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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
1 - 1
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
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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.
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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.
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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).
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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.
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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
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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.
2 - 29
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.
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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
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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.
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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.
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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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Phone: +972 (0)9 / 863 39 80
Fax: +972 (0)9 / 885 24 30
ISRAEL
CEG INTERNATIONAL
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Lebanon - Beirut
Phone: +961 (0)1 / 240 430
Fax: +961 (0)1 / 240 438
LEBANON
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CBI Ltd.
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ZA-1600 Isando
Phone: + 27 (0)11 / 928 2000
Fax: + 27 (0)11 / 392 2354
SOUTH AFRICA
MITSUBISHI
ELECTRIC
FACTORY AUTOMATION
Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany
Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-4861120 /// [email protected] /// www.mitsubishi-automation.com
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Table of contents
- 2 SAFETY PRECAUTIONS
- 12 REVISIONS
- 13 INTRODUCTION
- 13 CONTENTS
- 15 About Manuals
- 18 1. OVERVIEW
- 18 1.1 Overview
- 20 1.2 Features
- 20 1.2.1 Features of Motion CPU
- 22 1.2.2 Basic specifications of Q173DCPU/Q172DCPU
- 25 1.3 Hardware Configuration
- 25 1.3.1 Motion system configuration
- 27 1.3.2 Q173DCPU System overall configuration
- 29 1.3.3 Q172DCPU System overall configuration
- 31 1.3.4 Software packages
- 34 1.3.5 Restrictions on motion systems
- 38 2. MULTIPLE CPU SYSTEM
- 38 2.1 Multiple CPU System
- 38 2.1.1 Overview
- 39 2.1.2 Installation position of CPU module
- 40 2.1.3 Precautions for using I/O modules and intelligent function modules
- 41 2.1.4 Modules subject to installation restrictions
- 42 2.1.5 How to reset the Multiple CPU system
- 43 2.1.6 Operation for CPU module stop error
- 46 2.2 Starting Up the Multiple CPU System
- 46 2.2.1 Startup Flow of the Multiple CPU System
- 48 2.3 Communication between the PLC CPU and the Motion CPU in the Multiple CPU System
- 48 2.3.1 CPU shared Memory
- 51 2.3.2 Multiple CPU high speed transmission
- 62 2.3.3 Multiple CPU high speed refresh function
- 66 2.3.4 Clock synchronization between Multiple CPU
- 67 2.3.5 Multiple CPU synchronous startup
- 68 2.3.6 Control Instruction from PLC CPU to Motion CPU
- 70 3. COMMON PARAMETERS
- 70 3.1 System Settings
- 71 3.1.1 System data settings
- 73 3.1.2 Common system parameters
- 79 3.1.3 Individual parameters
- 84 3.2 I/O number assignment
- 84 3.2.1 I/O number assignment of each module
- 86 3.2.2 I/O number of each CPU modules
- 87 3.2.3 I/O number setting
- 88 3.3 Servo Parameters
- 92 4. AUXILIARY AND APPLIED FUNCTIONS
- 92 4.1 Limit Switch Output Function
- 92 4.1.1 Operations
- 95 4.1.2 Limit output setting data
- 99 4.2 Absolute Position System
- 101 4.2.1 Current value control
- 102 4.3 High-Speed Reading of Specified Data
- 103 4.4 ROM Operation Function
- 103 4.4.1 Specifications of 7-segment LED/Switches
- 105 4.4.2 Outline of ROM operation
- 110 4.4.3 Operating procedure of the ROM operation function
- 112 4.5 Security Function
- 112 4.5.1 Password registration/change
- 114 4.5.2 Password delete
- 115 4.5.3 Password check
- 116 4.5.4 Password save
- 117 4.6 All clear function
- 118 4.7 Communication via Network
- 118 4.7.1 Specifications of the communications via network
- 119 4.7.2 Access range of the communications via network
- 124 4.8 Monitor Function of the Main Cycle
- 125 4.9 Servo Parameter Reading Function
- 126 4.10 Optional Data Monitor Function
- 127 4.11 Connect/Disconnect Function
- 132 4.12 Remote operation
- 132 4.12.1 Remote RUN/STOP
- 134 4.12.2 Remote latch clear
- 136 APPENDICES
- 136 APPENDIX 1 Special relays/Special registers
- 136 APPENDIX 1.1 Special relays
- 140 APPENDIX 1.2 Special registers
- 146 APPENDIX 1.3 Replacement of special relays/special registers
- 148 APPENDIX 2 System Setting Errors
- 150 APPENDIX 3 Self-diagnosis error code
- 161 APPENDIX 4 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU
- 161 APPENDIX 4.1 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU
- 163 APPENDIX 4.2 Comparison of devices
- 170 APPENDIX 4.3 Differences of each mode
- 171 WARRANTY