON Value) and

(OFF Value)

(ON Value) < (OFF Value)

ON output region

(ON Value) > (OFF Value)

(ON Value) = (OFF Value)

(ON Value) <= (watch data value) < (OFF Value)

(ON Value) <= (watch data value)

(Watch data value) < (OFF Value)

Output OFF in whole region

4

1) (ON Value) < (OFF Value)

ON

Output device OFF

ON region setting

OFF

OFF Value

ON Value

Watch data value

(ON Value) (Watch data value) (OFF Value)

2) (ON Value) > (OFF Value)

ON

Output device

ON region setting

ON Value

OFF Value

Watch data value

(Watch data value) (OFF Value)

OFF

ON

(ON Value) (Watch data value)

4 - 1

4 AUXILIARY AND APPLIED FUNCTIONS

3) (ON Value) = (OFF Value)

Output device

ON region setting

Watch data value

OFF in whole region

ON Value OFF Value

(b) The limit switch outputs are controlled based on the each watch data during the PCPU ready status (SM500: ON) by the PLC ready flag (M2000) from

OFF to ON.

When the PCPU ready flag (SM500) turns OFF by turning the PLC ready flag

(M2000) from ON to OFF, all points turn OFF. When (ON Value) and (OFF

Value) are specified with word devices, the word device contents are input to the internal area when the PLC ready flag (M2000) turns from OFF to ON.

After that, the word device contents are input per motion operation cycle, and limit switch outputs are controlled.

(c) Multiple outputs (Up to 32 points) can be also set to one watch data. In each setting, the output device may be the same.

If multiple ON region settings have been made to the same output device, the logical add of the output results in the regions is output.

ON ON

Output device

OFF OFF

ON region setting No.2

ON region setting No.1

OFF Value

ON Value

OFF Value

ON Value

Watch data value

(2) Output enable/disable bit can be set and executed enable/disable of the limit switch outputs point-by-point.

Limit switch output control is executed when the output enable/disable bit is ON, and the output is OFF when it is OFF.

If there is no setting, the outputs are always enabled.

(3) Forced output bit can be set and turned the forcibly output of the limit switch outputs point-by-point ON.

The output is ON when the forced output bit is ON. Priority is given to control of this setting over off (disable) of the "output enable/disable bit".

If there is no setting, no forced outputs are not always made.

4 - 2

4 AUXILIARY AND APPLIED FUNCTIONS

(4) When the multiple watch data, ON region, output enable/disable bit and forced output bit are set to the same output device, the logical add of output results of the settings is output.

SM500

ON

1) Without output enable/disable bit/forced output settings

Output device

OFF Value

ON region setting

ON Value

Watch data value

2) With output enable/disable bit/forced output settings

Output device

Output OFF

Enable/disable bit

Output OFF

Forced output bit

Output control based on

ON Value and OFF Value

Output control based on

ON Value and OFF Value

Output ON

(Forced output) Output OFF

Output OFF

Output ON

(Forced output)

4 - 3

4 AUXILIARY AND APPLIED FUNCTIONS

4.1.2 Limit output setting data

Limit output data list are shown below.

Up to 32 points of output devices can be set.

(The following items of No.1 to No.5 are set together as one point.)

No. Item

1 Output device

3

4

Fetch cycle

Motion control data/ word device (D, W, #,

U \G, absolute address)

(16-bit integer type/32-bit integer type/

64-bit floating-point type)

ON region ON Value Word device (D, W, #, U \G)/constant (K, H) setting OFF Value Word device (D, W, #, U \G)/constant (K, H)

Output enable/disable bit

Bit device (X, Y, M, B, F, SM, U \G)/ none

(default)

Operation cycle

Refresh cycle

Operation cycle

5 Forced output bit

Bit device (X, Y, M, B, F, SM, U \G)/ none

(default)

Remarks

ON : Enable

OFF : Disable

None : Always enable

None : No forced outputs are always made

(OFF status)

(1) Output device

(a) Set the bit device which outputs the ON/OFF signal toward the preset watch data.

(b) As the output device, the following devices can be used.

Item

Input relay

(Note-1)

Output relay

(Note-2)

Internal relay

(Note-3)

Link relay

Multiple CPU area device

Device No. setting range

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

B0 to B1FFF

U \G10000.0 to U \G (10000+p-1).F

(Note-4), (Note-5)

(Note-1) : PX is write-disabled and it cannot be used as the output device.

For X, only the free No. of the input card non-loading can be used.

(Note-2) : The real output device range (PY) is also included.

(Note-3) : M2001 to M2032 cannot be used to the output device.

Be careful because it affect a positioning operation, when the positioning dedicated devices are set.

(Note-4) : "p" indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU.

(Note-5) : Only device of the self CPU can be used.

4 - 4

4 AUXILIARY AND APPLIED FUNCTIONS

(2) Watch data

(a) This data is used to perform the limit switch output function. This data is comparison data to output the ON/OFF signal. The output device is

ON/OFF-controlled according to the ON region setting.

(b) As the watch data, motion control data or optional word device data can be used.

1) Motion control data

Data

Q173DCPU Q172DCPU

Feed current value

Real current value

Deviation counter value

Position command

PLS

32-bit integer type

Motor current 0.1%

16-bit integer type 1 to 32 1 to 8

Motor speed

Cam shaft within-one-revolution current value

Feed current value (Virtual)

After-differential current value (Virtual)

After-differential encoder current value

Encoder current value

0.1r/min

PLS

32-bit integer type

1 to 12 1 to 8

2) Word device data

Item

Data register

Link register

Motion register

Multiple CPU area device

Device No. setting range

D0 to D8191

W0 to W1FFF

#0 to #7999

U \G10000 to U \G (10000+p-1)

(Note-1)

(Note-1) : "p" indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU.

3) When the optional device data is set, the following data type is set as the data type to be compared.

Data type

16-bit integer type

32-bit integer type

64-bit floating-point type

Remarks

Set the device No. as an even No..

4 - 5

4 AUXILIARY AND APPLIED FUNCTIONS

(3) ON region setting

(a) The data range which makes the output device turn ON/OFF toward the watch data.

(b) The following devices can be used as the ON Value and OFF Value of the data range.

The data type of device/constant to be set is the same as the type of watch data.

Item Device No. setting range

Data register

Link register

Motion register

Multiple CPU area device

D0 to D8191

W0 to W1FFF

#0 to #7999

U \G10000 to U \G (10000+p-1)

(Note-1)

Constant Hn/Kn

(Note-1) : "p" indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU.

(4) Output enable/disable bit

(a) Set the status of output enable/disable bit when the limit switch output is forbidden during operation.

1) The following control is exercised.

Output enable/disable bit Control description

Without setting

(always enable)

With setting

Limit switch output is turned ON/OFF based on the ON region setting (ON Value, OFF Value).

ON (enable)

OFF (disable) Limit switch output is turned OFF.

(b) Usable devices

Item

Input relay

(Note-1)

Output relay

(Note-2)

Internal relay

Link relay

Annunciator

Special relay

Multiple CPU area device

Device No. setting range

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

B0 to B1FFF

F0 to F2047

SM0 to SM1999

U \G10000.0 to U \G (10000+p-1).F

(Note-3)

(Note-1) : The real input range(PX) is included.

(Note-2) : The real input range(PY) is included.

(Note-3) : "p" indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU.

4 - 6

4 AUXILIARY AND APPLIED FUNCTIONS

(5) Forced output bit

(a) Set the "forced output bit" when you want to forcibly provide the limit switch outputs during operation.

1) The following control is exercised.

Output enable/disable bit

Without setting

With setting

OFF

ON

Control description

Limit switch outputs are turned ON/OFF on the basis of the "output enable/disable bit" and ON region setting

(ON Value, OFF Value).

Limit switch outputs are turned ON.

(b) Usable devices

Item

Input relay

Output relay

Internal relay

Link relay

Annunciator

Special relay

Multiple CPU area device

Device No. setting range

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

B0 to B1FFF

F0 to F2047

SM0 to SM1999

U \G10000.0 to U \G (10000+p-1).F

(Note-1)

(Note-1) : "p" indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU.

POINT

Refer to Chapter 2 for the user setting area points of the Multiple CPU high speed transmission area.

4 - 7

4 AUXILIARY AND APPLIED FUNCTIONS

4.2 Absolute Position System

The positioning control for absolute position system can be performed using the absolute-position-compatible servomotors and servo amplifiers.

If the machine position is set at the system starting, home position return is not necessary because the absolute position is detected at the power on.

The machine position is set with the home position return using the Motion SFC program or MT Developer.

(1) Conditions of the absolute position system start

Perform a home position return after machine adjustment at the absolute position system start.

(2) In the absolute positioning system, the absolute position may be lost in the following cases:

Set the absolute position with a home position return.

(a) The battery unit is removed or replaced.

(b) The battery error of the servo amplifier occurs. (It is detected at the servo amplifier power on).

(c) The machine system is disturbed by a shock.

(d) The cable between servo amplifier and encoder is removed, or the servo amplifier or encoder is replaced.

(3) The current value history can be monitored using of the "System setting modeallowable travel during power off" or "Monitor mode" using a MT Developer.

(Refer to the help of MT Developer to be used "Allowable travel during power off" and "Monitor mode".)

CAUTION

After removing or replacing the battery unit, correctly install the new unit and set the absolute position.

After a servo battery error occurs, eliminate the cause of the error and ensure operation is safe before setting the absolute position.

After the mechanical system is disturbed by a shock, make the necessary checks and repairs, and ensure operation is safe before setting the absolute position.

4 - 8

4 AUXILIARY AND APPLIED FUNCTIONS

POINT

(1) The address setting range of absolute position system is 2147483648 to

2147483647.

It is not possible to restore position commands that exceed this limit, or current values after a power interruption.

Correspond by the [degree] setting for an infinite feed operation.

(2) Even when the current value address is changed by a current value change instruction, the restored data for the current value after a power interruption is the value based on the status prior to execution of the current value change instruction.

(3) When home position return has not been completed (home position return request is ON), restoration of the current value after a power interruption is not possible.

4 - 9

4 AUXILIARY AND APPLIED FUNCTIONS

4.2.1 Current value control

The current value when using the ABS encoder is controlled by following functions.

(1) The validity of an encoder data during operation is checked.

(a) Checks that the amount of change of the encoder in a 3.5[ms] is within 180 degrees at the motor axis. (An error is displayed at the abnormal.)

(b) Checks that adjustment of the encoder data and feed-back positions controlled with the servo amplifier. (An error is displayed at the abnormal.)

(2) The following values can be monitored by the current value history monitor of

MT Developer.

Monitor conditions

Multiple CPU system power ON/OFF

Home position return completion

Monitor value

Encoder current value,

Servo command value,

Monitor current value

(a) Current value history monitor

Month/day/hour/minute

The time such as at the completion of home position return and servo amplifier power supply ON/OFF is indicated.

In order to indicate the time correctly, turn on SM801 (clock data read request) in the Motion SFC program after setting the clock data of special register.

(b) Encoder current value

When using the MR-J3- B, the multiple revolution data and within-onerevolution data read from the encoder is indicated.

(Note) : For the encoder current value in the home position data area, the encoder current value when the motor is within the in-position range at the completion of home position return is displayed (not encoder value of home position).

(c) Servo command value

The command value issued to the servo amplifier is indicated.

(d) Monitor current value

The current value controlled in the Motion CPU is indicated.

(Note) : A value near the feed current value is indicated. However, because the monitor current value and feed current value are different data, it is not abnormal even if a different value is indicated.

(e) Alarms

When an error for current value restoration occurs at the servo amplifier power on, an error code is indicated.

(3) By setting of the "Allowable travel during power off", if the encoder data changes exceeding the setting range during power-off, it checks at servo amplifier poweron. (An error is displayed at the abnormal.)

"Allowable travel during power off" cannot be set for the Linear servo amplifier.

4 - 10

4 AUXILIARY AND APPLIED FUNCTIONS

4.3 High-Speed Reading of Specified Data

This function is used to store the specified positioning data in the specified device (D,

W, U \G). The signal from input module controlled in the Motion CPU is used as a trigger.

It can be set in the system setting of MT Developer.

(1) Positioning data that can be set

Setting data

Position command (Feed current value)

Actual current value

Word No.

2

2

Unit

10 -1 [µm], 10 -5 [inch], 10 -5 [degree], [PLS]

10 -1 [µm], 10 -5 [inch], 10 -5 [degree], [PLS]

Position droop (Deviation counter value) 2 [PLS]

M-code 1

Torque limit value

Motor current

Motor speed

Servo command value

Virtual servomotor feed current value

1

1

2

2

2

[%]

[%]

[r/min]

[PLS]

[PLS]

2

1

[PLS] Synchronous encoder current value

Virtual servo M-code

Current value after main shaft differential gear

Current value within one revolution of cam axis

Execute cam No.

Execute stroke amount

Optional address (Fixed to 4 bytes)

1

2

2

10 -1 [µm], 10 -5 [inch] [PLS]

Remarks

Valid in virtual

(2) Modules and signals to be used

Signal Input module

Q172DEX

Q173DPX

PLC input module

(Note)

TREN

PX device

Read timing

0.8[ms]

Number of settable points

2

3

8

(Note) : Only one PLC input module can be used.

(3) Usable devices

Word devices

D

W

U \G

Usable devices

0 to 8191

0 to 1FFF

10000 to (10000 + p-1)

(Note-1), (Note-2)

(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU.

(Note-2): Only device of the self CPU can be used.

POINT

(1) Set an even number as device setting in the two word data.

(2) Refer to Chapter 2 for the user setting area points of the Multiple CPU high speed transmission area.

4 - 11

4 AUXILIARY AND APPLIED FUNCTIONS

4.4 ROM Operation Function

This function is used to operate based on the data in the FLASH ROM built-in Motion

CPU module that the user programs and parameters have been stored.

4.4.1 Specifications of 7-segment LED/Switches

2)

Q172DCPU

1

DE

F 0 123

AB 8 79

DE

F 0 123

AB 8 79

STOP RUN

2

SW

CAUTION

EMI

1)

3)

No. Items

1) 7-segment LED

2) Rotary switch 1 (SW1)

3) Rotary switch 2 (SW2)

Functions

• Indicate the operation state and error information.

• Set the operation mode (Normal mode, Installation mode and mode operated by ROM, etc.)

• Each switch setting is 0 to F.

FRONT

BAT

(1) Operation mode

"Operation mode" of the Motion CPU is set by the rotary switch setting of Motion

CPU module at the power supply ON of the Multiple CPU system.

The rotary switch setting, operation mode and operation mode overview are shown below.

(a) Rotary switch setting and operation mode

Rotary switch setting

(Note-1)

Operation mode

SW1 SW2

A

0

0

Any setting

Any setting (Except C)

0

6

C

Installation mode

Mode operated by RAM

Mode operated by ROM

SRAM clear

(Note-2)

(Note-1) : Do not set except the above setting.

(Note-2) : The programs, parameters, absolute position data, and latch data in the

SRAM built-in Motion CPU module are cleared.

4 - 12

4 AUXILIARY AND APPLIED FUNCTIONS

Mode operated by RAM

Mode operated by ROM

(b) Operation mode overview

• " . " remains flashing in the first digit of 7-segment LED.

• It operates based on the user programs and parameters stored in the SRAM built-in Motion CPU module.

• The user programs and parameters for the ROM operation can be written to the FLASH ROM built-in Motion CPU module.

• " . " remains flashing in the first digit and steady " . " display in the second digit of 7-segment LED.

• Operation starts after the user programs and parameters stored in the FLASH

ROM built-in Motion CPU module are read to the SRAM built-in Motion CPU module at power supply on or reset of the Multiple CPU system.

If the ROM writing is not executed, even if the user programs and parameters are changed using the MT Developer during mode operated by ROM, operation starts with the contents of the FLASH ROM at next power supply on or reset.

Also, If the ROM writing is not executed, even if the auto tuning data are reflected on the servo parameter of Motion CPU by operation in the auto-tuning setting, operation starts with the contents of the FLASH ROM at next power supply on or reset.

POINT

Do not change the rotary switch setting during operation.

Be sure to turn OFF the power supply before the rotary switch setting change.

4 - 13

4 AUXILIARY AND APPLIED FUNCTIONS

4.4.2 Outline of ROM operation

When the ROM writing is requested to the Motion CPU module using the MT

Developer, the programs and parameters stored in the SRAM built-in Motion CPU module are batch-written to the FLASH ROM, after the data of FLASH ROM built-in

Motion CPU are erased.

When the Motion CPU starts in the "Mode operated by ROM", a normal operation starts, after the data written in the FLASH ROM is read to the SRAM.

The programs and parameters created by the MT Developer must be written beforehand to the FLASH ROM built-in Motion CPU module at the ROM operation.

The following methods for ROM writing are shown below.

• Write the programs and parameters written in the SRAM built-in Motion CPU module to the FLASH ROM built-in Motion CPU module.

• Write the programs and parameters of the MT Developer to the SRAM built-in Motion

CPU module, and then write them to the FLASH ROM built-in Motion CPU module.

The data batch written to the FLASH ROM built-in Motion CPU module by ROM writing are shown below. Backup data except the followings (current position of servomotor in absolute position system, home position and latch device.) cannot be written to the

FLASH ROM.

SV13 SV22

System setting data

Each parameter for servo control

Servo program

Motion SFC parameter

Motion SFC program

POINT

(1) "Backup • load" operation of the MT Developer targets the SRAM built-in

Motion CPU module. (The FLASH ROM built-in Motion CPU module is not targeted.)

Set to "Mode operated by ROM" after ROM writing to execute the ROM operation after "Backup • load" operation at the Motion CPU module exchange.

(2) The FLASH ROM built-in Motion CPU module serves as a life in 100000 times writing. Make the ROM writing within 100000 times. If it passes over a life,

"writing error" will occur, replace the Motion CPU module.

(3) The online change of Motion SFC program executes the Motion SFC program performed the online change from the next scanning at the mode operated by

ROM. Operation starts with the contents of the Motion SFC program written in the FLASH ROM built-in Motion CPU module at next power supply on or reset.

(4) It needs to meet the following conditions for the ROM writing.

(a) PLC ready flag (M2000) OFF

(b) Not installation mode

4 - 14

4 AUXILIARY AND APPLIED FUNCTIONS

(1) Write the programs and parameters written in the SRAM built-in Motion CPU module to the FLASH ROM built-in Motion CPU module for the ROM operation.

<ROM writing>

Mode operated by RAM/Mode operated by ROM

Motion CPU module

SRAM

Be sure to write the programs and parameters beforehand

to the SRAM built-in Motion CPU module at the ROM

operation.

IBM PC/AT

Programs

Parameters, etc.

MT Developer

FLASH ROM

1) ROM writing request Programs

Parameters, etc.

Programs

Parameters, etc.

2) ROM writing

<ROM operation>

Mode operated by RAM/Mode operated by ROM

Motion CPU module

SRAM

Read at

starting

Programs

Parameters, etc.

FLASH ROM

Programs

Parameters, etc.

4 - 15

4 AUXILIARY AND APPLIED FUNCTIONS

<Operating procedure for ROM writing> Write the data of SRAM built-in Motion CPU module to the ROM.

The operating procedure for ROM writing using the MT Developer is shown below.

Main Frame screen

Operating procedure

1) Select menu "Online" -"Export to ROM

Format" to display "Export to ROM Format"

screen.

Export to ROM Format screen

2) Select "Execute" button.

ROM writing is executed to FLASH ROM

built-in Motion CPU module.

POINT

Be sure to write the all data beforehand to SRAM built-in

Motion CPU module at the ROM writing.

4 - 16

4 AUXILIARY AND APPLIED FUNCTIONS

(2) Write the programs and parameters of the MT Developer to the SRAM built-in

Motion CPU module, and then write them to the FLASH ROM built-in Motion CPU module for the ROM operation.

<Data writing + ROM writing>

Mode operated by RAM/Mode operated by ROM

Motion CPU module

SRAM 1) Write data

(ROM writing request)

Programs

Parameters, etc.

FLASH ROM

2) ROM writing request

after write data

IBM PC/AT

MT Developer

Programs

Parameters, etc.

Programs

Parameters, etc.

3) ROM writing

<ROM operation>

Mode operated by RAM/Mode operated by ROM

Motion CPU module

SRAM

Read at

starting

Programs

Parameters, etc.

FLASH ROM

Programs

Parameters, etc.

4 - 17

4 AUXILIARY AND APPLIED FUNCTIONS

<Operating procedure for ROM writing> Write the data of MT Developer to the ROM.

The operating procedure for ROM writing using the MT Developer is shown below.

Main Frame screen

Operating procedure

1) Select menu "Online" -"Write to CPU" to

display "Write to CPU" screen.

Write to CPU screen

2) Check data of MT Developer written in the

Motion CPU.

3) Select "Program memory + CPU ROM" in

target memory.

4 - 18

4) Select "Execute" button.

SRAM data built in Motion CPU module is written

to ROM after writing data of MT developer to

SRAM built-in Motion CPU module.

(Note): Mechanical system program and cam data

(converted data) cannot be displayed when

using OS type "SW8DNC-SV13".

POINT

Be sure to write the all data beforehand to SRAM built-in

Motion CPU module at the ROM writing.

4 AUXILIARY AND APPLIED FUNCTIONS

4.4.3 Operating procedure of the ROM operation function

The outline procedure of ROM operation function is shown below.

1) Turn on or reset the power supply of Multiple CPU system in the "Mode operated by RAM".

2) Create the system setting, programs and parameters using the MT Developer, and execute a trial run and adjustment.

3) Write the system setting, programs and parameters of SRAM built-in Motion CPU module to the FLASH ROM built-in Motion CPU module by the ROM writing request using the MT Developer.

4) By starting the Motion CPU in the "Mode operated by ROM", a normal operation starts after the system setting, programs and parameters written in the FLASH

ROM built-in Motion CPU module are read to the SRAM built-in Motion CPU module.

(1) ROM operation procedure

The ROM operation procedure is shown below.

Preparation for ROM operation

Set the "Mode operated by RAM" by setting the rotary switch 1 (SW1) and 2 (SW2) to "0".

Turn ON the power supply of Multiple CPU system.

Create or correct the system setting, parameters and programs using the MT

Developer, and write them to the Motion

CPU module.

Execute the trial run and adjustment.

Mode operated by RAM

(ROM writing)

Is the operation normal ?

YES

Execute the "ROM writing" of the programs and parameters in a lump using the MT

Developer.

NO

Turn OFF the power supply of Multiple CPU system.

Set the "Mode operated by ROM" by setting the rotary switch 1 (SW1) to "0" and rotary switch 2 (SW2) to "6".

Turn ON the power supply of Multiple CPU system.

Mode operated by ROM

ROM operation start

4 - 19

4 AUXILIARY AND APPLIED FUNCTIONS

(2) Operation at the "Mode operated by ROM"

Mode operated by ROM start

NO

(Data (programs, parameters and absolute position data) is not written to the FLASH

ROM built-in Motion CPU module.)

Is the data write to the FLASH ROM built-in

Motion CPU module ?

YES

Read the followings of the FLASH ROM built-in Motion CPU module to the SRAM built-in Motion CPU module.

System setting data

Parameter for servo control

Servo program

Motion SFC parameter

Motion SFC program

Mechanical system program (SV22)

Cam data (SV22)

Normal operation start

After that, it is same operation at the

RAM operation.

The system setting error (" AL" flashes 3 times steady "L01" display) in the 7segment LED at the front side of Motion

CPU module.

Wait the restart of Multiple

CPU system.

After that, it cannot be operated because of stop state.

Retry the operation for "ROM writing"

"Mode operated by ROM" after confirm the contents for programs and parameters of the

SRAM built-in Motion CPU module.

POINT

(1) Change the operation mode using the rotary switch of Motion CPU module.

(2) Confirm the operation mode by the 7-segment LED of Motion CPU module.

4 - 20

4 AUXILIARY AND APPLIED FUNCTIONS

4.5 Security Function

This function is used to protect the user data of Motion CPU by registering a password.

The illegal reading or writing of the user data are prevented by setting a password.

Registered password can be changed and deleted.

[Register/Change Password] or [Delete Password] screen is used to register/ change/delete a password. Select from a menu bar to display these screen.

The user data protected in this function are shown below.

"Write Protection" or "Read/Write Protection" can be set every user data.

Operating system software

User data Protected contents

SV13/SV22

SV22

Motion SFC program

Servo program

Motion SFC programs (Control code, text)

Servo programs and program allocation

Mechanical system program Mechanical system programs

Cam data Cam data

4.5.1 Password registration/change

Select menu [Online] [Register Password] [Register/Change] to register/change a password.

(1) Procedure for password registration

(a) Enter initial registration password in password column, and select registration condition (Write Protection, Read/Write Protection). It leaves in blank for the user data that does not register a password.

(b) Click on [Execute] button to register a password in the Motion CPU.

(c) Select menu [Project] [Save] to save a password after registration in a project.

Refer to Section 4.5.4 for password save.

(2) Procedure for password change

(a) Status of password registered in the Motion CPU are displayed.

4 - 21

4 AUXILIARY AND APPLIED FUNCTIONS

(b) Enter new password in password column, and select registration condition

(Write Protection, Read/Write Protection). It leaves in blank for the user data that does not change a password.

(c) Click on [Execute] button to display [Check Password] screen for old password confirmation. Click on [Execute] button after old password input.

New password will be registered in the Motion CPU by success of old password check.

When the new password is the same as old password (change for only registration condition), [Check Password] screen is not displayed.

(d) Select menu [Project] [Save] to save a password after change in a project.

Refer to Section 4.5.4 for password save.

POINT

(1) If an user has forgotten a registration password, clear a password of Motion

CPU by the all clear function. However, the all password data and user data are cleared by the all clear function. Re-write the user data to the Motion CPU.

(Refer to Section 4.6 for details.)

(2) ROM operation can be executed by user data registered a password.

The password setting is also included in the ROM writing/reading data.

(3) The password data is not save in a project without password save.

Therefore, be sure to save a password.

(4) If an operation stops by reset or power OFF of the Multiple CPU system while a password registration/change, the user data may not be registered.

Register/change a password again to restore the user data.

Items Details

Type Type of user data

Registration " " is displayed when a password is registered in the Motion CPU.

Password

Registration condition

Enter initial registration/change password.

Alphanumeric character (ASCII) of 6 or less

Match case (Not full-size character)

A registration condition set in the Motion CPU is displayed.

• Write Protection

• Read/Write Protection

New registration condition can be selected by password input.

4 - 22

4 AUXILIARY AND APPLIED FUNCTIONS

4.5.2 Password delete

Select menu [Online] [Register Password] [Delete] to delete a password.

(1) Procedure for password delete

(a) Status of password registered in the Motion CPU are displayed.

(b) Enter old password and click on [Execute] button to delete password. It leaves in blank for the user data that does not delete a password.

(c) A password will be deleted by success of password check. (" " displayed in registration column disappears.)

(d) Select menu [Project] [Save] to save a password after delete in a project.

Refer to Section 4.5.4 for password save.

POINT

(1) The password data is not save in a project without password save.

Therefore, be sure to save a password.

(2) If an operation stops by reset or power OFF of the Multiple CPU system while delete of password, the data may not be deleted. Delete a password again to restore the user data.

Items Details

Type Type of user data

Registration " " is displayed when a password is registered in the Motion CPU.

Password Enter old password.

4 - 23

4 AUXILIARY AND APPLIED FUNCTIONS

4.5.3 Password check

When operating the user data that sets password, the check password screen is displayed automatically.

(1) Procedure for password check

(a) Enter old password in password column, and click on [Execute] button.

(b) Protection by the password temporarily released by success of password check. After that it can be operated the user data.

(c) A password is memorized until MT Developer ends. (Since protection by password is automatically released temporarily at the user data operation, a check password screen is not displayed.)

Items Details

Type

Password

Type of user data

Enter old password.

4 - 24

4 AUXILIARY AND APPLIED FUNCTIONS

4.5.4 Password save

Registered/changed/deleted password or password read with user data from "Read from CPU" screen displayed by menu [Online] [Read from CPU] can be saved in a project data.

A password saved in a project data can be registered with user data, when the user data are written in the Motion CPU that does not set password from "Write to CPU" screen displayed by menu [Online] [Write to CPU].

Select menu [Project] [Save] to save the updated password data in a project.

Read

(1) Status of password data for each operation

Operation

Write

Verification

ROM writing

Online change

Backup

Load

Register/change password

Delete password

Project diversion

Status of password data

When a password is set in the call source Motion CPU, the password contents are called and the password data in a project are updated.

When a password data is set in a project, if a password is not set in the write designation Motion CPU, the password contents are also written.

Password data in a project are not updated.

Password contents registered in the write designation Motion CPU are written in

ROM.

Password contents of write designation Motion CPU are not updated.

It is saved in backup data including also the password contents registered in the call source Motion CPU. The password data in a project is not updated.

Password contents in backup data are written in the write designation Motion

CPU.

New password contents are written in the write designation Motion CPU.

Password data in a project is also updated to new password contents.

A password is deleted from the write designation Motion CPU.

A password is deleted also from the password data in a project.

The password data in diverting source project is not diverted.

POINT

(1) The password data is not save in a project without project save.

(2) Save a project after delete of password to delete the password data in a project. Or, create a project without password data by creating new project and diverting user data from a project with password data.

4 - 25

4 AUXILIARY AND APPLIED FUNCTIONS

4.6 All clear function

This function is used to clear the all user data, password setting, backup area and user data area of FLASH ROM in the Motion CPU module.

(1) Procedure for clear all

(a) Set the Motion CPU module to installation mode (Set a rotary switch 1

(SW1) to "A".)

(b) Select [Execute] button of "Clear CPU Memory" screen displayed by menu

[Online] [Clear CPU Memory]".

POINT

(1) Set the Motion CPU module to installation mode to clear all.

Be sure to set a rotary switch after power supply OFF.

(2) The user data area of FLASH ROM built-in Motion CPU module is also cleared.

(3) All user data and password setting are cleared at the "Clear all".

It is recommended to be backup them in advance using MT Developer.

4 - 26

4 AUXILIARY AND APPLIED FUNCTIONS

4.7 Communication via Network

The communication between the personal computer and the Motion CPU is possible via Q series Network module (MELSECNET/10(H), Ethernet, CC-Link and etc.) in the

Motion CPU (Q173DCPU/Q172DCPU).

Refer to the PLC manuals for the specifications of each network modules of

MELSECNET/10(H), Ethernet, CC-Link and Serial communication, the handling method.

4.7.1 Specifications of the communications via network

(1) Communications via network enables using MT Developer in the Motion CPU.

(2) Access range of the communications via network of the Motion CPU is an access range equivalent to QnUD(H)CPU. (Refer to Section "4.7.2 Access range of the communications via network".)

(3) By setting the routing parameter to the control CPU of the network module and the

CPU which connected the peripheral devices in the network by

MELSECNET/10(H) and Ethernet, it is possible to relay to 8 network points and communicate.

(4) Because the Motion CPU cannot become the control CPU of the network module, there is not setting item of the network module and network parameter.

However, when connecting with the CPU on the other network from the peripheral device which connected the Motion CPU, it needs to the setting of the routing parameter.

(5) It can operate by remote control the monitor or program editing of the Motion CPU via the intranet using the Ethernet module.

Personal Computer Personal Computer

Ethernet

Intranet

QnUD(H)

CPU

Q173D/

Q172D

CPU

Ethernet

Ethernet

QnUD(H)

CPU

Q173D/

Q172D

CPU

Ethernet

4 - 27

4 AUXILIARY AND APPLIED FUNCTIONS

4.7.2 Access range of the communications via network

(1) Network configuration via the MELSECNET/10(H) or the Ethernet

(a) It can access the other CPU via the network from the programming software packages (GX Developer, MT Developer, etc.) of the personal computer connected with the CPU or serial communication module in USB/RS-232.

(b) It can access the other CPU via the network from the programming software packages in the personal computer by connecting the personal computer equipped with Ethernet to MELSECNET/10(H) or Ethernet board to the

Ethernet to MELSECNET/10(H) or Ethernet.

(c) The access range of above (1) and (2) can be accessed to 8 network points by setting the routing parameter to the control CPU of the network module and the CPU which connected the personal computer.

<Example>

Personal computer

USB/

RS-232

Personal computer

RS-232

QnUD(H)

CPU

Q173D

CPU

C24 MNET or

Ether

Personal computer

MNET board or Ether

Network No.1

C24

MNET

Ether

: Serial communication module

: MELSECNET/10(H)

: Ethernet

QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

MNET or

Ether

Network

No.2

QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

MNET or

Ether

Network No.3

QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

MNET or

Ether

Network No.4

QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

MNET or

Ether

Network No.5

QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

MNET or

Ether

Network

No.6

QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

MNET or

Ether

Network No.7

QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

MNET or

Ether

Network No.8

QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

MNET or

Ether

Network No.9

QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

MNET or

Ether

Network

No.10

: Communication is possible

: Communication is possible (Setting of the routing parameter is necessary.)

: Communication is impossible

4 - 28

4 AUXILIARY AND APPLIED FUNCTIONS

(2) Network configuration via the CC-Link

(a) It can access the other CPU via the CC-link from the programming software packages (GX Developer, MT Developer, etc.) of the personal computer connected with the CPU or serial communication module in USB/RS-232.

(b) It can access the other CPU via the CC-Link from the programming software packages in the personal computer by connecting the personal computer equipped with CC-Link board to the CC-Link.

(c) The access range of above (1) is only the CPU on the CC-Link which a system connects it to, and it can select a CC-Link network to connect by specifying the I/O No. of the CC-Link module.

(d) The access range of above (2) is only the CPU of the connected the CC-

Link.

<Example 1>

Personal computer

USB/

RS-232

Personal computer

RS-232

QnUD(H)

CPU

Q173D

CPU

C24 CC-Link

Personal computer

CC-Link board

Network No.1

QnUD(H)

CPU

Q173D

CPU

CC-Link

C24 : Serial communication module

QnUD(H)

CPU

Q173D

CPU

CC-Link CC-Link

Network

No.2

QnUD(H)

CPU

Q173D

CPU

CC-Link

Network No.3

QnUD(H)

CPU

Q173D

CPU

CC-Link QnUD(H)

CPU

Q173D

CPU

CC-Link CC-Link

<Example 2>

QnUD(H)

CPU

Q173D

CPU

C24 CC-Link

QnUD(H)

CPU

Q173D

CPU

CC-Link

Network No.1

QnUD(H)

CPU

Q173D

CPU

CC-Link

Personal computer

USB/

RS-232

QnUD(H)

CPU

Q173D

CPU

CC-Link CC-Link

Network

No.2

Network No.3

QnUD(H)

CPU

Q173D

CPU

CC-Link QnUD(H)

CPU

Q173D

CPU

CC-Link CC-Link

: Communication is possible

: Communication is impossible

4 - 29

4 AUXILIARY AND APPLIED FUNCTIONS

(3) Network configuration via the RS-422/485

(a) It can access the other CPU via the RS-422/485 from the programming software packages (GX Developer, MT Developer, etc.) of the personal computer connected with the CPU or serial communication module in

USB/RS-232.

(b) The access range of above (1) is only the CPU on the RS-422/485 which a system connects it to, and it can select RS-422/485 network to connect by specifying the I/O No. of the C24 module.

<Example 1>

Personal computer

USB/

RS-232

Personal computer

RS-232

C24 : Serial communication module

QnUD(H)

CPU

Q173D

CPU

C24 C24

RS-422/485

QnUD(H)

CPU

Q173D

CPU

C24 QnUD(H)

CPU

Q173D

CPU

C24 C24

RS-422/485

QnUD(H)

CPU

Q173D

CPU

C24

RS-422/485

QnUD(H)

CPU

Q173D

CPU

C24 QnUD(H)

CPU

Q173D

CPU

C24 C24

<Example 2>

QnUD(H)

CPU

Q173D

CPU

C24 C24

QnUD(H)

CPU

Q173D

CPU

C24

: Communication is possible

: Communication is impossible

RS-422/485

QnUD(H)

CPU

Q173D

CPU

C24

Personal computer

USB/

RS-232

QnUD(H)

CPU

Q173D

CPU

C24 C24

RS-422/485

RS-422/485

QnUD(H)

CPU

Q173D

CPU

C24 QnUD(H)

CPU

Q173D

CPU

C24 C24

4 - 30

4 AUXILIARY AND APPLIED FUNCTIONS

(4) Network configuration which MELSECNET/10(H), Ethernet, CC-

Link, RS-422/485 were mixed

(a) When the MELSECNET/10(H) or Ethernet is defined as "Network" and CC-

Link or RS-422/485 is defined as "Link", combination of whether to be able to access from the programming software packages (GX Developer,

MT Developer, etc.) is shown below.

Network communications

Programming software package CPU (C24) Network Link CPU

Programming software package CPU (C24) Link Network CPU

Programming software package Network Link CPU

Programming software package Link Network CPU

Programming software package CPU (C24) Network Link Network CPU

Programming software package CPU (C24) Link Network Link CPU

Programming software package Network Link Network CPU

Programming software package Link Network Link CPU

Usable/ unusable

: Usable : Unusable

(b) It can be accessed to 8 network points by setting the routing parameter in the "Network".

(c) Because routing cannot access, it can access only the connected network.

The connected network can be selected by specifying the I/O No. of the module.

<Example 1>

Personal computer

USB/

RS-232

Personal computer

RS-232

Personal computer

MNET board or Ether

Network No.1

C24

MNET : MELSECNET/10(H)

Ether

: Serial communication module

: Ethernet

QnUD(H)

CPU

Q173D

CPU

C24

QnUD(H)

CPU

Q173D

CPU

C24

MNET or

Ether

QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

C24 QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

MNET or

Ether

Network

No.2

RS-422/485

Network No.3

Network No.4

MNET or

Ether

QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

CC-Link CC-Link QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

MNET or

Ether

QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

QnUD(H)

CPU

Q173D

CPU

CC-Link

RS-422/485

RS-422/485

QnUD(H)

CPU

Q173D

CPU

CC-Link MNET or

Ether

Network No.5

QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

: Communication is possible

: Communication is possible (Setting of the routing parameter is necessary.)

: Communication is impossible

4 - 31

4 AUXILIARY AND APPLIED FUNCTIONS

<Example 2>

Personal computer

USB/

RS-232

Personal computer

RS-232

QnUD(H)

CPU

Q173D

CPU

C24 CC-Link CC-Link

RS-422/485

QnUD(H)

CPU

Q173D

CPU

CC-Link

C24 : Serial communication module

MNET : MELSECNET/10(H)

Ether : Ethernet

QnUD(H)

CPU

Q173D

CPU

CC-Link MNET or

Ether

Network

No.1

RS-422/485

Network No.2

QnUD(H)

CPU

Q173D

CPU

CC-Link MNET or

Ether

QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

MNET or

Ether

QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

C24

Network No.3

QnUD(H)

CPU

Q173D

CPU

C24

RS-422/485

QnUD(H)

CPU

Q173D

CPU

C24

<Example 3>

QnUD(H)

CPU

Q173D

CPU

C24 CC-Link CC-Link

QnUD(H)

CPU

Q173D

CPU

CC-Link

RS-422/485

Personal computer

CC-Link board

RS-422/485

QnUD(H)

CPU

Q173D

CPU

CC-Link QnUD(H)

CPU

Q173D

CPU

CC-Link MNET or

Ether

Network

No.1

QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

Network No.2

QnUD(H)

CPU

Q173D

CPU

MNET or

Ether

MNET or

Ether

: Communication is possible

: Communication is possible (Setting of the routing parameter is necessary.)

: Communication is impossible

4 - 32

4 AUXILIARY AND APPLIED FUNCTIONS

4.8 Monitor Function of the Main Cycle

(1) Information for main cycle of the Motion CPU (process cycle executed at free time except for motion control) is stored to the special register.

(2) Since the automatic refresh of CPU shared memory and normal task of Motion

SFC program are executed in the main cycle, make it reference for process time, etc. to program.

(3) There are following methods to shorten a main cycle.

(a) Lengthen an operation cycle setting.

(b) Reduce the number of event task programs to execute in the Motion SFC program.

(c) Reduce the number of normal task programs to execute simultaneously in the Motion SFC program.

(d) Reduce the number of automatic refresh points of CPU shared memory.

(4) When a main cycle is lengthened (more than 1.0[s]), a WDT error may occur in the Motion CPU.

(5) Details of main cycle monitor register is shown below.

No. Name Meaning

Current scan time

(1ms units)

Maximum scan time

(1ms units)

Details

• Current scan time is stored in the unit 1[ms].

• Setting range (0 to 65535[ms])

• Maximum main cycle is stored in the unit 1[ms].

• Setting range (0 to 65535[ms])

4 - 33

4 AUXILIARY AND APPLIED FUNCTIONS

4.9 Servo Parameter Reading Function

(1) When the servo parameters are changed, the Motion CPU will be automatically read the servo parameters and reflected them to the servo parameter storage area in the Motion CPU. Therefore, an operation to read servo parameters is unnecessary in the following cases.

(a) The parameters are changed by auto tuning.

(b) The parameters are changed by connecting directly MR Configurator to the servo amplifier.

POINT

If the power supply of Multiple CPU system is turned off/reset or the power supply of servo amplifier is turned off immediately after change, it may not be reflected.

(2) After executing the servo parameter reading function, when it needs to reflect the servo parameters changed to the MT Developer, read the servo parameters from the Motion CPU and save data.

4 - 34

4 AUXILIARY AND APPLIED FUNCTIONS

4.10 Optional Data Monitor Function

This function is used to store the data (refer to following table) up to three points per axis to the specified devices (D, W, #, U \G) and monitor them.

It can be set by the system setting of MT Developer.

(1) Data that can be set

Data type

Effective load ratio

Regenerative load ratio

Peak load ratio

Position feed back

Absolute position encoder within onerevolution position

Load inertia ratio

Position loop gain 1

Bus voltage

Unit

[%]

[%]

[%]

[PLS]

Number of words

1

1

1

2

[PLS] 2

[ 0.1]

[rad/s]

[V]

1

1

1

(2) Devices that can be set

Word device

D

W

#

U \G

Device that can be set

0 to 8191

0 to 1FFF

0 to 7999

10000 to (10000+p-1)

(Note-1), (Note-2)

(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU.

(Note-2): Only device of the self CPU can be used.

POINT

(1) The updating cycle of data is every operation cycle.

(2) Set an even number as device setting in the two word data.

(3) Refer to Chapter 2 for the user setting area points of the Multiple CPU high speed transmission area.

4 - 35

4 AUXILIARY AND APPLIED FUNCTIONS

4.11 Connect/Disconnect Function

This function is used to temporarily suspend SSCNET communication while servo amplifiers and/or SSCNET cables after Axis 1 are exchanged with the power supply

ON in a Multiple CPU system.

SD803 is required for connect/disconnect and SD508 stores the command status for

"accept waiting" or "execute waiting" during this process. If a servo amplifier was previously removed using the connect/disconnect function, it must be used again to reconnect the servo amplifier. This function is only required when there is a desire to maintain communication to all axes in front of the one being removed.

No connect/disconnect processing is required if the power supply to Axis 1 is shutdown.

Device No.

SD508

(1) Connect/disconnect status devices

Overview

The execute status for a connect/disconnect is stored.

Status

Connect/disconnect

0 command accept waiting

Connect/disconnect

-1 execute waiting

While

-2 connecting/disconnecting

Contents

Connect command or disconnect command is in the status that can be accepted

SD508 is waiting for connect/disconnect execute command after accepting a connect command or disconnect command.

Connect/disconnect is in process.

Set by

System

(2) Connect/disconnect command devices

Device No. Overview Set by

SD803

The connect/disconnect command is set.

Command

0

1 to 32

None

Disconnect command

-10 Connect command

Connect/disconnect

-2 execute command

Contents

This value is set if there is no command.

Set axis No. "1 to 32" to be disconnected.

Set to connect axis while disconnecting.

Connect/disconnect processing is executed by setting this value in the status of a connect/disconnect execute waiting.

User

4 - 36

4 AUXILIARY AND APPLIED FUNCTIONS

POINT

(1) After completion of SSCNET communication disconnect processing, be sure to check the LED display of the servo amplifier for "AA" before turning OFF its the power supply.

(2) When a "1 to 32 : Disconnect command" and/or "-10 : Connect command" are set to the "Connect/disconnect command device (SD803)", the status of the SD508 changes to the "-1: Connect/disconnect waiting" state. In order to complete connect/disconnect processing, "-2 : Connect/disconnect execute command" must be set to SD803 to execute the prior connect/disconnect command.

(3) When "1 to 32 : Disconnect command" is set to axis not disconnect, the connect/disconnect status device (SD508) returns "0" without entering the status of "-1 : Connect/disconnect execute waiting".

(4) Operation failure may occur in some axes if the power supply of servo amplifiers connected after them on the SSCNET system is turned OFF. Be sure to use the disconnect function before turning OFF the power supply of any servo amplifiers connected after an amplifier whose power remains on.

(3) Procedure for connect/disconnect function to exchange the servo amplifier or

SSCNET cable is shown below.

(a) Operation procedure to disconnect

1) Set the axis No. to disconnect in SD803. (Setting value: 1 to 32)

2) Check that "-1: Disconnect execute waiting" is set in SD508.

(Disconnect execute waiting)

3) Set "-2: Disconnect execute command" in SD803.

4) Check that "0: Disconnect command accept waiting" is set in SD508.

(Completion of disconnection)

5) Turn OFF the power supply of servo amplifier after checking its LED display for "AA" and then disconnect.

4 - 37

4 AUXILIARY AND APPLIED FUNCTIONS

(b) Operation procedure to connect

1) Turn ON the power supply of the servo amplifier.

2) Set "-10: Connect command" in SD803.

3) Check that "-1: Connect execute waiting" is set in SD508.

(Connect execute waiting)

4) Set "-2: Connect execute command" in SD803.

5) Check that SD508 is "0: Connect command accept waiting" is set in

SD508.

(Completion of connection)

6) Resume operation of servo amplifier after verifying the servo ready status (M2415+20n) is ON.

(4) Flow for device value at connect/disconnect operation is shown below.

(a) Disconnect operation

Disconnect command

(Axis No. of servo amplifier

to disconnect)

Disconnect execute

command

Disconnect

command clear

Command SD803 0 1 to 32 -2 0

Monitor SD508 0

Disconnect command accept waiting

(b) Connect operation

Command SD803 0

-1

Disconnect execute waiting

-2

Disconnect processing execute

0

Completion of disconnection

Connect command

-10

Connect execute command Connect command clear

-2 0

Monitor SD508 0

Connect command accept waiting

-1 -2

Connect execute waiting Connect processing execute

0

Completion of connection

4 - 38

4 AUXILIARY AND APPLIED FUNCTIONS

<Program example>

(1) Self CPU program which connects/disconnects servo amplifiers from Axis 5 on

Disconnect procedure: Turn OFF the power supply of servo amplifier after checking its LED display for "AA".

Connect procedure: Resume operation of servo amplifier after verifying that the servo ready (M2415+20n) is ON.

System configuration

Q61P QnUD(H)

CPU

Q172D

CPU

QY40 QY40 Q172D

LX

QY40

Disconnection (From Axis 5 on)

AMP

Axis 1

M

AMP

Axis 2

M

AMP

Axis 3

M

AMP

Axis 4

M

AMP

Axis 5

M

AMP

Axis 8

M

(a) Motion SFC program

Disconnect operation

Disconnect processing

[G10]

SD508==0

[F10]

SD803=5

[G20]

SD508==-1

[F20]

SD803=-2

[G30]

SD508==0

END

Check the disconnect command accept status.

Set "5" (Disconnect from

Axis 5 on) as disconnect command in SD803.

Disconnect execute waiting

Set "-2" as disconnect execute command in

SD803.

Check the completion of disconnect processing.

[G10]

[F10]

[G20]

[F20]

Connect operation

Connect processing

SD508==0

SD803=-10

SD508==-1

SD803=-2

[G30]

SD508==0

END

Check the connect command accept status.

Set "-10" as connect command in SD803.

Connect execute waiting

Set "-2" as connect execute command in

SD803.

Check the completion of connect processing.

4 - 39

4 AUXILIARY AND APPLIED FUNCTIONS

System configuration

(2) PLC CPU program which connects/disconnects servo amplifiers from Axis 5 on which is connected to the Motion CPU (CPU No.2).

Disconnect procedure: Turn X0 OFF to ON, and then turn OFF the power supply of servo amplifier after checking the LED display "AA" of servo amplifier.

Connect procedure: Turn X1 OFF to ON, and then resume operation of servo amplifier after checking the servo ready

(M2415+20n) of servo amplifier.

Q61P QnUD(H)

CPU

Q172D

CPU

QY40 QY40 Q172D

LX

QY40

Disconnection (From Axis 5 on)

AMP

Axis 1

M

AMP

Axis 2

M

AMP

Axis 3

M

AMP

Axis 4

M

AMP

Axis 5

M

AMP

Axis 8

M

PLC program

SM400

0

5

M100 M101 M102

18

39

57

M100

M101

M102

M10

M10

M12

M12

M10

M11

M13

=

X0

X1

MOV K1

MOV K-2

MOV K5

D51

D104

D102

SET M100

MOV K-10 D102

DP.DDRD

H3E1 D50 SD508

SET M100

D100 M10

D100 K0

DP.DDWR H3E1

RST M100

D50 D102

SET M101

SD803 M12

DP.DDRD

H3E1

RST M101

SET M102

D50 SD508 D100 M10

M10 M11

=

78

M103

96

M104

M12

M12 M13

M10

M10 M11

=

D100 K-1

DP.DDWR H3E1

DP.DDRD

H3E1

RST M102

D50 D104

SET M103

SD803 M12

RST M103

D50

SET M104

SD508 D100 M10

D100 K0 RST M104

4 - 40

Set "-2" as disconnect execute command in D104.

Set "5" (Disconnect afrom Axis 5 on) as disconnect command in D102.

Set "-10" as connect command in D102.

Read the data of SD508 for Multiple

CPU system (CPU No.2) by turning

M100 ON, and store it to data area

(D100) of self CPU.

Write the data of SD803 for Multiple

CPU system (CPU No.2) to D102 by turning M101 ON.

(Disconnect command/Connect command)

Read the data of SD508 for Multiple

CPU system (CPU No.2) by turning

M102 ON, and store it to data area

(D100) of self CPU.

Write the data of SD803 for Multiple

CPU system (CPU No.2) to D104 by turning M103 ON.

(Disconnect execute command)

Read the data of SD508 for Multiple

CPU system (CPU No.2) by turning

M104 ON, and store it to data area

(D100) of self CPU.

4 AUXILIARY AND APPLIED FUNCTIONS

4.12 Remote operation

This function is used to control the following operation of Motion CPU using

MT Developer.

• Remote RUN/STOP

• Remote latch clear

POINT

Latch clear can be executed only using the remote control of MT Developer.

4.12.1 Remote RUN/STOP

The PLC ready flag (M2000) is turned ON/OFF by MT Developer with RUN/STOP switch of Motion CPU module set to RUN.

(1) Operation procedure

(a) Remote RUN

Select [RUN] on "CPU remote operation" screen displayed by menu [Online]

– [Remote Operation], and click [Execute] button.

(b) Remote STOP

Select [STOP] on "CPU remote operation" screen displayed by menu

[Online] – [Remote Operation], and click [Execute] button.

4 - 41

4 AUXILIARY AND APPLIED FUNCTIONS

POINT

(1) Remote RUN cannot be executed if RUN/STOP switch sets to STOP.

Operation after remote operation by RUN/STOP switch is shown below.

Position of RUN/STOP switch

RUN STOP

Remote operation

Execute remote RUN

Execute remote STOP

RUN

STOP

STOP

STOP

(2) The following parameters are read by turning on the PLC ready flag (M2000).

• Fixed parameter

• Parameter block

• Home position return data

• JOG operation data

• Servo parameter

• Mechanical system program (SV22)

• Motion SFC parameter

• Limit switch parameter

REMARK

The PLC ready flag (M2000) can also be turned ON/OFF (PCPU READY complete flag (SM500) ON/OFF) in the following methods.

• RUN/STOP switch change

• PLC ready flag (M2000) ON/OFF

4 - 42

4 AUXILIARY AND APPLIED FUNCTIONS

4.12.2 Remote latch clear

Device data of Motion CPU that latched are cleared by MT Developer at PLC ready flag (M2000) OFF (PCPU READY complete flag (SM500) OFF).

Operation for remote latch clear is combined with remote RUN/STOP.

(1) Operation procedure

(a) Turn OFF the PLC ready flag (M2000) (PCPU READY complete flag

(SM500) OFF) by remote STOP.

(b) Select [Latch clear (1)] or [Latch clear (1)(2)] on "CPU remote operation" screen displayed by menu [Online] – [Remote Operation], and click

[Execute] button.

(Note): Execute remote RUN to turn ON the PLC ready flag (M2000) after remote latch clear.

POINT

(1) Remote latch clear cannot be operated while the PLC ready flag (M2000) is ON

(PCPU READY complete flag (SM500) is ON) or test mode.

(2) The following latch area are cleared in the remote latch clear operation.

• Latch clear (1) : Clear the range set in latch area (1)

• Latch clear (1)(2) : Clear the range set in latch area (1) and (2)

(3) The user area (#0 to #7999) of motion device are also cleared by executing remote latch clear.

(4) All of the user device not latched are cleared by the remote latch clear operation of latch area (1) and (2).

(5) Set the range of latch area (1) and (2) in the system basic setting of system setting.

(Refer to Section 3.1.3.)

4 - 43

4 AUXILIARY AND APPLIED FUNCTIONS

MEMO

4 - 44

APPENDICES

APPENDICES

APPENDIX 1 Special relays/Special registers

APPENDIX 1.1 Special relays

Special relays are internal relays whose applications are fixed in the Motion CPU. For this reason, they cannot be used in the same way as the normal internal relays by the

Motion SFC programs.

However, they can be turned ON/OFF as needed in order to control the Motion CPU.

The headings in the table that follows have the following meanings.

Item Explanation

No.

Name

Meaning

Details

• Indicates the device No. of the special relay.

• Indicates the name of the special relay.

• Indicates the nature of the special relay.

• Indicates detailed information about the nature of the special relay.

Set by

(When set)

• Indicates whether the relay is set by the system or user, and, if it is set by system, when setting is performed.

<Set by>

S: Set by system (Motion CPU)

U: Set by user (Motion SFC program or test operation using MT Developer)

S/U: Set by both system (Motion CPU) and user

<When set> Indicated only if setting is done by system (Motion CPU).

Main process: Set during each main processing (free time processing of the CPU)

Initial process: Set only during initial processing (when power supply is turned ON, or when executed the reset)

Status change : Set only when there is a change in status

Error : Set when error is occurred.

Request : Set only when there is a user request (Special relay, etc.)

Operation cycle : Set during each operation cycle of the Motion CPU.

APP.

APP - 1

APPENDICES

Table 1.1 Special relay list

No. Name Meaning Details

Set by

(When set)

SM53

SM58

AC/DC DOWN detection latch error

SM51 Battery low latch

Battery low warning

OFF : Normal

ON : Battery low

OFF : AC/DC DOWN not detected

ON : AC/DC DOWN detected detection

OFF : Normal

ON : Module with blown fuse

SM211 Clock data error

OFF : No error

OFF : No self-diagnostic error

OFF : Normal

ON : Battery low

OFF : Normal

ON : Battery low

OFF : Normal

ON : Battery low

OFF : No error

ON : Error

• Turn ON if an error occurs as a result of diagnosis.

• Remains ON even if the condition is restored to normal thereafter.

• Turn ON by ON to OFF of the Motion error detection flag

(M2039) for except the stop error after confirming the error content.

• Turn ON if an error occurs as a result of self-diagnosis.

• Remains ON even if the condition is restored to normal thereafter.

• Turn ON by ON to OFF of the Motion error detection flag

(M2039) for except the stop error after confirming the error content.

• Turn ON if the voltage of external battery reduces to less than

2.5[V].

• Remains ON even if the condition is restored to normal thereafter.

• Turn on when the voltage of the external battery reduces to less than 2.5[V].

• Turn OFF when the voltage of external battery returns to normal.

• Turn ON if an instantaneous power failure of within 20[ms] occurs during use of the AC power supply module.

Reset when the power supply is switched OFF, then ON.

• Turn ON if an instantaneous power failure of within 10[ms] occurs during use of the AC power supply module.

Reset when the power supply is switched OFF, then ON.

• Turn ON if the voltage of external battery reduces to less than

2.7[V].

• Remains ON even if the condition is restored to normal thereafter.

• Turn on when the voltage of the external battery reduces to less than 2.7[V].

• Turn OFF when the voltage of external battery returns to normal.

• Turn ON if there is at least one output module whose fuse has blown.

• Remains ON even if the condition is restored to normal thereafter.

• Turn ON if an error occurs in clock data (SD210 to SD213) value, and turn OFF if no error is detected.

SM220

(Note-1)

SM221

(Note-1)

SM222

(Note-1)

SM223

(Note-1)

CPU No.1 READY complete

CPU No.2 READY complete

CPU No.3 READY complete

CPU No.4 READY complete

SM240 No.1 CPU resetting

SM241 No.2 CPU resetting

SM242 No.3 CPU resetting

OFF : CPU No.1 READY incompletion

ON : CPU No.1 READY completion

OFF : CPU No.2 READY incompletion

ON : CPU No.2 READY completion

OFF : CPU No.3 READY incompletion

ON : CPU No.3 READY completion

OFF : CPU No.4 READY incompletion

ON : CPU No.4 READY completion

OFF : CPU No.1 reset cancel

ON : CPU No.1 resetting

OFF : CPU No.2 reset cancel

ON : CPU No.2 resetting

OFF : CPU No.3 reset cancel

ON : CPU No.3 resetting

• Turn ON if CPU No. 1 which uses Multiple CPU high speed bus can be operated between Multiple CPU.

• Turn ON if CPU No. 2 which uses Multiple CPU high speed bus can be operated between Multiple CPU.

• Turn ON if CPU No. 3 which uses Multiple CPU high speed bus can be operated between Multiple CPU.

• Turn ON if CPU No. 4 which uses Multiple CPU high speed bus can be operated between Multiple CPU.

• Goes OFF when reset of the CPU No.1 is cancelled.

• Goes OFF when reset of the CPU No.2 is cancelled.

• Goes OFF when reset of the CPU No.3 is cancelled.

S (Occur an error)

S (Request)

S (Change status)

Remark

APP - 2

APPENDICES

Table 1.1 Special relay list (Continued)

No. Name Meaning Details

Set by

(When set)

SM243 No.4 CPU resetting

SM244 No.1 CPU error

SM245 No.2 CPU error

SM246 No.3 CPU error

SM247 No.4 CPU error

SM400 Always ON

SM401 Always OFF

SM500

PCPU READY complete

SM501 Test mode ON

SM502

External forced stop input

SM503

Digital oscilloscope executing

SM510

TEST mode request error

SM512

Motion CPU WDT error

SM516

Servo program setting error

SM526

Over heat warning latch

SM527 Over heat warning

OFF : CPU No.4 reset cancel

ON : CPU No.4 resetting

OFF : CPU No.1 normal

ON : CPU No.1 during stop error

OFF : CPU No.2 normal

ON : CPU No.2 during stop error

OFF : CPU No.3 normal

ON : CPU No.4 during stop error

OFF : CPU No.4 normal

ON : CPU No.4 during stop error

ON

OFF

ON

OFF

ON : PCPU READY completion

OFF : PCPU READY incompletion

ON : TEST mode ON

OFF : Except TEST mode

• Goes OFF when reset of the CPU No.4 is cancelled.

• Goes OFF when the CPU No.1 is normal. (Including a continuation error)

• Comes ON when the CPU No.1 is during stop error.

(Note-2)

• Goes OFF when the CPU No.2 is normal. (Including a continuation error)

• Comes ON when the CPU No.2 is during stop error.

(Note-2)

• Goes OFF when the CPU No.3 is normal. (Including a continuation error)

• Comes ON when the CPU No.3 is during stop error.

(Note-2)

• Goes OFF when the CPU No.4 is normal. (Including a continuation error)

• Comes ON when the CPU No.4 is during stop error.

(Note-2)

• Normally is ON.

• Normally is OFF.

• When the PLC ready flag (M2000) turn OFF to ON, the fixed parameters, servo parameters and limit switch output data, etc., are checked, and if no error is detected, this flag turns ON.

• Turn OFF with PLC ready flag (M2000) OFF.

• Judge whether TEST mode ON or not using MT Developer.

• If the TEST mode is not established by TEST mode request using MT Developer, the TEST mode request error flag

(SM510) turns ON.

ON : Forced stop OFF

OFF : Forced stop ON

ON : Digital oscilloscope is stop

OFF : Digital oscilloscope is executing

• Confirm forced stop ON/OFF.

• Confirm the execution of digital oscilloscope using MT

Developer.

S (Change status)

S (Main processing)

S (Request)

S (Operation cycle)

S (Change status)

OFF : Normal

OFF : Normal

SM513

Manual pulse generator axis setting error

ON : At least one D714 to

D719 setting is abnormal.

OFF : All D714 to D719 settings are normal.

OFF : Normal

OFF : Normal

OFF : Normal

• Turn ON if the TEST mode is not established by TEST mode request using MT Developer.

• When this relay is ON, the error content is stored in the

TEST mode request error register (SD510, SD511).

• Turn ON when a "watchdog timer error" is detected by the

Motion CPU self-diagnosis function.

When the Motion CPU detects a WDT error, it executes an immediate stop without deceleration of the operating axes.

• The error cause is stored in the "Motion CPU WDT error cause (SD512)".

• Judge whether normal/abnormal of the register for manual pulse generator axis setting register (D714 to D719).

• When this relay is ON, the error content is stored in the manual pulse generator axis setting error register (SD513 to SD515).

• Judge whether normal/abnormal of the positioning data of servo program(K) specified with the Motion SFC program, and if error is detected this flag turns ON.

• The content of a servo program setting error is stored at

SD516, SD517.

• Turn ON when the temperature of Motion CPU module becomes specified value 85[°C] (185[°F]) or more.

Remains ON even if normal status is restored.

• Turn ON when the temperature of Motion CPU module becomes specified value 85[°C] (185[°F]) or more.

Turn OFF when the temperature of Motion CPU module returns to normal.

S (Occur an error)

Remark

APP - 3

APPENDICES

Table 1.1 Special relay list (Continued)

No. Name Meaning Details

Set by

(When set)

Remark

SM528

No.1 CPU MULTR complete

OFF to ON :

CPU No.1 read completion

• Turn ON when the data read from CPU No.1 is normal by

MULTR instruction.

SM529

No.2 CPU MULTR complete

OFF to ON :

CPU No.2 read completion

• Turn ON when the data read from CPU No.2 is normal by

MULTR instruction.

S (Read completion)

SM530

No.3 CPU MULTR complete

SM531

No.4 CPU MULTR complete

OFF to ON :

CPU No.3 read completion

OFF to ON :

CPU No.4 read completion

• Turn ON when the data read from CPU No.3 is normal by

MULTR instruction.

• Turn ON when the data read from CPU No.4 is normal by

MULTR instruction.

SM801

Clock data read request

OFF : Ignored • When this relay is ON, clock data is read to SD210 to

SD213 as BCD values.

U

(Note-1) : It is used for interlock condition of Multiple CPU high speed bus dedicated instruction when a synchronous system set in Multiple CPU synchronous startup setting of system setting.

(Note-2) : The CPU No.1 is reset after the factor of the stop error is removed to cancel a stop error → Resetting is cancelled.

APP - 4

APPENDICES

APPENDIX 1.2 Special registers

Special registers are internal registers whose applications are fixed in the

Motion CPU. For this reason, it is not possible to use these registers in Motion

SFC programs in the same way that normal registers are used.

However, data can be written as needed in order to control the Motion CPU.

Data stored in the special registers are stored as BIN values if no special designation has been made to the contrary.

The headings in the table that follows have the following meanings.

Item Explanation

Number

Name

Meaning

Details

• Indicates the No. of the special register.

• Indicates the name of the special register.

• Indicates the nature of the special register.

• Indicates detailed information about the nature of the special register.

Set by

(When set)

• Indicates whether the register is set by the system or user, and, if it is set by system, when setting is performed.

<Set by>

S: Set by system (Motion CPU)

U: Set by user (Motion SFC program or test operation using MT Developer)

S/U: Set by both system (Motion CPU) and user

<When set> Indicated only if setting is done by system (Motion CPU).

Main process: Set during each main processing (free time processing of the CPU)

Initial process: Set only during initial processing (when power supply is turned ON, or when executed the reset)

Status change : Set only when there is a change in status

Error : Set when error is occurred.

Request : Set only when there is a user request (Special relay, etc.)

Operation cycle : Set during each operation cycle of the Motion CPU.

APP - 5

APPENDICES

Table 1.2 Special register list

No. Name Meaning

SD1

SD2

SD3

SD4

Clock time for diagnostic error occurrence

Clock time for diagnostic error occurrence

Error information categories

Error information category code

Details

Set by

(When set)

• Error codes for errors found by diagnosis are stored as BIN data.

• Refer to "APPENDIX 3" for details of the error code.

• After confirm the error content, except the stop error, it is possible to clear by

ON to OFF of the Motion error detection flag (M2039).

• Clear SD0 to SD26 by ON to OFF of the Motion error detection flag (M2039) for except the stop error after confirming the error content.

• The year (last two digits) and month that SD0 data was updated is stored as

BCD 2-digit code.

B15 to B8 B7 to B0

Example : January 2006

H0601

Year(0 to 99) Month(1 to 12)

• The day and hour that SD0 data was updated is stored as BCD 2-digit code.

B15 to B8

Day(1 to 31)

B7 to B0

Hour(0 to 23)

Example : 25st, 10 a.m

H2510

• The minute and second that SD0 data was updated is stored as BCD 2-digit code.

B15 to B8 B7 to B0

Example : 35min., 48 sec.

H3548

Minute(0 to 59) Second(0 to 59)

• Category codes which help indicate what type of information is being stored in the error common information areas (SD5 to SD15) and error individual information areas (SD16 to SD26) are stored. The category code for judging the error information type is stored.

B15 to B8 B7 to B0

Individual information category codes

Common information category codes

• The common information category codes store the following codes.

0: No error

1: Module No./CPU No./Base No.

• The individual information category codes store the following codes.

0: No error

5: Parameter No.

13:Parameter No./CPU No.

S (Occur an error)

SD5

SD6

SD7

SD8

SD9

SD10

SD11

SD12

SD13

Error common information

Error common information

• Common information corresponding to the diagnostic error (SD0) is stored.

• The error common information type can be judged by SD4 (common information category code).

1: Module No./CPU No./Base No.

• For the Multiple CPU system, Module No. or CPU No. is stored depending on the error that occurred.

(Refer to corresponding error code for which No. has been stored.)

CPU No.1: 1, CPU No.2: 2, CPU No.3: 3, CPU No.4: 4

Remark

SD15

SD5

SD6

SD7 to

SD15

Module No./CPU No./Base No.

Empty

APP - 6

APPENDICES

Table 1.2 Special register list (Continued)

No. Name Meaning

SD16

SD17

SD18

SD19

Details

• Individual information corresponding to the diagnostic error (SD0) is stored.

• The error individual information type can be judged by SD4 (individual information category code).

5: Parameter No.

Set by

(When set)

Remark

SD26

SD53

Error individual information

AC/DC DOWN counter No.

Error individual information

Number of times for AC/DC DOWN

0406H

0E00H

0E01H

:Motion slot setting

:Multiple CPU setting (Number of Multiple CPU's)

:Multiple CPU setting (Operation mode/Multiple CPU synchronous startup)

E008H

E009H/E00AH :Multiple CPU high speed transmission area setting

(Automatic refresh setting)

E00BH

:Multiple CPU high speed transmission area setting

(CPU specific send range setting/ (System area))

13: Parameter No./CPU No.

No. Meaning

SD16

SD17 CPU No.(1 to 4)

SD18 to

SD26

Empty

• Every time the input voltage fails to or below 85[%] (AC power)/65[%] (DC power) the rating during calculation of the Motion CPU module, the value is incremented by 1 and stored in BIN code.

No.

Module No. with blown fuse

• The lowest station I/O No. of the module with the blown fuse is stored.

• The CPU switch status is stored in the following format.

B15 B12 B11 B8 B7 B4 B3 B0

S (Occur an error)

SD200 Status of switch

Status of CPU switch

SD203

Operating status of CPU

Operating status of CPU

Not used 2) 1)

1) CPU switch status 0: RUN

1: STOP

2) Memory card switch Always OFF

• The CPU operating status is stored as indicated in the following figure.

B15 B12 B11 B8 B7 B4 B3 B0

1) Operating status of CPU

2) STOP cause

(Note) Priority is earliest first

2)

0: RUN

2: STOP

0: RUN/STOP switch

4: Error

1)

S (Main processing)

APP - 7

APPENDICES

Table 1.2 Special register list (Continued)

No. Name Meaning

SD210

Clock data

(Year, Month)

Details

• The year (last two digits) and month are stored as BCD code.

B15 to B12 B11 to B8 B7 to B4 B3 to B0

Example : July, 2006

H0607

SD211

Clock data

(Day, Hour)

Year Month

• The day and hour are stored as BCD code.

B15 to B12 B11 to B8 B7 to B4 B3 to B0

Example : 31st, 10 a.m.

H3110

SD212

Clock data

Clock data

(Minute, Second)

Day Hour

• The minutes and seconds are stored as BCD code.

B15 to B12 B11 to B8 B7 to B4 B3 to B0

Example : 35 min., 48 sec.

H3548

Minute Second

• The day of week is stored as BCD code.

B15 to B12 B11 to B8 B7 to B4 B3 to B0

Example : Friday

H0005

SD213

SD290

SD291

SD292

SD293

SD294

SD295

SD296

SD297

Device assignment

SD298

SD299

SD300

SD301

SD302

SD303

SD304

Clock data

(Day of week)

Always set to "0".

4

5

2

3

6

0

1

Day of week

Sunday

Monday

Tuesday

Wednesday

Thursday

Friday

Saturday

• Stores the number of points currently set for X devices.

Number of points assigned for X

Number of points assigned for Y

Number of points assigned for M

Number of points assigned for L

Number of points assigned for B

Number of points assigned for F

Number of points assigned for SB

Number of points assigned for V

Number of points assigned for S

Number of points assigned for T

Number of points assigned for ST

Number of points assigned for C

Number of points assigned for D

Number of points assigned for W

Number of points assigned for SW

• Stores the number of points currently set for Y devices.

• Stores the number of points currently set for M devices.

• Stores the number of points currently set for L devices.

• Stores the number of points currently set for B devices.

• Stores the number of points currently set for F devices.

• Stores the number of points currently set for SB devices.

• Stores the number of points currently set for V devices.

• Stores the number of points currently set for S devices.

• Stores the number of points currently set for T devices.

• Stores the number of points currently set for ST devices.

• Stores the number of points currently set for C devices.

• Stores the number of points currently set for D devices.

• Stores the number of points currently set for W devices.

• Stores the number of points currently set for SW devices.

APP - 8

Set by

(When set)

Remark

S/U (Request)

S (Initial processing)

APPENDICES

Table 1.2 Special register list (Continued)

No. Name

SD502

SD503

Servo amplifier loading information

SD508

Connect/

Disconnect

(Status)

Meaning

SD504

SD505

SD506

Real mode/virtual mode switching error information

Real mode /virtual mode switching error code

Details

Set by

(When set)

S (Initial processing) SD395 Multiple CPU No. Multiple CPU No. • CPU No. of the self CPU is stored.

SD500

SD501

Real mode axis information register

Real mode axis information register

• The information (Real mode axis: 0/Except real mode axis: 1) used as a real mode axis at the time of switching from real mode to virtual mode is stored.

SD500 : b0 to b15 (Axis 1 to 16)

SD501 : b0 to b15 (Axis 17 to 32)

• The real mode axis information does not change at the time of switching from virtual mode to real mode

Servo amplifier loading information

Connect/ disconnect of

SSCNET

• The loading status (loading: 1/non-loading: 0) of the servo amplifier checked in initial process, and stored as the bit data.

SD502 : b0 to b15 (Axis 1 to 16)

SD503 : b0 to b15 (Axis 17 to 32)

• The axis which turned from non-loading to loading status after power-on is handled as loaded. (However, the axis which turned from loading to nonloading status remains as loaded.)

• When a mode switching error occurs in real-to-virtual or virtual-to-real mode switching, or a mode continuation error occurs in the virtual mode, its error information is stored.

• This signal is used to temporarily suspend SSCNET communication while servo amplifiers and/or SSCNET cables after Axis 1 are exchanged with the power supply ON in a Multiple CPU system.

SD508 stores the command status for "accept waiting" or "execute waiting" during this process.

0 : Connect/disconnect command accept waiting

-1 : Connect/disconnect execute waiting

S (At virtual mode transition)

S (Initial processing)

S (Occur an error)

S (Main processing)

Remark

SD510

SD511

Test mode request error

It is operating in requirement error occurrence of the test mode, axis information

• Each axis is stopping: 0/Operating: 1, information is stored as a bit data.

SD510 : b0 to b15 (Axis 1 to Axis 16)

SD511 : b0 to b15 (Axis 17 to Axis 32)

• The following error codes are stored in SD512.

1: S/W fault 1

2: Operation cycle over

Q error

SD512

SD513

SD514

SD515

SD516

SD517

Manual pulse generator axis setting error

Error program

No.

Error item information

SD520 Scan time

SD521

Motion CPU

WDT error cause

Maximum scan time

Error meaning of

WDT error occurs

201 to 215: Q bus H/W fault

250 to 253: Servo amplifier interface H/W fault

300: S/W fault 3

301: 15 CPSTART instructions of 8 or more points were started simultaneously.

303: S/W fault 4

Manual pulse generator axis setting error information

• Contents of the manual pulse generator axis setting error is stored when the manual pulse generator axis setting error flag (SM513) turn on.

(Normal: 0/Setting error: 1)

SD513 : The manual pulse generator axis setting error is stored in b0 to b2

(P1 to P3).

The smoothing magnification setting is stored in b3 to b5 (P1 to P3).

SD514 : One pulse input magnification setting error is stored in b0 to b15

(axis 1 to axis 16).

SD515 : One pulse input magnification setting error is stored in b0 to b15

(axis 17 to axis 32).

• When the servo program setting error flag (SM516) turns on, the erroneous servo program No. will be stored.

Error program No. of servo program

Error code of servo program

Scan time

(1ms units)

Maximum scan time (1ms units)

• When the servo program setting error flag (SM516) turns on, the error code corresponding to the erroneous setting item will be stored.

• Main cycle is stored in the unit 1ms.

Setting range (0 to 65535[ms])

• The maximum value of the main cycle is stored in the unit 1ms.

Setting range (0 to 65535[ms])

S (Occur an error)

S (Main processing)

APP - 9

APPENDICES

Table 1.2 Special register list (Continued)

No. Name Meaning Details

Set by

(When set)

SD522

SD523

Motion operation cycle

Operation cycle of the Motion

CPU setting

Motion operation cycle

Operation cycle of the Motion CPU setting

• The time required for motion operation cycle is stored in the [µs] unit.

• The setting operation cycle is stored in the [µs] unit.

SD803

Connect/

Disconnect

(Command)

Connect/ disconnect of

SSCNET

• This signal is used to temporarily suspend SSCNET communication while servo amplifiers and/or SSCNET cables after Axis 1 are exchanged with the power supply ON in a Multiple CPU system.

SD803 is required for connect/disconnect during this process.

1 to 32 : Disconnect command

-10 : Connect command

-2 : Connect/disconnect execute command

S (Operation cycle)

S (Initial processing)

U

Remark

APP - 10

APPENDICES

APPENDIX 1.3 Replacement of special relays/special registers

When a project for Q173HCPU(-T)/Q172HCPU(-T)/Q173CPUN(-T)/Q172CPUN(-T)/

Q173CPU/Q172CPU is converted into a project for Q173DCPU/Q172DCPU using the

"Project management - File diversion" in MT Developer, special relays (M9000 to

M9255) and special registers (D9000 to D9255) are automatically converted into new special relays (SM2000 to SM2255) and special registers (SD2000 to SD2255) respectively.

However, in order to maintain the same functionality the user must manually convert them to the special relays and special registers shown in Table 1.3 and Table 1.4 below for Q173DCPU/Q172DCPU.

Table 1.3 Replacement of special relays

Device No.

Special relays for

Q173HCPU(-T)/Q172HCPU(-T)/

Q173CPUN(-T)/Q172CPUN(-T)

Q173CPU/Q172CPU

M9000

M9005

Automatically converted to special relays

SM2000

SM2005

Special relays for

Q173DCPU/

Q172DCPU

SM60

SM53

Name Remark

Fuse blown detection

AC/DC DOWN detection

M9007

M9025

M9026

M9028

M9060

M9073

M9240

M9241

M9242

M9243

M9244

M9245

M9246

M9247

M9076

M9077

M9078

M9079

M9216

M9217

M9218

M9219

SM2007

SM2026

SM2028

SM2060

SM2073

SM2076

SM2077

SM2078

SM2079

SM2216

SM2217

SM2218

SM2219

SM2240

SM2241

SM2242

SM2243

SM2244

SM2245

SM2246

SM2247

SM51

SM211

SM801

SM512

Battery low latch

Clock data set request

Clock data error

Clock data read request

Diagnostic error reset

Motion CPU WDT error

SM240

SM241

SM242

SM243

SM244

SM245

SM246

SM247

SM501 ON

SM502

SM513

SM510

SM516

SM528

SM529

SM530

SM531

External forced stop input

Manual pulse generator axis setting error

TEST mode request error

Servo program setting error

No.1 CPU MULTR complete

No.2 CPU MULTR complete

No.3 CPU MULTR complete

No.4 CPU MULTR complete

No.1 CPU resetting

No.2 CPU resetting

No.3 CPU resetting

No.4 CPU resetting

No.1 CPU error

No.2 CPU error

No.3 CPU error

No.4 CPU error

Use M2039 for error reset operation.

APP - 11

APPENDICES

Table 1.4 Replacement of special registers

Device No.

Special relays for

Q173HCPU(-T)/Q172HCPU(-T)/

Q173CPUN(-T)/Q172CPUN(-T)

Q173CPU/Q172CPU

D9000

D9005

Automatically converted to special relays

SD2000

SD2005

Special relays for

Q173DCPU/

Q172DCPU

Name Remark

D9013

D9014

D9015

D9025

D9026

D9027

D9028

D9060

D9061

D9184

D9188

D9189

D9190

D9196

D9197

D9201

SD2013

SD2014

SD2015

SD2025

SD2026

SD2027

SD2028

SD2060

SD2061

SD2184

SD2188

SD2189

SD2190

SD2196

SD2197

SD2201

SD60

SD53

Fuse blown No.

AC/DC DOWN counter No.

SD0 errors

Clock time for diagnostic error occurrence

SD1

(Year, month)

Clock time for diagnostic error occurrence

SD2

(Day, hour)

Clock time for diagnostic error occurrence

SD3

(Minute, second)

SD4 Error information categories

SD5

SD203

Error common information

Operating status of CPU

SD210

SD211

SD212

SD213

SD395

SD510

SD511

SD512

SD522

SD516

SD517

SD523

Clock data (Year, month)

Clock data (Day, hour)

Clock data (Minute, second)

Clock data (Day of week)

Diagnostic error reset error No.

Multiple CPU No.

Test mode request error

Motion CPU WDT error cause

Motion operation cycle

Error program No.

Error item information

SD502

Servo amplifier loading information

SD503

SD504

Real mode/virtual mode switching error

SD505 information

PC link communication error codes

Operation cycle of the Motion CPU setting

State of LED

Use M2039 for error reset operation.

Q173DCPU/

Q172DCPU does not support PC link communication.

Use 7-segment LED in Q173DCPU/

Q172DCPU.

APP - 12

APPENDICES

APPENDIX 2 System Setting Errors

Motion CPUs generate a system configuration error under the following conditions.

Table 2.1 System Setting Errors

Error name

7-segment LED

(Note-1)

Error code

(Note-2)

Error cause

Check timing

Operation at error occurrence

LAY ERROR

(SL )

AXIS No. MULTIDEF

AMP No. SETTING

SYS.SET DATA ERR

AXIS No. ERROR

I/O POINTS OVER

ROM ERROR1

• The slot set in system settings is vacant or a different module is installed.

• The axis No. setting overlaps in the system settings.

• The axis No. (function select switch) setting of servo amplifier overlaps in the same SSCNET system.

• Not a single axis is set in system settings.

• System setting data is not written.

• System setting data is written without relative check.

Or it is written at the state of error occurrence.

• System setting data is not written.

• The number of actual I/O points set in system settings exceeds 256.

• Type of the operating system software of data written to ROM is different.

ROM ERROR2 • Data is not written to ROM.

(

ROM ERROR3

)

(

ROM ERROR4

)

CAN'T USE SL ( )

"AL" flashes

3- times

"L01" display

10014

(Note-3)

• Data size of ROM is abnormal.

• Execute the ROM writing again.

• Check the adjustment for the version of Motion

CPU, MT Developer and operating system software.

• Data of ROM is abnormal.

• Execute the ROM writing again.

• Check the adjustment for the version of Motion

CPU, MT Developer and operating system software.

• The motion modules that cannot be used are installed.

• Use the Motion modules (Q172DLX, Q173DPX,

Q172DEX).

• The system setting data that set the motion modules

(

UNIT SET ERR

) that cannot be used are written.

• Use the MT Developer of version corresponding to the Motion modules (Q172DLX, Q173DPX,

Q172DEX).

(Note-1) : "" AL" flashes 3-times "L01" display"" (Repetition) Error code is not displayed.

Power supply ON/

Reset

Cannot be started.

(Motion CPU system setting error)

(Note-2) : Error code stored in self-diagnostic error (SD0)

(Note-3) : When the error code 10014 occurs, the system setting error flag (M2041) turns ON and the error name is displayed on the error list monitor of MT Developer.

APP - 13

APPENDICES

MEMO

APP - 14

APPENDICES

APPENDIX 3 Self-diagnosis error code

Multiple CPU related errors are stored in the CPU shared memory "self CPU operation information area (1H to 1CH)" of each module and self diagnostic error information

(SD0 to SD26) of the special register (SD) as the self diagnostic errors.

Error codes (1000 to 9999) of Multiple CPU related errors are common to each CPU module.

The error code (10000 to 10999) is stored as required at Motion CPU-specific error occurrence.

Confirm the error codes and contents by "Motion error history" on Motion CPU error batch monitor of MT Developer and remove the error cause if an error occurs.

Confirm operation status and error occurrence of each CPU used in the Multiple CPU system by PLC diagnosis of GX Developer.

APP - 15

APPENDICES

(1) Multiple CPU related errors which occurs in Motion CPU

Each digit of error code has been described as follows.

Digit

Tens digit

Hundreds digit

:

:

:

Details code

7

8

5

6

9

3

4

1

2

Major division

Internal hardware

Handling

Parameter

Program

Watch timer

Redundant system

Multiple CPU

Outside diagnosis

Table 3.1 Multiple CPU related errors which occurs in Motion CPU (1000 to 9999)

Item

CPU hard error

Module hard error

Error code

(SD0)

1000

1001

1002

1003

1004

1005

1006

1007

1008

1009

1105

Error message

MAIN CPU DOWN

RAM ERROR

1150

1300 FUSE BREAK OFF

1401

1403

SP. UNIT DOWN

Common information

(SD5 to SD15)

Module No.

Module No.

Individual Information

(SD16 to SD26)

7-segment LED display

CPU operation status

"AL" flashes 3 times

Steady "A1" display

4 digits error code is displayed in two flashes of 2 digits each.

Stop

Stop

Diagnostic timing

Stop

(Note-3)

Always

Stop

Always

At power ON/

At reset

At power ON/

At reset

Always

1413 —

CONTROL-BUS. ERR.

No.

(Note-2)

Always

Base Stop

1416 CPU No.

(Note-1)

(Note-1) : CPU No. is stored in slot No. of common information classification.

At power ON/

At reset

(Note-2) : Base No. stored in "common information classification code" of "error information classification code" "0 : Main base, 1 to 7 : Number of extension bases.

(Note-3) : CPU operation status at error occurrence can be set in the parameters. (LED display varies in conjunction with operation.)

APP - 16

APPENDICES

Error code

(SD0)

1300

1401

1403

Error contents and cause

1000

1001

1002

1003

1004

(1) Malfunctioning due to noise or other reason

1005

(2) Hardware fault

1006

1007

1008

1009

1105 The CPU shared memory in the CPU module is faulty.

1150

The memory of the CPU module in the Multiple CPU high speed transmission area is faulty.

There is an output module with a blown fuse.

There was no response from the Motion module/intelligent function module in the initial processing.

(1) An error is detected at the intelligent function module.

(2) The I/O module (including intelligent function module) is nearly removed or completely removed/mounted during running.

Corrective action

(1) Take noise reduction measures.

(2) Reset the CPU module and RUN it again. If the same error is displayed again, this suggests a CPU module hardware fault.

Explain the error symptom and get advice from our sales representative.

Check FUSE. LED of the output modules and replace the module whose

LED is lit.

Set the Motion module/intelligent function module used in the Motion CPU in the system setting.

This suggests a Motion module, intelligent function module, CPU module and/or base unit is expecting a hardware fault.

Explain the error symptom and get advice from our sales representative.

The CPU module, base unit and/or the intelligent function module that was accessed is experiencing a hardware fault.

Explain the error symptom and get advice from our sales representative.

1414

1415 Fault of the main or extension base unit was detected.

1416 System bus fault was detected at power-on or reset.

Reset the CPU module and RUN it again. If the same error is displayed again, the intelligent function module, CPU module or base unit is faulty.

Explain the error symptom and get advice from our sales representative.

APP - 17

APPENDICES

Table 3.1 Multiple CPU related errors which occurs in Motion CPU (1000 to 9999)

(Continued)

Item

Error code

(SD0)

Error message

Common information

(SD5 to SD15)

Individual Information

(SD16 to SD26)

7-segment LED display

CPU operation status

Diagnostic timing

1430 —

1431

Multiple CPU high speed bus

1432

1433

1434

MULTI-C.BUS ERR.

1435

Power supply 1500 AC/DC DOWN

Handling the intelligent function module/

Multiple CPU module

2100

Module No.

2107

2124 — "AL" flashes 3 times

SP. UNIT LAY ERR.

2125

Steady "A1" display

4 digits error code is displayed in two flashes of 2 digits each.

2140 Module No.

2150 SP. UNIT VER. ERR.

CPU No.

"AL" flashes 3 times

Steady "A1" display

4 digits error code is displayed in two flashes of 2 digits each.

None

Steady "BT1"

Steady "BT2"

Stop

Continue

Continue Always

Stop

At power ON/

At reset

Always

Always

At power ON/

At reset

APP - 18

APPENDICES

Error code

(SD0)

2100

2107

2124

2125

2140

2150

Error contents and cause Corrective action

1430

1431

1432

1500

1600

The error of self CPU is detected in the Multiple CPU high speed bus.

The communication error with other CPU is detected in the Multiple

CPU high speed bus.

The communication time out with other CPU is detected in the

Multiple CPU high speed bus.

1433

1434

The communication error with other CPU is detected in the Multiple

CPU high speed bus.

1435

Reset the CPU module and RUN it again. If the same error is displayed again, this suggests a CPU module hardware fault.

Explain the error symptom and get advice from our sales representative.

(1) Take noise reduction measures.

(2) Check the main base unit mounting status of the CPU module.

(3) Reset the CPU module and RUN it again. If the same error is displayed again, this suggests a CPU module or base unit hardware fault.

Explain the error symptom and get advice from our sales representative.

Reset the CPU module and RUN it again. If the same error is displayed again, this suggests a CPU module hardware fault.

Explain the error symptom and get advice from our sales representative.

(1) Take noise reduction measures.

(2) Check the main base unit mounting status of the CPU module.

(3) Reset the CPU module and RUN it again. If the same error is displayed again, this suggests a CPU module or base unit hardware fault.

Explain the error symptom and get advice from our sales representative.

A momentary power supply interruption has occurred.

The power supply went off.

Check the power supply.

(1) The battery voltage in the CPU module has dropped below stipulated level.

(2) The battery holder unit that install the battery is not mounted to the

CPU module.

(1) Change the battery.

(2) Mount the battery holder unit that installs the battery.

In the I/O assignment setting of PLC CPU, the intelligent function module was allocated to an I/O module or vice versa.

The first I/O No. set in the system settings is overlapped with the one for another module.

(1) A module is mounted on the 65th or higher slot.

(2) The extension base unit set to "None" is mounted.

(1) A module which the CPU cannot recognise has been mounted.

(2) There was no response form the intelligent function module.

Make the PLC parameter's I/O assignment setting again so it is consistent with the actual status of the intelligent function module and the CPU module.

Make the I/O No. setting again so it is consistent with the actual status of the modules.

(1) Remove the module mounted on the 65th or later slot.

(2) Remove the extension base unit set to "None".

(1) Install an usable module.

(2) The intelligent function module is experiencing a hardware fault.

Explain the error symptom and get advice from our sales representative.

The motion modules (Q172DLX, Q172DEX, Q173DPX, Q172LX,

Q172EX (-S1/-S2/-S3), Q173PX (-S1)) are installed in CPU slot or

I/O 0 to 2 slot.

Remove the Motion modules installed CPU slot or I/O 0 to 2 slot.

In a Multiple CPU system, the control CPU of intelligent function module incompatible with the Multiple CPU system is set to other than

CPU No.1.

(1) Change to the intelligent function module (function version B or later) compatible with the Multiple CPU system.

(2) Change the control CPU of intelligent function module incompatible with the Multiple CPU system to CPU No.1.

APP - 19

APPENDICES

Table 3.1 Multiple CPU related errors which occurs in Motion CPU (1000 to 9999)

(Continued)

Item

Error code

(SD0)

Error message

Common information

(SD5 to SD15)

Individual Information

(SD16 to SD26)

7-segment LED display

CPU operation status

Diagnostic timing

Parameter

Multiple CPU

3001

3012

3013

3015

PARAMETER ERROR —

7000

MULTI CPU DOWN

7002

7010

CPU No.

(Note-1) (Note-4)

CPU No.

(Note-1)

CPU No.

(Note-1)

Parameter No.

Parameter No./

CPU No.

"AL" flashes 3 times

Steady "A1" display

4 digits error code is displayed in two flashes of 2 digits each.

Stop

At power ON/

At reset/

STOP RUN

At power ON/

At reset

Always supply ON/ at reset

At power at reset

7013 CPU No.

CPU No.

(Note-1)

7030

CPU LAY. ERROR

CPU No.

— Stop

At power supply ON/ at reset 7031

7035 Module No.

(Note-1) : CPU No. is stored in slot No. of common information classification.

(Note-4) : Because a stop error or CPU No. except CPU No. that it was reset becomes MULTI CPU DOWN simultaneously, a stop error or CPU No. except CPU

No. that it was reset may store in the classification of common error information depending on timing.

APP - 20

APPENDICES

Error code

(SD0)

3001

3012

3013

3015

7000

7002

Error contents and cause Corrective action

The parameter settings are corrupted.

Multiple CPU setting of Multiple CPU setting parameter or control

CPU setting of system setting differs from that of the reference CPU settings.

Multiple CPU automatic refresh setting is any of the following.

(1) When a bit device is specified as a refresh device, a number other than a multiple of 16 is specified for the refresh start device.

(2) The device specified is other than the one that may be specified.

(3) The number of send points is an odd number.

(4) The total number of send points is greater than the maximum number of refresh points.

(1) "Use multiple CPU high speed transmission " is not set in the

Multiple CPU setting of Universal module QCPU.

(2) In a Multiple CPU system, the CPU verified is different from the one set in the parameter setting.

(1) Check the parameter item corresponding the numerical value

(parameter No.), and correct it.

(2) Rewrite corrected parameters to the CPU module, reload or reset the

Multiple CPU system power supply.

(3) If the same error occurs, it is thought to be a hardware error.

Explain the error symptom and get advice from our sales representative.

Match the Multiple CPU setting of Multiple CPU setting parameter or control

CPU setting of system setting with that of the reference CPU (CPU No.1) settings.

Check the following in the Multiple CPU automatic refresh setting and make correction.

(1) When specifying the bit device, specify a multiple of 16 for the refresh start device.

(2) Specify the device that may be specified for the refresh device.

(3) Set the number of send points to an even number.

(4) Set the total number of send points is within the range of the maximum number of refresh points.

(1) Set "Use multiple CPU high speed transmission " in the Universal module QCPU.

(2) Check the parameter item corresponding to the numerical value

(parameter No./CPU No.) and parameter of target CPU, and correct them.

In the operating mode of a Multiple CPU system, a CPU error occurred at the CPU where "All station stop by stop error of CPU" was selected.

In a Multiple CPU system, CPU No.1 resulted in stop error at poweron and the other CPU cannot start. (This error occurred at CPU No.2 to 4)

Check the error of the CPU resulting in CPU module fault, and remove the errors.

There is no response from the target CPU module in a Multiple CPU system during initial communication.

Reset the CPU module and RUN it again. If the same error is displayed again, this suggests the hardware fault of any of the CPU modules.

Explain the error symptom and get advice from our sales representative.

7010 In a Multiple CPU system, a faulty CPU module was mounted. Replace the faulty CPU module.

7011

7013

7020

Either of the following settings was made in a Multiple CPU system.

(1) Multiple CPU automatic refresh setting was made for the inapplicable CPU module.

(2) "I/O sharing when using multiple CPUs" setting was made for the inapplicable CPU module.

The system configuration for using the Multiple CPU high speed transmission function is not met.

(1) The QnUD(H)CPU is not used for the CPU No.1.

(2) The Multiple CPU high speed main base unit (Q3 DB) is not used.

(1) CPU module which cannot be mounted in OnCPU(H)CPU is mounted. (The module may break down.)

(2) Q173HCPU,Q172HCPU,Q173CPUN,Q172CPUN is mounted.

In the operating mode of a Multiple CPU system, an error occurred in the CPU where "system stop" was not selected. (The CPU module where no error occurred was used to detect an error.)

(1) Correct the Multiple CPU automatic refresh setting.

(2) Correct the "I/O sharing when using multiple CPUs" setting.

Change to the system configuration to meet the conditions for using the

Multiple CPU high speed transmission function.

Remove Q173HCPU,Q172HCPU,Q173CPUN,Q172CPUN.

Check the error of the CPU resulting in CPU module fault, and remove the error.

7030

7031

An assignment error occurred in the CPU-mountable slot (CPU slot,

I/O slot 0 to 2) in excess of the number of CPU slot (with in the range of CPU number setting parameter).

An assignment error occurred in the CPU slot (within the range of the

CPU number setting parameter).

(1) Set the same value to the number of CPU modules specified in the

Multiple CPU setting of the PLC parameter and the number of mounted

CPU modules (including CPU (empty)).

(2) Make the same as the state of the installation of CPU module set in the system setting.

7035 The CPU module has been mounted on the inapplicable slot. Mount the CPU module on the applicable slot.

APP - 21

10007

10008

MC.UNIT ERROR

10009

10010

10011

10014

10016

10020

10021

10022

10023

10030

APPENDICES

Error code

(SD0)

10003

10004

10005

1 0

(2) Motion CPU-specific errors

Each digit of error code has been described as follows.

Refer to programming manuals for error details.

Digit

Tens digit

Hundreds digit

Thousands digit

:

: Details code

:

: Positioning CPU division

(0 : Motion CPU)

Ten thousands digit : Except PLC CPU

003

004

005

006

007

008

009

010

011

014

016

020

021

022

023

030

Details code

Minor/major error

Minor/major error (Virtual servomoter axis)(SV22)

Minor/major error (Synchronous encoder axis)(SV22)

Servo error

Servo program setting error (SV13/SV22)

Mode switching error (SV22)

Manual pulse generator axis setting error

TEST mode request error

WDT error

System setting error

Motion slot fault

Motion SFC control error (F/FS)

Motion SFC control error (G)

Motion SFC control error (K or others (Not F/FS, G))

Motion SFC control error (Motion SFC chart)

Motion CPU internal bus error

Table 3.2 Motion CPU-specific errors (10000 to 10999)

Error messages

Common information

(SD5 to SD15)

Individual information

(SD16 to SD26)

7-segment LED display CPU status operation

None

10006

"AL" flashes 3 times

Steady "S01" display

— —

None

Steady ". . . " display

"AL" flashes 3 times

Steady "L01" display

None

Continue

Stop

Continue

Stop

APP - 22

APPENDICES

Error code

(SD0)

10003

10004

10005

10006

Error contents and cause

Minor/major errors had occurred.

Minor/major errors had occurred in virtual servomotor axis.

(SV22)

Minor/major errors had occurred in synchronous encoder axis.

(SV22)

The servo errors had occurred in the servo amplifier connected to the Motion CPU.

10007

10008

10009

10010

10011

Servo program setting error occurred.

Real mode/virtual mode switching error occurred. (SV22)

Manual pulse generator axis setting error occurred.

Test mode request error occurred.

WDT error occurred at Motion CPU.

10014

10016

System setting error occurred at Motion CPU.

Motion slot fault occurred at Motion CPU.

10020

Corrective action

Check the Motion error history of MT Developer and the minor/major error codes of minor/major error code of minor/major error code storage device, and remove the error cause.

Refer to the error codes for error details of minor/major errors.

Check the Motion error history of MT Developer and the servo error codes of servo error code storage device, and remove the error cause of servo amplifier.

Refer to the servo error code for details of servo errors.

Check the Motion error history of MT Developer and the servo program setting error storage device (error program No., error item information), and remove the error cause.

Refer to the servo program setting error codes for details of servo program setting errors.

Check the Motion error history of MT Developer and the real mode/virtual mode switching error storage device, and remove the error cause.

Refer to the real mode/virtual mode switching error codes for details of real mode/virtual mode switching errors.

Check the Motion error history of MT Developer and the manual pulse generator axis setting error storage device, and remove the error cause.

Refer to the manual pulse generator axis setting error codes for details of manual pulse generator axis setting errors.

Check the Motion error history of MT Developer and the test mode request error storage device, and remove the error cause.

Check the Motion error history of MT Developer and the Motion CPU WDT error factors, and remove the error cause.

Check the error message on error monitor screen of MT Developer, and remove the error cause. And then, turn on the power supply again or reset the Multiple CPU system.

Check the Motion error history of MT Developer, and remove the error cause.

Refer to the Motion SFC error code for details of errors.

10022

10023

10030 Motion CPU internal bus error occurred.

Motion CPU module hardware fault.

Explain the error symptom and get advice from our sales representative.

APP - 23

APPENDICES

(3) Self-diagnostic error information

No. Name Meaning errors

Diagnostic error code

Details

• Error codes for errors found by diagnosis are stored as BIN data.

SD1

SD2

SD3

SD4

Clock time for diagnostic error occurrence

Error information categories

Clock time for diagnostic error occurrence

Error information category code

• The year (last two digits) and month that SD0 data was updated is stored as BCD 2-digit code.

B15 to B8 B7 to B0

Example : January 2006

Year(0 to 99) Month(1 to 12)

H0601

• The day and hour that SD0 data was updated is stored as BCD 2-digit code.

B15 to B8

Day(1 to 31)

B7 to B0

Hour(0 to 23)

Example : 25st, 10 a.m

H2510

• The minute and second that SD0 data was updated is stored as BCD 2-digit code.

B15 to B8 B7 to B0

Example : 35min., 48 sec.

Minute(0 to 59) Second(0 to 59)

H3548

• Category codes which help indicate what type of information is being stored in the error common information areas (SD5 to SD15) and error individual information areas (SD16 to SD26) are stored. The category code for judging the error information type is stored.

B15 to B8 B7 to B0

Individual information category codes

Common information category codes

• The common information category codes store the following codes.

0: No error

1: Module No./CPU No./Base No.

• The individual information category codes store the following codes.

0: No error

5: Parameter No.

13:Parameter No./CPU No.

• Common information corresponding to the diagnostic error (SD0) is stored.

• The error common information type can be judged by SD4(common information category code).

1: Module No./CPU No./Base No.

SD5 to

SD15

Error common information

Error common information

No. Meaning

SD5

SD6

Module No./CPU No./Base No.

SD7 to Empty

SD15

• Individual information corresponding to the diagnostic error (SD0) is stored.

• The error individual information type can be judged by SD4(individual information category code).

5: Parameter No.

SD16 to

SD26

Error individual information

Error individual information

No.

SD16

SD17 to

SD26

Meaning

Empty

0401H

0406H

0E00H

0E01H

E008H

:Motion slot setting

:Multiple CPU setting (Number of Multiple CPU's)

:Multiple CPU setting (Operation mode/ Multiple CPU synchronous startup)

:Multiple CPU high speed transmission area setting

(CPU specific send range setting / (System area))

E009H/E00AH : Multiple CPU high speed transmission area setting(Automatic refresh setting)

E00BH

13: Parameter No./CPU No.

No. Meaning

SD16

SD17

SD18 to

SD26

CPU No.(1 to 4)

Empty

APP - 24

APPENDICES

(4) Release of Multiple CPU related error

The release operation of errors that continues operation for CPU can be executed.

Release the errors in the following procedure.

1) Remove the error cause.

2) Turn off the Motion error detection flag (M2039).

The special relays, special registers and 7-segment LED for the errors are returned to the status before error occurs after release of errors.

If the same error is displayed again after release of errors, an error is set again, and the Motion error detection flag (M2039) turns on.

APP - 25

APPENDICES

APPENDIX 4 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU

APPENDIX 4.1 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU

Common differences to each mode are shown in Table 4.1.

Refer to "APPENDIX 4.3 Differences of each mode" for characteristic differences to each mode.

And, refer to "APPENDIX 4.2 Comparison of devices " for detailed differences of devices.

Table 4.1 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU

Peripheral I/F

External battery

Forced stop input

Via PLC CPU (USB/RS-232)

Demand

• Use EMI terminal of Motion CPU module.

• Use device set by forced stop input setting in the system setting.

USB/SSCNET

Add Q6BAT at continuous power failure for 1 month or more.

• Use device set by forced stop input setting in the system setting.

Multiple CPU high speed transmission memory for data transfer between CPU modules

Internal relays (M)

Latch relays (L)

Special relays (M)

Special relays (SM)

Special registers (D)

Special registers (SD)

Motion registers (#)

Multiple CPU area devices

(U \G)

Included —

8192 points

None (Latch for M is possible by latch setting)

2256 points

2256 points

8736 points

Up to 14336 points

Total 8192 points

256 points

256 points

8192 points

Motion dedicated PLC instructions

Motion modules

System setting

Latch clear

RUN/STOP

ROM operation

D(P).DDRD, D(P).DDWR, D(P).SFCS,

D(P).SVST, D(P).CHGT, D(P).CHGV,

D(P).CHGA, D(P).GINT

Multiple instructions are executable continuously without interlock condition by the self CPU high speed interrupt accept flag from CPU .

:CPU No.

Q172DLX, Q172DEX, Q173DPX

S(P).DDRD, S(P).DDWR, S(P).SFCS,

S(P).SVST, S(P).CHGT, S(P).CHGV,

S(P).CHGA, S(P).GINT

Interlock condition by the to self CPU high speed interrupt accept flag from CPU is necessary.

Q172LX, Q172EX, Q173PX

• QnUD(H)CPU is set as CPU No. 1.

• Only Multiple CPU high speed main base unit

(Q38DB/Q312DB) can be used as main base unit.

• Motion modules cannot be installed to I/O 0 to 2 slot.

• QnUD(H)CPU is set to CPU No. 1.

• Q3 B can be used as a main base unit.

• Motion modules can be mounted to I/O 0 to 2 slot.

Remote operation

Remote operation, RUN/STOP switch

• ROM writing is executed with mode operated by RAM/ mode operated by ROM.

• ROM writing can be executed for the data of

MT Developer.

L.CLR switch

RUN/STOP switch

Rom writing is executed with installation mode/ mode written in ROM.

APP - 26

APPENDICES

Table 4.1 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU

(Continued)

Medium of operating system software

Model of operating system software

CPU module No.1

Installation orders CPU No.2 or later

Combination of Motion CPU modules

CPU empty slot

CPU shared memory

Multiple CPU high speed transmission area

Access by Multiple

CPU shared memory

Automatic refresh

Memory

Automatic refresh setting

Multiple CPU high speed refresh function

CD-ROM (1 disk) FD (2 disks)

SW8DNC-SV Q SW6RN-SV Q

QnUD(H)CPU Qn(H)CPU

No restriction

Q173DCPU/Q172DCPU only

Settable between CPU modules

Install Motion CPU module on the right-hand side of PLC CPU module.

Combination with

Q173CPUN(-T)/Q172CPUN(-T).

Not settable between CPU modules

Provided None

Possible Impossible

Multiple CPU high speed transmission area in

CPU shared memory

32 range possible

Automatic refresh area in CPU shared memory

4 range possible

Provided None

LED display

Latch range setting

Latch (1)

Latch (2)

All clear function

Release of Multiple CPU related error

7-segment LED display

It is possible to clear with latch clear(1) and latch clear (1)(2) of remote latch clear.

It is possible to clear with lath clear(1)(2) of remote latch clear.

Execute with installation mode

Turn off M2039.

Each LED of MODE, RUN, ERR, M.RUN, BAT and BOOT

Range which can be cleared with the latch clear key.

Range which cannot be cleared with the latch clear key.

Turn off the PLC ready flag (M2000) and test mode ON flag (M9075) to execute all clear.

Store the error code to be released in the special register D9060 and turn off to on the special relay

M9060.

APP - 27

APPENDICES

APPENDIX 4.2 Comparison of devices

(1) Motion registers

(a) Monitor devices

Table 4.2 Motion registers (Monitor devices) list

Device No.

Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU

#8000 to #8019

#8020 to #8039

#8040 to #8059

#8060 to #8079

#8080 to #8099

#8100 to #8119

#8120 to #8139

#8064 to #8067

#8068 to #8071

#8072 to #8075

#8076 to #8079

#8080 to #8083

#8084 to #8087

#8088 to #8091

Axis 1 monitor device

Axis 2 monitor device

Axis 3 monitor device

Axis 4 monitor device

Axis 5 monitor device

Axis 6 monitor device

Axis 7 monitor device

Name Remark

#8140 to #8159

#8160 to #8179

#8180 to #8199

#8200 to #8219

#8220 to #8239

#8240 to #8259

#8260 to #8279

#8280 to #8299

#8300 to #8319

#8320 to #8339

#8340 to #8359

#8360 to #8379

#8380 to #8399

#8400 to #8419

#8420 to #8439

#8440 to #8459

#8092 to #8095

#8096 to #8099

#8100 to #8103

#8104 to #8107

#8108 to #8111

#8112 to #8115

#8116 to #8119

#8120 to #8123

#8124 to #8127

#8128 to #8131

#8132 to #8135

#8136 to #8139

#8140 to #8143

#8144 to #8147

#8148 to #8151

#8152 to #8155

Axis 8 monitor device

Axis 9 monitor device

Axis 10 monitor device

Axis 11 monitor device

Axis 12 monitor device

Axis 13 monitor device

Axis 14 monitor device

Axis 15 monitor device

Axis 16 monitor device

Axis 17 monitor device

Axis 18 monitor device

Axis 19 monitor device

Axis 20 monitor device

Axis 21 monitor device

Axis 22 monitor device

Axis 23 monitor device

#8460 to #8479

#8480 to #8499

#8500 to #8519

#8520 to #8539

#8540 to #8559

#8560 to #8579

#8580 to #8599

#8600 to #8619

#8620 to #8639

#8156 to #8159

#8160 to #8163

#8164 to #8167

#8168 to #8171

#8172 to #8175

#8176 to #8179

#8180 to #8183

#8184 to #8187

#8188 to #8191

Axis 24 monitor device

Axis 25 monitor device

Axis 26 monitor device

Axis 27 monitor device

Axis 28 monitor device

Axis 29 monitor device

Axis 30 monitor device

Axis 31 monitor device

Axis 32 monitor device

APP - 28

APPENDICES

Table 4.3 Monitor devices list

Device No.

Name Remark

Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU

#8000 + 20n

#8001 + 20n

#8002 + 20n

#8003 + 20n

#8004 + 20n

#8005 + 20n

#8006 + 20n

#8007 + 20n

#8064 + 4n

#8065 + 4n

#8066 + 4n

#8067 + 4n

Servo amplifier type

Motor current

Motor speed

Home position return re-travel value

New device in

Q173DCPU/Q172DCPU

(Note-1) : "n" in the above device No. indicates the numerical value which correspond to axis No.

(b) Motion error history

Table 4.4 Motion registers (Motion error history) list

Device No.

#8640 to #8651

#8652 to #8663

#8664 to #8675

#8676 to #8687

#8688 to #8699

#8700 to #8711

#8712 to #8723

#8724 to #8735

#8000 to #8007

#8008 to #8015

#8016 to #8023

#8024 to #8031

#8032 to #8039

#8040 to #8047

#8048 to #8055

#8056 to #8063

Name Remark

Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU

Seventh error information in past

(Oldest error information)

Sixth error information in past

Fifth error information in past

Fourth error information in past

Third error information in past

Second error information in past

First error information in past

Latest error information

Table 4.5 Motion error history list

Device No.

Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU

#8640 + 12n

#8641 + 12n

#8642 + 12n

#8643 + 12n

#8644 + 12n

#8645 + 12n

#8646 + 12n

#8647 + 12n

#8648 + 12n

#8649 + 12n

#8650 + 12n

#8651 + 12n

#8000 + 8n

#8001 + 8n

#8002 + 8n

#8003 + 8n

#8004 + 8n

#8005 + 8n

#8006 + 8n

#8007 + 8n

Error type

Error program No.

Error code

Unusable

Error setting data

Name Remark

Error Motion SFC program No.

Error block No./Motion SFC list/Line No./Axis No.

Error occurrence time (Year/month

Error occurrence time (Day/hour)

Error occurrence time (Minute/second)

Error setting data information

New device in

Q173DCPU/Q172DCPU

(Note-1) : "n" in the above device No. indicates the numerical value which correspond to axis No.

APP - 29

SM240

SM241

SM242

SM243

SM244

SM245

SM246

SM247

SM502

SM513

SM510

SM516

SM528

SM529

SM530

SM531

SM58

SM220

SM221

SM222

SM223

SM503

SM526

SM527

APPENDICES

(2) Special relays

Table 4.6 Special relay list

Device No.

Name Remark

Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU

SM60

SM53

M9000/M2320

M9005/M2321

Fuse blown detection

AC/DC DOWN detection

SM51 M9007/M2323 Battery low latch

SM0 M9010/M2325 error

— M9025/M3136 Clock data set request

SM211

SM801

M9026/M2338

M9028/M3137

Clock data error

Clock data read request

SM512

M9060/M3138

M9073/M2329

M9076/M2332

M9077/M2333

M9078/M2334

M9079/M2335

M9216/M2345

M9217/M2346

M9218/M2347

M9219/M2348

M9240/M2336

M9241/M2337

M9242/M2338

M9243/M2339

M9244/M2340

M9245/M2341

M9246/M2342

M9247/M2343

Diagnostic error reset

Motion CPU WDT error

External forced stop input

Manual pulse generator axis setting error

TEST mode request error

Servo program setting error

No.1 CPU MULTR complete

No.2 CPU MULTR complete

No.3 CPU MULTR complete

No.4 CPU MULTR complete

No.1 CPU resetting

No.2 CPU resetting

No.3 CPU resetting

No.4 CPU resetting

No.1 CPU error

No.2 CPU error

No.3 CPU error

No.4 CPU error

Battery low warning latch

CPU No.1 READY complete

CPU No.2 READY complete

CPU No.3 READY complete

CPU No.4 READY complete

Digital oscilloscope executing

Over heat warning latch

Over heat warning

Use M2039 for error reset operation.

New device in

Q173DCPU/Q172DCPU

APP - 30

APPENDICES

New device in

Q173DCPU/Q172DCPU

(3) Special registers

Table 4.7 Special registers list

Device No.

Name Remark

Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU

SD60

SD53

D9000

D9005

Fuse blown No.

AC/DC DOWN counter No.

SD0 D9008 errors

Clock time for diagnostic error occurrence

SD1 D9010

(Year, month)

Clock time for diagnostic error occurrence

SD2 D9011

(Day, hour)

Clock time for diagnostic error occurrence

SD3 D9012

(Minute, second)

SD4 D9013 Error information categories

SD5 D9014

SD6 —

SD7 —

SD8 —

SD9 —

SD11 —

SD12 —

SD13 —

SD14 —

SD15 —

SD16 —

SD17 —

SD18 —

SD19 —

SD20 —

SD22 —

SD23 —

SD24 —

SD25 —

SD26 —

SD203 D9015 Operating status of CPU

SD210

SD211

SD212

SD213

SD395

D9025

D9026

D9027

D9028

D9060

D9061

Clock data (Year, month)

Clock data (Day, hour)

Clock data (Minute, second)

Clock data (Day of week)

Diagnostic error reset error No.

Multiple CPU No.

Use M2039 for error reset operation.

New device in

(Command)

Q173DCPU/Q172DCPU

SD510 D9182

Test mode request error

SD511 D9183

APP - 31

APPENDICES

Table 4.7 Special registers list (Continued)

Device No.

Name Remark

Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU

SD512 D9184 Motion CPU WDT error cause

SD513 D9185

SD515 D9187

SD522 D9188 Motion operation cycle

SD516

SD517

D9189

D9190

Error program No.

Error item information

SD502 D9191

Servo amplifier loading information

SD503 D9192

SD504 D9193

SD506 D9195

— D9196 PC link communication error codes

SD523 D9197 Operation cycle of the Motion CPU setting

— D9201 State of LED

Q173DCPU/Q172DCPU does not support PC link communication.

Use 7-segment LED in

Q173DCPU/Q172DCPU.

APP - 32

APPENDICES

(4) Other devices

Table 4.8 Other devices list

M2320 to M2399

M2400 to M3039

Unusable

Device area of 9 axes or more is usable as user devices in Q172DCPU.

Internal relays/

Data registers

M3136 to M3199

M3200 to M3839

D0 to D639

D640 to D703

Personal computer link communication error flag

PCPU READY complete

Unusable

Device area of 9 axes or more is usable as user devices in Q172DCPU.

Special relay allocated devices (Status)

Device area of 9 axes or more is unusable as user devices in Q172HCPU.

Special relay allocated devices

(Command signal)

Device area of 9 axes or more is unusable in

Q172HCPU.

— M2034

D759

Home position return re-travel value

Travel value change registers

SM500

D9 + 20n (Data shortened to 1 word)

(Note-1)

#8006 + 20n, #8007 + 20n

(Referring at monitoring)

(Note-1)

Optional device

(Set for D16 + 20n, D17 + 20n are also usable.)

(Note-1)

D9 + 20n

(Note-1)

D16 + 20n, D17 + 20n

(Note-1)

Indirect setting devices

(Word devices)

Indirect setting devices

(Bit devices)

High-speed reading function settable devices

Optional data monitor function settable devices

D0 to D8191

W0 to W1FFF

#0 to #7999

U \G10000 to U \G(10000 + p – 1)

(Note-2)

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

B0 to B1FFF

F0 to F2047

U \G10000.0 to U \G(10000 + p – 1).F

(Note-2)

D0 to D8191

W0 to W1FFF

U \G10000 to U \G(10000 + p – 1)

D0 to D8191

W0 to W1FFF

#0 to #7999

(Note-2)

U \G10000 to U \G(10000 + p – 1)

(Note-2)

D800 to D8191

W0 to W1FFF

#0 to #7999

X0 to X1FFFF

Y0 to Y1FFF

M/L0 to M/L8191

M9000 to M9255

B0 to B1FFF

F0 to F2047

D800 to D3069, D3080 to D8191

W0 to W1FFF

D0 to D8191

W0 to W1FFF

#0 to #7999

(Note-1) : "n" in the above device No. indicates the numerical value which correspond to axis No.

(Note-2) : "p" indicates the user setting area points of Multiple CPU high speed transmission area in each CPU.

APP - 33

APPENDICES

Table 4.8 Other devices list (Continued)

Output device

Watch data

ON region setting

Output enable/disable bit

Forced output bit

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

B0 to B1FFF

U \G10000.0 to U \G(10000 + p –1).F

(Note-2)

D0 to D8191

W0 to W1FFF

#0 to #7999

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

L0 to L8191

B0 to B1FFF

D0 to D8191

W0 to W1FFF

#0 to #8191

Absolute value address

U \G10000 to U \G(10000 + p –1)

D0 to D8191

W0 to W1FFF

(Note-2)

Absolute value address

D0 to D8191

W0 to W1FFF

#0 to #7999

Constant (Hn/Kn)

(Note-3)

#0 to #8191

Constant

U \G10000 to U \G(10000 + p – 1)

(Note-2)

X0 to X1FFF X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

B0 to B1FFF

F0 to F2047

SM0 to SM1999

U \G10000.0 to U \G(10000 + p – 1).F

(Note-2)

Y0 to Y1FFF

M0 to M8191

L0 to L8191

B0 to B1FFF

F0 to F2047

M9000 to M9255

(Note-2) : "p" indicates the user setting area points of Multiple CPU high speed transmission area in each CPU.

(Note-3) : Setting range varies depending on the setting units.

POINT

Refer to Chapter 2 for number of user setting area points of Multiple CPU high speed transmission area.

APP - 34

APPENDICES

APPENDIX 4.3 Differences of each mode

(1) Motion SFC

Table 4.9 Differences in Motion SFC mode

Motion SFC program executing flag

Operation control/transition control usable device

(Word device)

Operation control/transition control usable device

(Bit device)

X, PX, Y, PY, M, U \G . , B, F, SM

(2) Virtual mode

X, Y, M, B, U \G —

D, W, U \G, SD, #, FT D, W, Special D, #, FT

X, PX, Y, PY, M, L, B, F, Special M

Table 4.10 Differences in Virtual mode

Internal relay/

Data register

M4640 to M4687

M5440 to M5487

D1120 to D1239

Device area of 9 axes or more is usable as user devices in the Q172DCPU.

Device area of 9 axes or more is unusable in the

Q172HCPU.

Clutch status

Optional device

(Set for M2160 to M2223 are also usable.)

M2160 to M2223

Cam axis command signals

(Cam/ball screw switching command)

Optional device

(Set for M5488 to M5519 are also usable.)

M5488 to M5519

Smoothing clutch complete signals

Optional device

(Set for M5520 to M5583 are also usable.)

M5520 to M5583

Real mode axis information register

Indirect setting devices of mechanical system program

(Word device)

SD500, SD501

D0 to D8191

W0 to W1FFF

#0 to #7999

U \G10000 to U \G(10000 + p –1 )

(Note-1)

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

D790, D791

D800 to D3069, D3080 to D8191

W0 to W1FFF

X0 to X1FFF

Y0 to Y1FFF

M/L0 to M/L8191 Indirect setting devices of mechanical system program

(Bit device)

B0 to B1FFF

F0 to F2047

U \G10000.0 to U \G(10000 + p –1 ).F

(Note-1)

M9000 to M9255

B0 to B1FFF

F0 to F2047

Upper limit value : 1 to 10000

Lower limit value : 1 to 10000

Speed change ratio of speed change gear

Upper limit value : 0 to 65535

Lower limit value : 0 to 65535

Permissible droop pulse value of output module

1 to 1073741824 [PLS] 1 to 65535[ ∗100PLS]

(Note-1) : "p" indicates user setting area points of Multiple CPU high speed transmission area in each CPU.

POINT

Refer to Chapter 2 for number of user setting area points of Multiple CPU high speed transmission area.

APP - 35

WARRANTY

Please confirm the following product warranty details before using this product.

1. Gratis Warranty Term and Gratis Warranty Range

If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or

Mitsubishi Service Company.

However, if repairs are required onsite at domestic or overseas location, expenses to send an engineer will be solely at the customer's discretion. Mitsubishi shall not be held responsible for any re-commissioning, maintenance, or testing on-site that involves replacement of the failed module.

[ Gratis Warranty Term]

Note that an installation period of less than one year after installation in your company or your customer’s premises or a period of less than 18 months (counted from the date of production) after shipment from our company, whichever is shorter, is selected.

[ Gratis Warranty Range]

(1) Diagnosis of failure

As a general rule, diagnosis of failure is done on site by the customer.

However, Mitsubishi or Mitsubishi service network can perform this service for an agreed upon fee upon the customer’s request.

There will be no charges if the cause of the breakdown is found to be the fault of Mitsubishi.

(2) Breakdown repairs

There will be a charge for breakdown repairs, exchange replacements and on site visits for the following four conditions, otherwise there will be a charge.

1) Breakdowns due to improper storage, handling, careless accident, software or hardware design by the customer

2) Breakdowns due to modifications of the product without the consent of the manufacturer

3) Breakdowns resulting from using the product outside the specified specifications of the product

4) Breakdowns that are outside the terms of warranty

Since the above services are limited to Japan, diagnosis of failures, etc. are not performed abroad.

If you desire the after service abroad, please register with Mitsubishi. For details, consult us in advance.

2. Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability

Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi; opportunity loss or lost profits caused by faults in the Mitsubishi products; damage, secondary damage, accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other than Mitsubishi products; and to other duties.

3. Onerous Repair Term after Discontinuation of Production

Mitsubishi shall accept onerous product repairs for seven years after production of the product is discontinued.

4. Delivery Term

In regard to the standard product, Mitsubishi shall deliver the standard product without application settings or adjustments to the customer and Mitsubishi is not liable for on site adjustment or test run of the product.

5. Precautions for Choosing the Products

(1) These products have been manufactured as a general-purpose part for general industries, and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life.

(2) Before using the products for special purposes such as nuclear power, electric power, aerospace, medicine, passenger movement vehicles or under water relays, contact Mitsubishi.

(3) These products have been manufactured under strict quality control. However, when installing the product where major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the system.

(4) When exporting any of the products or related technologies described in this catalogue, you must obtain an export license if it is subject to Japanese Export Control Law.

MOTION CONTROLLER Qseries

Programming Manual (COMMON)

(Q173DCPU/Q172DCPU)

HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN

MODEL Q173D-P-COM-E

MODEL

CODE

1XB928

IB(NA)-0300134-A(0801)MEE

When exported from Japan, this manual does not require application to the

Ministry of Economy, Trade and Industry for service transaction permission.

IB(NA)-0300134-A(0801)MEE Specifications subject to change without notice.

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