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Transition from A17nSHCPUN/A173UHCPU Series to Q Series Handbook
Safety Warning
To ensure proper use of the products list ed in thi s catalog, please be sure to read the in struction manual prior to use.
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L(NA)03104ENG-C
New publication, effective October 2014.
Specifications are subject to change without notice.
Transition from A17nSHCPUN/A173UHCPU
Series to Q Series Handbook
C
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 Users manual of the QCPU module to use for a description of the PLC system 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.
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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.
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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 Motion controller, 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.
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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.
Use the program commands for the program with the conditions specified in the instruction manual.
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CAUTION
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.
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.
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CAUTION
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.
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(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) and ground. 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
DOCOM
24VDC
Servo amplifier
DOCOM
24VDC
Control output signal
DICOM
RA
Control output signal
DICOM
RA
For the sink output interface For the source output interface
Do not connect or disconnect the connection cables between each unit, the encoder cable or
PLC expansion cable while the 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.
Before starting test operation, set the parameter speed limit value to the slowest value, and make sure that operation can be stopped immediately by the forced stop, etc. if a hazardous state occurs.
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(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 this manual 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
(7) Corrective actions for errors
Conditions
According to each instruction manual.
According to each instruction manual.
According to each instruction manual.
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.)
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(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.
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.
Lock the control panel and prevent access to those who are not certified to handle or install electric equipment.
Do not burn or break a module and servo amplifier. Doing so may cause a toxic gas.
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(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
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.
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REVISIONS
Print Date * Manual Number
* The manual number is given on the bottom left of the back cover.
Revision
Based on L(NA)03079-C(Japanese)
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.
2013 MITSUBISHI ELECTRIC CORPORATION
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<
GUIDEBOOK
CONFIGURATION >
The guidebook is consist of the documents as follows.
Contents
Safety Precautions
Guidebook Configuration (Contents)
1. OVERVIEW OF A-MOTION REPLACEMENT
This overview is beginning with the case study about the system replacement used A-Motion. And it will discuss the most suitable method according to the user’s system and conditions. After replacement policy have been decided, it is recommended to replace refer to the corresponding parts after section 2 and the relevant catalogs, relevant manuals.
2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
This part describes the replacement from A173UHCPU/A172SHCPUN/A171SHCPUN to
Q173DSCPU/Q172DSCPU (operating system software is SV13/SV22).
3. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
This part describes the replacement from A173UHCPU/A172SHCPUN/A171SHCPUN to Q170MCPU-
S1 (operating system software is SV13/SV22).
4. REPLACEMENT FROM A-MOTION TO QN-MOTION
This part describes the replacement from A173UHCPU/A172SHCPUN/A171SHCPUN to
Q173CPUN/Q172CPUN (QN-Motion) (operating system software is SV13/SV22). However, replacing A-
Motion with QN-Motion is not recommended since QN-Motion is not the latest model. In order to use a system for a long time after the replacement, it is recommended to replace A-Motion with QDS-Motion or
Stand-alone Motion.
5. APPENDIX
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CONTENTS
Safety Precautions ····················································································································· A-1
Revisions ································································································································ A-11
Guidebook Configuration ··········································································································· A-12
Contents ································································································································· A-13
1. OVERVIEW OF A-MOTION REPLACEMENT .................................................................................................... 1
1.
OVERVIEW OF A-MOTION REPLACEMENT HANDBOOK ...................................................................... 2
2.
MAIN REPLACEMENT TARGET MODEL ................................................................................................... 2
3.
MERITS OF REPLACEMENT ...................................................................................................................... 3
3.1
Multiple CPU System (QDS-Motion) with Q Series PLC Module ............................................................ 3
3.2
High-speed and High Performance of Motion CPU.................................................................................. 3
3.3
High-speed, Noise Free Communication by SSCNET III(/H)................................................................... 3
3.4
MR-J4 Amplifier + HG Servo Motor (QDS-Motion) .................................................................................. 3
3.5
Space Economization (Stand-alone Motion) ............................................................................................ 3
3.6
Decrease of Maintenance Cost ................................................................................................................. 4
4.
CASE AND STUDY OF A-MOTION REPLACEMENT ................................................................................ 5
4.1
1): Update at once to QDS-Motion/Stand-alone Motion + MR-J4-B ........................................................ 6
4.2
2): When only Controllers and Servo Amplifiers are Changed ................................................................ 7
4.3
3): Partial Update from MR-J2S-B to MR-J4-B ......................................................................................... 8
4.4
4): Individual Replacement Support .......................................................................................................... 9
4.5
Others ....................................................................................................................................................... 10
4.5.1
Combination before/after controller replacement ............................................................................ 10
4.5.2
Combination of controller and servo amplifier ................................................................................. 11
5.
SYSTEM TRANSITION ............................................................................................................................... 12
5.1
Configuration of the System Using A-Motion (before transition) ............................................................ 12
5.2
Configuration of the System Using QDS-Motion (after transition) ......................................................... 13
5.3
Replace to Stand-alone Motion ............................................................................................................... 14
5.4
Transition of Other Configurations .......................................................................................................... 15
5.4.1
Combination of servo amplifier and servo motor ............................................................................ 15
5.4.2
Specification comparison of servo system network ........................................................................ 15
5.4.3
Support of operating system software ............................................................................................. 16
5.4.4
Correspondence of peripheral software .......................................................................................... 16
5.4.5
Outline of the motion data replacement flow ................................................................................... 17
5.4.6
Precautions for replacing motion data saved with DOS-version peripheral software .................... 17
5.4.7
Dimensions ....................................................................................................................................... 17
6.
TRANSITION OF THE PROGRAM ............................................................................................................ 18
6.1
Motion Project Diversion Function in MT Works2................................................................................... 19
6.1.1
Data list available for diversion or not .............................................................................................. 19
6.1.2
Motion program diversion procedure in MT Works2 ....................................................................... 20
6.2
Ladder Program Diversion Function in GX Works2 ............................................................................... 22
6.2.1
Ladder program diversion procedure in GX Works2 ...................................................................... 22
6.2.2
The process after diverting the ladder program in GX Works2 ...................................................... 24
6.3
Precautions of Program Transition .......................................................................................................... 25
6.3.1
Precautions of shared device memory transition between SCPU (PLC) and PCPU (Motion CPU)
.......................................................................................................................................................... 25
7.
RELEVANT DOCUMENTS ......................................................................................................................... 26
7.1
Relevant Catalogs.................................................................................................................................... 26
7.2
Relevant Manuals .................................................................................................................................... 27
A
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2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION .............................................................. 1
1.
OVERVIEW ................................................................................................................................................... 3
2.
EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE ..................................................................... 3
2.1
Equipment Correspondence ...................................................................................................................... 3
2.2
Servo Amplifier Correspondence .............................................................................................................. 4
2.3
Operating System Software Correspondence .......................................................................................... 5
2.4
Engineering Environment .......................................................................................................................... 5
3.
DIFFERENCES BETWEEN Q173DSCPU/Q172DSCPU AND A173UHCPU/
A172SHCPUN/A171SHCPUN ...................................................................................................................... 6
3.1
Differences between Q173DSCPU/Q172DSCPU and A173UHCPU/A172SHCPUN/A171SHCPUN .. 6
3.1.1
Differences list .................................................................................................................................... 6
3.1.2
Difference between self diagnosis error and Motion (SFC) error history ......................................... 9
3.1.3
Item that is necessary to change/revise with the change of servo system network ...................... 10
3.2
Device Comparison ................................................................................................................................. 11
3.2.1
I/O device .......................................................................................................................................... 11
3.2.2
Internal relay ..................................................................................................................................... 11
3.2.3
Data register ..................................................................................................................................... 14
3.2.4
Motion register .................................................................................................................................. 17
3.2.5
Special relay ..................................................................................................................................... 18
3.2.6
Special register ................................................................................................................................. 20
3.2.7
Other devices ................................................................................................................................... 23
4.
DIVERSION OF PROJECT CREATED BY A173CPUN/A172CPUN ....................................................... 25
4.1
Data List Available for Diversion or Not (SV13/SV22) ............................................................................ 25
4.2
Program Diversion Procedure in Motion CPU Side ................................................................................ 27
4.2.1
Diversion procedure using MT Developer2 ..................................................................................... 27
4.2.2
Without using SFC ........................................................................................................................... 30
4.2.3
Precautions for diverting cam data .................................................................................................. 31
4.3
Program Diversion Procedure in PLC CPU Side ................................................................................... 32
4.3.1
Conversion procedure of a sequence project for QnUD(E)(H)CPU using GX Works2/
GX Developer ................................................................................................................................... 32
5.
USING A/QnA->Q CONVERSION SUPPORT TOOL IN SEQUENCE PROGRAM ................................ 37
5.1
Preparation for Using Support Tool ......................................................................................................... 37
5.2
Using Procedure of Support Tool ............................................................................................................ 38
5.3
Sequence Program Correction in Created Embedding File ................................................................... 40
5.3.1
Correction of special relay/special register ...................................................................................... 40
5.3.2
Correction of motion dedicated instructions .................................................................................... 40
5.3.3
Others ............................................................................................................................................... 40
6.
POINTS AND PRECAUTIONS OF REPLACEMENT ................................................................................ 41
6.1
Difference of Motion CPU Configuration ................................................................................................. 41
6.1.1
System configuration ........................................................................................................................ 41
6.1.2
Shared device................................................................................................................................... 42
6.2
Precautions about Replacement ............................................................................................................. 43
6.2.1
Slot position (system setting) ........................................................................................................... 43
6.2.2
Communication data device between PLC CPU and Motion CPU ................................................ 44
6.2.3
Block number of refresh setting and total points number restriction .............................................. 46
6.2.4
Timer devices and counter devices ................................................................................................. 50
6.2.5
Indirect designation of servo program ............................................................................................. 50
6.2.6
Parameter block ............................................................................................................................... 51
A
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3. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION ...................................................... 1
1.
OVERVIEW ....................................................................................................................................................... 3
2.
EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE ......................................................................... 3
2.1
Equipment Correspondence ...................................................................................................................... 3
2.2
Servo Amplifier Correspondence .............................................................................................................. 4
2.3
Operating System Software Correspondence .......................................................................................... 5
2.4
Engineering Environment .......................................................................................................................... 5
3.
DIFFERENCES BETWEEN Q170MSCPU(-S1) AND A173UHCPU/A172SHCPUN/A171SHCPUN ........... 6
3.1
Differences between Q170MSCPU(-S1) and A173UHCPU/A172SHCPUN/A171SHCPUN ................. 6
Differences list ................................................................................................................................................... 6
Difference between self diagnosis error and Motion (SFC) error history ...................................................... 10
Item that is necessary to change/revise with the change of servo system network ..................................... 11
3.2
Device Comparison ................................................................................................................................. 12
3.2.1
I/O device .......................................................................................................................................... 12
3.2.2
Internal relay ..................................................................................................................................... 12
3.2.3
Data register ..................................................................................................................................... 16
3.2.4
Motion register .................................................................................................................................. 19
3.2.5
Special relay ..................................................................................................................................... 20
3.2.6
Special register ................................................................................................................................. 22
3.2.7
Other devices ................................................................................................................................... 25
4.
DIVERSION OF PROJECT CREATED BY A173UHCPU/A172SHCPUN/A171SHCPUN.......................... 27
4.1
Data List Available for Diversion or Not (SV13/SV22) ............................................................................ 27
4.2
Program Diversion Procedure in Motion CPU Side ................................................................................ 29
4.2.1
Diversion procedure using MT Developer2 ..................................................................................... 29
4.2.2
Without using SFC ........................................................................................................................... 32
4.2.3
Precautions for diverting cam data .................................................................................................. 33
4.3
Program Diversion Procedure in PLC CPU Side ................................................................................... 34
4.3.1
Conversion procedure of ladder program for QnUD(H)CPU using GX Works2/GX Developer ... 34
5.
USING A/QnA->Q CONVERSION SUPPORT TOOL IN LADDER PROGRAM .......................................... 39
6.
POINTS AND PRECAUTIONS OF REPLACEMENT ................................................................................... 39
6.1
Difference of Motion CPU Configuration ................................................................................................. 39
6.1.1
System configuration ........................................................................................................................ 39
6.2
Precautions about Replacement ............................................................................................................. 40
6.2.1
Slot position (system configuration) ................................................................................................. 40
7.
DIFFERENCE BETWEEN Q170MSCPU AND Q170MSCPU-S1 ................................................................ 42
7.1
Difference between Q170MSCPU and Q170MSCPU-S1 ...................................................................... 42
7.1.1
(1) Motion control specification ........................................................................................................ 42
7.1.2
(2) Motion SFC performance specification ...................................................................................... 42
7.1.3
(3) PLC CPU part control specification ............................................................................................ 42
7.1.4
(4) Power supply specification ......................................................................................................... 42
7.1.5
(5) Battery life specification .............................................................................................................. 42
A
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4. REPLACEMENT FROM A-MOTION TO QN-MOTION .................................................................................................... 1
1.
OVERVIEW ....................................................................................................................................................... 3
2.
EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE ......................................................................... 3
2.1
Equipment Correspondence ...................................................................................................................... 3
2.2
Equipment Configuration of Q173CPUN/Q172CPUN Motion ................................................................. 5
2.3
Operating System Software Correspondence .......................................................................................... 7
2.4
Engineering Environment .......................................................................................................................... 7
3.
DIFFERENCES BETWEEN Q173CPUN/Q172CPUN AND A173UHCPU/A172SHCPUN/A171SHCPUN . 8
3.1
Differences between Q173CPUN/Q172CPUN and A173UHCPU/A172SHCPUN/A171SHCPUN ....... 8
3.1.1
Differences list .................................................................................................................................... 8
3.1.2
Differences between self diagnosis error and Motion (SFC) error history ..................................... 11
3.1.3
Items required to be changed/revised with the servo system network change ............................. 12
3.2
Device Comparison ................................................................................................................................. 13
3.2.1
I/O device .......................................................................................................................................... 13
3.2.2
Internal relay ..................................................................................................................................... 13
3.2.3
Data register ..................................................................................................................................... 16
3.2.4
Motion register .................................................................................................................................. 19
3.2.5
Special relay ..................................................................................................................................... 20
3.2.6
Special register ................................................................................................................................. 22
3.2.7
Other devices ................................................................................................................................... 25
4.
DIVERSION OF PROJECT CREATED WITH A173CPUN/A172CPUN ...................................................... 27
4.1
List of Available Data for Diversion (SV13/SV22) ................................................................................... 27
4.2
Program Diversion Procedure in Motion CPU Side ................................................................................ 29
4.2.1
Diversion procedure using MT Developer2 ..................................................................................... 29
4.2.2
When SFC is not used ..................................................................................................................... 32
4.2.3
Precautions for diverting cam data .................................................................................................. 32
4.3
Program Diversion Procedure in PLC CPU Side ................................................................................... 33
4.3.1
Conversion procedure of sequence program for Qn(H)CPU using GX Works2/ GX Developer .. 33
5.
USING A/QnA->Q CONVERSION SUPPORT TOOL FOR SEQUENCE PROGRAMS ............................. 38
5.1
Preparation for Using Support Tool ......................................................................................................... 38
5.2
Using Procedure of Support Tool ............................................................................................................ 39
5.3
Correction of the Sequence Program in Created Embedded File ......................................................... 41
5.3.1
Correction of special relay/special register ...................................................................................... 41
5.3.2
Correction of motion-dedicated instructions .................................................................................... 41
5.3.3
Others ............................................................................................................................................... 41
6.
POINTS AND PRECAUTIONS OF REPLACEMENT ................................................................................... 42
6.1
Difference of Motion CPU Configuration ................................................................................................. 42
6.1.1
System configuration ........................................................................................................................ 42
6.1.2
Shared device................................................................................................................................... 43
6.2
Precautions on Replacement .................................................................................................................. 44
6.2.1
Slot position (system setting) ........................................................................................................... 44
6.2.2
Restrictions on the number of blocks and total points in the refresh setting .................................. 45
6.2.3
Timer counter ................................................................................................................................... 45
6.2.4
Parameter block ............................................................................................................................... 45
A
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5. APPENDIX ······························································································································· 1
1.
OUTLINE DIMENSIONS ................................................................................................................................... 2
1.1
Outline Dimensions of A Series (small type) ··········································································· 2
1.1.1
A17nSHCPUN .................................................................................................................................... 2
1.1.2
A173UHCPU(-S1) .............................................................................................................................. 2
1.1.3
A172SENC ......................................................................................................................................... 3
1.1.4
A172B ................................................................................................................................................. 3
1.1.5
A175B ................................................................................................................................................. 4
1.1.6
A178B(-S□) ......................................................................................................................................... 4
1.1.7
A168B ................................................................................................................................................. 4
1.1.8
A1S65B ............................................................................................................................................... 5
1.1.9
A1S68B ............................................................................................................................................... 5
1.2
Outline Dimensions of QD(S) Series ····················································································· 6
1.2.1
Q17nDSCPU ...................................................................................................................................... 6
1.2.2
Q17nDCPU ......................................................................................................................................... 6
1.2.3
Q17nDCPU-S1 ................................................................................................................................... 7
1.2.4
Q170DBATC ...................................................................................................................................... 7
1.2.5
Q172DLX ............................................................................................................................................ 8
1.2.6
Q172DEX ........................................................................................................................................... 8
1.2.7
Q173DPX ........................................................................................................................................... 9
1.2.8
Q61P/Q62P/Q63P .............................................................................................................................. 9
1.2.9
QnHCPU ........................................................................................................................................... 10
1.2.10
QnUDE(H)CPU ................................................................................................................................ 10
1.2.11
Q38DB .............................................................................................................................................. 11
1.2.12
Q312DB ............................................................................................................................................ 11
1.2.13
Q55B ................................................................................................................................................. 11
1.2.14
Q63B ................................................................................................................................................. 12
1.2.15
Q65B ................................................................................................................................................. 12
1.2.16
Q68B [Base unit mounting hole: 5 holes] ........................................................................................ 12
1.2.17
Q68B [Base unit mounting hole: 4 holes] ........................................................................................ 13
1.2.18
Q612B [Base unit mounting hole: 5 holes] ...................................................................................... 13
1.2.19
Q612B [Base unit mounting hole: 4 holes] ..................................................................................... 13
1.3
Outline Dimensions of Stand-alone Motion ·········································································· 14
1.3.1
Q170MSCPU(-S1) ........................................................................................................................... 14
1.3.2
Q170MCPU ...................................................................................................................................... 14
A
- 17
Memo
A
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1
. OVERVIEW OF A-MOTION REPLACEMENT
1. OVERVIEW OF A-MOTION REPLACEMENT
1. OVERVIEW OF A-MOTION REPLACEMENT .................................................................................................... 1
1.
OVERVIEW OF A-MOTION REPLACEMENT HANDBOOK ...................................................................... 2
2.
MAIN REPLACEMENT TARGET MODEL ................................................................................................... 2
3.
MERITS OF REPLACEMENT ...................................................................................................................... 3
3.1
Multiple CPU System (QDS-Motion) with Q Series PLC Module ............................................................ 3
3.2
High-speed and High Performance of Motion CPU .................................................................................. 3
3.3
High-speed, Noise Free Communication by SSCNET III(/H) ................................................................... 3
3.4
MR-J4 Amplifier + HG Servo Motor (QDS-Motion) ................................................................................... 3
3.5
Space Economization (Stand-alone Motion) ............................................................................................ 3
3.6
Decrease of Maintenance Cost ................................................................................................................. 4
4.
CASE AND STUDY OF A-MOTION REPLACEMENT ................................................................................ 5
4.1
1): Update at once to QDS-Motion/Stand-alone Motion + MR-J4-B ........................................................ 6
4.2
2): When only Controllers and Servo Amplifiers are Changed ................................................................ 7
4.3
3): Partial Update from MR-J2S-B to MR-J4-B ......................................................................................... 8
4.4
4): Individual Replacement Support .......................................................................................................... 9
4.5
Others ....................................................................................................................................................... 10
4.5.1
Combination before/after controller replacement ............................................................................ 10
4.5.2
Combination of controller and servo amplifier ................................................................................. 11
5.
SYSTEM TRANSITION ............................................................................................................................... 12
5.1
Configuration of the System Using A-Motion (before transition) ............................................................ 12
5.2
Configuration of the System Using QDS-Motion (after transition) ......................................................... 13
5.3
Replace to Stand-alone Motion ............................................................................................................... 14
5.4
Transition of Other Configurations .......................................................................................................... 15
5.4.1
Combination of servo amplifier and servo motor ............................................................................ 15
5.4.2
Specification comparison of servo system network ........................................................................ 15
5.4.3
Support of operating system software ............................................................................................. 16
5.4.4
Correspondence of peripheral software .......................................................................................... 16
5.4.5
Outline of the motion data replacement flow ................................................................................... 17
5.4.6
Precautions for replacing motion data saved with DOS-version peripheral software .................... 17
5.4.7
Dimensions ....................................................................................................................................... 17
6.
TRANSITION OF THE PROGRAM ............................................................................................................ 18
6.1
Motion Project Diversion Function in MT Works2 ................................................................................... 19
6.1.1
Data list available for diversion or not .............................................................................................. 19
6.1.2
Motion program diversion procedure in MT Works2 ....................................................................... 20
6.2
Ladder Program Diversion Function in GX Works2 ............................................................................... 22
6.2.1
Ladder program diversion procedure in GX Works2 ...................................................................... 22
6.2.2
The process after diverting the ladder program in GX Works2 ...................................................... 24
6.3
Precautions of Program Transition .......................................................................................................... 25
6.3.1
Precautions of shared device memory transition between SCPU (PLC) and PCPU (Motion CPU)
.......................................................................................................................................................... 25
7.
RELEVANT DOCUMENTS ......................................................................................................................... 26
7.1
Relevant Catalogs .................................................................................................................................... 26
7.2
Relevant Manuals .................................................................................................................................... 27
1
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1
. OVERVIEW OF A-MOTION REPLACEMENT
1. OVERVIEW OF A-MOTION REPLACEMENT HANDBOOK
The following shows the essential replacement overview to renew or lengthen the working life for the system which used A-Motion.
After replacement policy have been decided, it is recommended to replace refer to the corresponding part of continuous replacement handbook, technical sheet and the manual for each model.
Mitsubishi Motion Controller
A series (small type) ("A-Motion")
2. MAIN REPLACEMENT TARGET MODEL
The main replacement target model is A series (small type) motion controllers and these options.
The motion controllers and related models that displayed in the following table have switched to the production to the order already, it is recommended to replace (transit) to the new model.
CPU module
Main base unit
Product
PLC extension base unit
Pulse generator/synchronous encoder interface module
Cable for SSCNET I/F board
Cable for SSCNET I/F card
Model name Product Model name
A171SHCPUN A30TU
A172SHCPUN A30TU-E
A173UHCPU
(Note-1)
A30TU-S1
A30TU-SV42
A172B A30TU-SV51
A175B A31TU
A178B A31TU-E
Teaching unit
A178B-S1 A31TU-KE
A178B-S2 A31TU-R
A178B-S3 A31TU-RE
A168B A31TU-RT
A171SENC A31TU-RTE
A172SENC A31TU-D3KE51
A270BDCBL□M A31TU-D3RKE51
A270CDCBL□M Teaching unit connection cable
A31TUCBL03M
A31TUCBL using short circuit connector
A31SHORTCON
(Note-1): A173UHCPU-S1 also be shown as A173UHCPU in the article.
*
In addition, the targets are controller OS package used in above products, software tool packages and the customized products which were derived from these products.
1
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1
. OVERVIEW OF A-MOTION REPLACEMENT
3. MERITS OF REPLACEMENT
It is recommended to replace A-Motion to the latest iQ Platform Motion CPU Q173DSCPU/Q172DSCPU
(the following QDS-Motion) or Stand-alone Motion CPU Q170MSCPU-S1.
As the merits shown below, it is strongly recommended to use the latest module, QDS-Motion and
MR-J4 amplifier.
When a servo network cannot be replaced and A-Motion is replaced with Q173CPUN/Q172CPUN
(hereafter called QN-Motion), refer to "4. REPLACEMENT FROM A-MOTION TO QN-MOTION". However, replacing A-Motion with QN-Motion is not recommended since QN-Motion is not the latest model. In addition, the production of MR-J2S series servo amplifiers and HC series servo motors will stop in August,
2015. If these products need to be continuously used after the production stoppage, changing the system used to an alternative system will be required. (For details, refer to Section 4.2 to 4.3.)
In order to use a system for a long time with no system modification after the replacement, it is recommended to replace A-Motion with QDS-Motion or Stand-alone Motion.
3.1 Multiple CPU System (QDS-Motion) with Q Series PLC Module
A system with high flexibility and extensibility can be constructed using various iQ Platform-compatible modules. An equipment that match the varied request by extensive products can be selected.
--> Takt time of Production line will be shorten by the equipment capability of expansion and high performance.
3.2 High-speed and High Performance of Motion CPU
The operation speed of a Motion CPU can be significantly improved: a Motion CPU has an operation cycle of up to 0.22ms/4 axes (QDS-Motion SV22) or 0.44ms/4 axes (Stand-alone Motion SV22). And as there are extremely abundant motion control functions, it can support the advanced motion control.
--> Takt time of Production line will be shorten by the high-speed motion control capability and high performance.
3.3 High-speed, Noise Free Communication by SSCNET III(/H)
SSCNET III(/H) Servo network communication realizes high-speed response (Communication speed:
150Mbps (simplex)/300Mbps (duplex)) and eliminates the influence of noise by utilizing an optical communication system.
--> The influence of noise by wiring can be suppressed, and the operation of equipment will be stabilized.
3.4 MR-J4 Amplifier + HG Servo Motor (QDS-Motion)
The latest MR-J4 series includes various functions such as one-touch tuning and realizes the high performance with speed response frequency of 2.5 kHz and encoder resolution of 22 bits (4194304 pulses/rev). The quantity of rare earth metals is reduced for HG series, the servo motor series appropriate for QDS-Motion.
--> The influence of noise by wiring can be suppressed, and the operation of equipment will be stabilized.
3.5 Space Economization (Stand-alone Motion)
A power supply module, a PLC, and a motion controller are integrated without degrading the high performance of iQ Platform, and this contributes cost reduction and downsizing the equipment. Built the mark detection and the synchronous encoder I/F in, and it will support the packing machine system without using special module.
--> Small-size equipment and cost performance will be compatible.
1
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1
. OVERVIEW OF A-MOTION REPLACEMENT
3.6 Decrease of Maintenance Cost
Once the product has been used for more than 5 years, it is necessary to maintain the machine such as partly replacement according to the lifespan, and the maintenance cost for power supply module replacing, electrolytic capacitor and the whole board replacing will be charged. In order to use the system for a long time, and consider the factors like performance and quality, it is recommended to replace to the latest model at early stage.
--> Extend the lifespan of the equipment.
1
- 4
1
. OVERVIEW OF A-MOTION REPLACEMENT
4. CASE AND STUDY OF A-MOTION REPLACEMENT
The following shows the replacement case study of the system which used standard A-Motion. Although it will need some major maintenance, it is recommended to carry out the system batch update of 1) to use a system for a long time with no system modification after the maintenance.
If the batch update including the change of servo amplifiers, servo motors, and servo networks is difficult to carry out due to the period and cost of the maintenance, carry out 2) or 3). If any update will not be done, refer to 4) Individual replacement support.
A171SHCPUN
A172SHCPUN
A173UHCPU
HC/HA motor
YES
MR-J2S-B
* Production will be stopped in August, 2015.
System update at once
Case 1) to 4) will be explained on the next page and later.
NO
* Production will be stopped in August, 2015.
1) Update at once to
QDS-Motion + MR-J4-B or
Stand-alone Motion +
MR-J4-B
YES
2) Drive HC/HA motors using 1).
Change controllers and servo amplifiers
*1. Although it will cost a lot and take a long period for maintenance, once a system is upgraded, the system can be used for a long time after that.
YES
Change servo amplifiers and servo motors
3) Partially change to to the latest motion controllers finally.
NO
MR-J4-B and change
Only when equipment is completely replaced.
4) Individual replacement support
• Servo amplifier
• Motor
1
- 5
1
. OVERVIEW OF A-MOTION REPLACEMENT
4.1 1): Update at once to QDS-Motion/Stand-alone Motion + MR-J4-B
The following shows the systems for the system batch update.
[QDS-Motion + MR-J4-B + HG motor] [Stand-alone Motion + MR-J4-B + HG motor]
QnUD PLC + QDS-Motion + Q3□DB base
Q170MSCPU(-S1)
MR-J4-B
HG motor
"QDS-Motion" is point to the following modules.
Q172DSCPU, Q173DSCPU
MR-J4-B
HG motor
"Stand-alone Motion" is point to the following modules.
Q170MSCPU, Q170MSCPU -S1
1
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1
. OVERVIEW OF A-MOTION REPLACEMENT
4.2 2): When only Controllers and Servo Amplifiers are Changed
The following shows the procedure for updating a system when only controllers and servo amplifiers are changed.
[QDS-Motion + MR-J4-B + HC/HA motor]
QnUD PLC + QDS-Motion + Q3□DB base
[Stand-alone Motion + MR-J4-B
+ HC/HA motor]
Q170MSCPU(-S1)
MR-J4-B
MR-J4-B
HC/HA motor
"QDS-Motion" indicates the following modules.
Q172DSCPU, Q173DSCPU
"Stand-alone Motion" indicates the following modules.
Q170MSCPU, Q170MSCPU-S1
* Although HC/HA motors can be used without any change, the encoder resolution of the servo amplifier becomes 17 bits.
For the applicable servo motors and servo amplifiers, contact your local sales office.
POINT
● When the following HC/HA motors are used, changing the motors with HG motors and servo amplifiers with MR-J4-_B_ in a batch is recommended.
(To use HG motors, the capacity of servo amplifiers may need to be changed.)
Existing model Example of replacement models for batch change
Servo motor
HC-LFS52
HC-LFS102
HC-LFS152
Servo amplifier Servo motor Servo amplifier
MR-J2S-60B HG-JR73 MR-J4-70B
MR-J2S-100B HG-JR153 MR-J4-200B
MR-J2S-200B HG-JR353 MR-J4-350B
HA-LFS15K2(4)(B)
HA-LFS22K2(4)(B)
HA-LFS30K2(4)
HC-KFS46
MR-J2S-30KB(4) HG-JR22K1M(4) MR-J4-22KB(4)
MR-J2S-70B HG-KR43
HC-KFS410 MR-J2S-70B
HC-RFS103(B)G2 1/_ MR-J2S-200B
MR-J4-40B
HG-KR43 MR-J4-40B
HG-SR102(B)G7 1/_ MR-J4-100B
HC-RFS203(B)G2 1/_ MR-J2S-350B HG-SR202(B)G7 1/_ MR-J4-200B
HC-RFS353(B)G2 1/_ MR-J2S-500B HG-SR352(B)G7 1/_ MR-J4-350B
HC-RFS103(B)G5 1/_ MR-J2S-200B HG-SR102(B)G5 1/_ MR-J4-100B
HC-RFS203(B)G5 1/_ MR-J2S-350B HG-SR202(B)G5 1/_ MR-J4-200B
HC-RFS353(B)G5 1/_ MR-J2S-500B HG-SR352(B)G5 1/_ MR-J4-350B
HC-RFS103(B)G7 1/_ MR-J2S-200B HG-SR102(B)G7 1/_ MR-J4-100B
HC-RFS203(B)G7 1/_ MR-J2S-350B HG-SR202(B)G7 1/_ MR-J4-200B
HC-RFS353(B)G7 1/_ MR-J2S-500B HG-SR352(B)G7 1/_ MR-J4-350B
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4.3 3): Partial Update from MR-J2S-B to MR-J4-B
The following shows the procedure for updating a system partially.
MR-J2S-B
* Production will be stopped in August, 2015.
HC/HA motor
* Production will be stopped in August, 2015.
HG motor * MR-J2S-B cannot drive HG motors.
MR-J4-B-RJ020 (Conversion unit for SSCNET of MR-J2S-B compatible servo amplifier)
+ MR-J4-T20 (Conversion unit for SSCNET of MR-J2S-B)
QnUD PLC + QDS-Motion + Q3□DB base
MR-J4-B-RJ020
* When the network used is changed, change
MR-J4-B-RJ020 from the J2S mode to the J4 mode.
Remove MR-J4-T20.
MR-J4-B-RJ020 (Conversion unit for SSCNET of MR-J2S-B compatible servo amplifier)
+ MR-J4-T20 (Conversion unit for SSCNET of MR-J2S-B)
→ The MR-J4-B-RJ020 to which MR-J4-T20 is connected operates as MR-J2S-B.
In addition, MR-J4-B-RJ020 can drive MR-J4-compatible HG motors and
MR-J2S-compatible HC/HA motors.
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. OVERVIEW OF A-MOTION REPLACEMENT
4.4 4): Individual Replacement Support
The following shows the system update procedure for the individual replacement.
When a servo amplifier (MR-J2S-B) failed When a servo motor failed
Change to
MR-J4-B-RJ020 +
MR-J4-T20.
Change to
MR-J4-B-RJ020 +
MR-J4-T20.
HC/HA motor
* Production will be stopped in August, 2015.
Drive the HC/HA motor using MR-J4-B-RJ020
+ MR-J4-T20.
Change to an HG motor.
Drive the HG motor using MR-J4-B-RJ020 +
MR-J4-T20.
* In addition to the failed servo motor, the servo amplifier connected with the servo motor needs to be changed in this case.
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. OVERVIEW OF A-MOTION REPLACEMENT
4.5 Others
4.5.1 Combination before/after controller replacement
The following table shows combination before/after controller replacement.
Please refer to the table when transiting.
QN-Motion
(Q17nCPUN)
SSCNET
QH-Motion
(Q17nHCPU)
SSCNET III
QD-Motion
(Q17nDCPU)
SSCNET III
A-Motion
• A17nSHCPUN
• A173UHCPU
Q-Motion
• Q17nCPUN
It is recommended to transit to
QDS-Motion.
*1
It is recommended to transit to
QDS-Motion.
It is recommended to transit to
QDS-Motion.
Refer to
Section 2 in this document.
Refer to
Technical sheet:
S0014CB
QDS-Motion
(Q17nDSCPU)
SSCNET III/H
Refer to
Section 2 in this document.
Refer to
Technical sheet:
S0014CB
QH-Motion
• Q17nHCPU
Refer to
Technical sheet:
S0013CB
Refer to
Technical sheet:
S0013CB
Stand-alone
Motion
(Q170MSCPU)
SSCNET III/H
Refer to
Section 3 in this document.
← Same as
QDS-Motion
← Same as
QDS-Motion
*1 Refer to "4. REPLACEMENT FROM A-MOTION TO QN-MOTION" in this document.
However, replacing A-Motion with QN-Motion is not recommended since QN-Motion is not the latest model.
In order to use a system for a long time with no system modification after the replacement, it is recommended to replace A-Motion with QDS-Motion or Stand-alone Motion.
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. OVERVIEW OF A-MOTION REPLACEMENT
4.5.2 Combination of controller and servo amplifier
The following table shows combination of controller and servo amplifier.
Please refer to the table when transiting.
Controller
Servo amplifier
MR-H-BN
Production stopped in December, 2005.
MR-J2-B
Production stopped in December, 2005.
MR-J2S-B
MR-J2M-B
Production will be stopped in
August, 2015.
MR-J3-B
QN-Motion
(Q17nCPUN)
QH-Motion
(Q17nHCPU)
QD-Motion
(Q17nDCPU)
QDS-Motion
(Q17nDSCPU)
(Controller:
J3 mode)
MR-J4-B
(MR-J4-B-RJ020
+MR-J4-T20)
(MR-J3 compatible mode)
(MR-J3 compatible mode)
Stand-alone
Motion
(Q170MSCPU)
(Controller:
J3 mode)
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. OVERVIEW OF A-MOTION REPLACEMENT
TRANSITION
5.1 Configuration of the System Using A-Motion (before transition)
The following shows the general system chart used A-Motion.
A171SHCPUN
A172SHCPUN
A173UHCPU
(Servo external signal input)
Serial ABS synchronous encoder cable
MR-HSCBL□M
Main base unit
A172B
A175B
A178B(-S□)
Motion signal input module
A172SENC
SSCNET cable
MR-J2HBUS□M(-A)
Manual pulse
MR-HDP01
Serial ABS synchronous encoder
MR-HENC
RS-422 communication cable
SSCNET board
A30BD-PCF
SSCNET communication cable
A270BDCBL□M
Servo amplifier
MR-J2S-□B
* Production will be stopped in
August, 2015.
Servo motor
HC motor
* Production will be stopped in August, 2015.
[SSCNET cable]
For A171/172SHCPUN,
••• Up to 1
For A173UHCPU(-S1),
••• Up to 4
Desktop PC
SSCNET communication cable
A270CDCBL□M
SSCNET card
A30CD-PCF
Note PC
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. OVERVIEW OF A-MOTION REPLACEMENT
5.2 Configuration of the System Using QDS-Motion (after transition)
The following shows the system chart used QDS-Motion after transiting.
Encoder input module
Q172DEX
Serial ABS synchronous encoder cable
Q170ENCCBL□M
Power supply module
Q6□P
+
PLC CPU
QnUD(E)(H) CPU
+
Motion controller
Q172DSCPU
Q173DSCPU
Pulse input module
Q173DPX
Manual pulse generator
(cannot be used with Q173DPX)
External signal input module
Q172DLX
Manual pulse
MR-HDP01
(External signal input)
Serial ABS synchronous encoder
Q171ENC-W8
Input: 4 points
Main base unit
Q3□DB SSCNET III cable:
MR-J3BUS□M
[SSCNET III cable]
For Q172DSCPU,
••• Up to 1
For Q173DSCPU,
••• Up to 2
Ethernet communication cable
USB communication cable
Servo amplifier
MR-J4-□B
MR-J4W2-□B
MR-J4W3-□B
Servo motor
HG motor
Serial ABS synchronous encoder
Q171ENC-W8
* Ethernet is a trademark of Xerox Corporation in the United States.
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. OVERVIEW OF A-MOTION REPLACEMENT
5.3 Replace to Stand-alone Motion
The following shows the system chart used Stand-alone Motion after transiting.
SSCNET III/H
Stand-alone Motion:
Q170MSCPU
Q170MSCPU-S1
Input: 4 points
Output: 2 points
Manual pulse
MR-HDP01
Extension cable
QC□B
Extension base
Q52B/Q55B
SSCNET III cable
MR-J3BUS□M
(External signal input)
I/O module/Intelligent function module (Up to 512 points)
(External signal input)
External signal input module
Q172DLX
Note)
Pulse input module
Q173DPX also can be used
Serial ABS synchronous encoder
Q171ENC-W8
Servo amplifier
MR-J4-□B
MR-J4W2-□B
MR-J4W3-□B
Servo motor
HG motor
Ethernet communication cable
USB communication cable
/RS-232C cable
* Ethernet is a trademark of Xerox Corporation in the United States.
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. OVERVIEW OF A-MOTION REPLACEMENT
5.4 Transition of Other Configurations
5.4.1 Combination of servo amplifier and servo motor
The following table shows the combination of servo amplifier and servo motor.
Please refer to the table when transiting.
A17nSHCPUN/A173UHCPU(-S1)
Q17nDSCPU/Q170MSCPU
Q17nDCPU/Q170MCPU
Series Series Series Servo Servo amplifier motor
MR-J2S
Series
MR-J2S-□B HC-KFS□
HC-MFS□
HC-SFS□
HC-LFS□
HC-RFS□
HA-LFS□
HC-UFS□
MR-J2M
Series
MR-J2M-□DU HC-KFS□
HC-MFS□
HC-UFS□
→
MR-J4
Series
Servo amplifier
MR-J4-□B
MR-J4W2-□B
MR-J4W3-□B
Servo motor
HG-KR□
HG-MR□
HG-SR□
HG-RR□
HG-UR□
HG-JR□
MR-J3
Series
Servo amplifier
MR-J3-□B
MR-J3W-□B
MR-J3-□B-RJ006
MR-J3-□B-RJ004
MR-J3-□BS
Servo motor
HF-KP□
HF-MP□
HF-SP□
HF-JP□
HC-LP□
HC-RP□
HC-UP□
HA-LP□
5.4.2 Specification comparison of servo system network
The following table shows the specification comparison of servo system network.
Please refer to the table when transiting.
Item SSCNET
(A-Motion)
SSCNETIII SSCNETIII/H
Communication cable
Communication speed
Cycle Send
Receive
The maximum number of axes of each system
Communication
Distance
Metal cable
5,6Mbps
3.55ms
8axes/system
Overall length 30m
Optical fibre cable
50Mbps
0.44ms/0.88ms
150Mbps
0.22ms/0.44ms/0.88ms
0.44ms/0.88ms
0.22ms/0.44ms/0.88ms
16 axes/system
→
Standard code for inside panel or Standard cable for outside panel
Up to 20m between stations
Maximum overall length is 320m
(20m × 16 axes)
[Long-distance cable]
Up to 50m between stations
Maximum overall length is 800m
(50m×16axes)
[Long-distance cable]
Up to 100m between stations
Maximum overall length is 1600m
(100m×16axes)
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5.4.3 Support of operating system software
The following table shows the support of operating system software.
Please refer to the table when transiting.
CPU model
OS
Type
OS model CPU model
OS
Type
OS model CPU model
OS
Type
OS model
A173UHCPU
(-S1)
A172SHCPUN
A171SHCPUN
SV13
SV22
SV43
SV13
SV22
SV43
SV13
SV22
SV43
SW2SRX-SV13B
SW2NX-SV13B
SW3RN-SV13B
SW2SRX-SV22A
SW2NX-SV22A
SW3RN-SV22A
SW2SRX-SV43A
SW2NX-SV43A
SW0SRX-SV13D
SW0NX-SV13D
SW3RN-SV13D
SW0SRX-SV22C
SW0NX-SV22C
SW3RN-SV22C
SW0SRX-SV43C
SW0NX-SV43C
SW0SRX-SV13G
SW0NX-SV13G
SW0SRX-SV22F
SW0NX-SV22F
SW0SRX-SV43F
SW0NX-SV43F
→
Q173DSCPU
Q172DSCPU
Q170MSCPU
SV13 SW8DNC-SV13QJ
SV22 SW8DNC-SV22QJ
SV13 SW8DNC-SV13QL
SV22 SW8DNC-SV22QL
SV13 SW8DNC-SV13QN
SV22 SW8DNC-SV22QN
Q173DCPU
(-S1)
Q172DCPU
(-S1)
Q170MCPU
SV13 SW8DNC-SV13QB
SV22 SW8DNC-SV22QA
SV43 SV43 SW7DNC-SV43QA
SV13 SW8DNC-SV13QD
SV22 SW8DNC-SV22QC
SV43 SV43 SW7DNC-SV43QC
SV13 SW8DNC-SV13QG
SV22 SW8DNC-SV22QF
SV43 SV43 SW7DNC-SV43QF
*1 For A-Motion controllers, "Motion SFC-compatible OS" and "Motion SFC non-compatible OS" are different OSs. For the motion controllers of the Q series or later, whether to use the Motion SFC or not can be selected for the same OS.
5.4.4 Correspondence of peripheral software
The following table shows the correspondence of peripheral software.
Please refer to the table when transiting.
A17nSHCPUN/A173UHCPU(-S1)
Class Type
Motion program
SW2SRX-GSV□
SW2NX-GSV□
SW3RNC-GSV□
→
PLC program
Servo amplifier
GX Developer
<MR Configurator>
SETUP161□
Q series Motion CPU
Type Comment
<MELSOFT MT Works2>
SW1DNC-MTW2-□
<MELSOFT GX Works2>
<MR Configurator2>
(note-3)
SW1DNC-MRC2-□
(note-1)
Please use the latest version
Please use the latest version
Please use the latest version
(note-2)
(note-2)
(Note-1) GX Developer is bundled in GX Works2.
(Note-2) As the latest versions of MT Works2 and GX Works2 have been released in Mitsubishi Electric
FA Site, update your software to the latest version.
(Note-3) MR Configurator2 is bundled in MT Works2.
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5.4.5 Outline of the motion data replacement flow
The following flowchart describes the motion data replacement procedure when the data can be diverted.
Start
Does the motion data file exist?
YES
Is the motion data saved in the computer where Windows-version peripheral software
(MT Works2) is installed?
YES
Convert the CPU using Windows-version peripheral software (MT Works2) and save the data.
Divert parameters and programs.
Create a program and perform debugging.
NO
Read the motion data from the Motion
CPU by using Windows-version peripheral software (SW3RN) or
DOS-version peripheral software
(SW2SRX(NX)), and save the data.
NO
Move the motion data to the computer where Windows-version peripheral software (MT Works2) is installed.
(Caution)
Windows-version peripheral software (SW3RN)
: A-Motion-compatible Windows-version peripheral software
SW3RN-GSV13P/GSV22P
DOS-version peripheral software (SW2SRX(NX))
: A-Motion-compatible DOS-version peripheral software
SW2SRX(NX)-GSV13P/GSV22P
Windows-version peripheral software (MTWorks2)
: Q-Motion-compatible Windows-version peripheral software "MTWorks2"
SW1DNC-MTW2-J
5.4.6 Precautions for replacing motion data saved with DOS-version peripheral software
The motion data saved with DOS-version peripheral software (SW2SRX/SW2NX-GSV13P/GSV22P) is stored in "C:\GPP\USR\System name\Machine name". Extract the data from the folder.
5.4.7 Dimensions
Refer to "5. APPENDIX".
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. OVERVIEW OF A-MOTION REPLACEMENT
6. TRANSITION OF THE PROGRAM
The section shows the content which converts A-Motion to Q17nDS (virtual mode switching type).
Motion part
(SFC/not SFC)
Use the project diversion function in MT Works2.
It can also be used without SFC.
Transition of A-Motion program
PLC part
(Ladder)
Use the PLC type change function in GX Works2.
"A/QnA->Q conversion support tool" can be used to confirm the modified content of ladder program.
When the ladder program A/QnA->Q conversion support tool used
"A/QnA->Q conversion support tool" can be used to confirm the modified content of ladder program.
Please download and install A/QnA->Q conversion support tool from Mitsubishi FA Site.
For details, please refer to the A/QnA->Q conversion support tool guidebook in the same page.
Although the ladder program has been converted following the procedure, it may not be operated correctly. For the program modifications, please refer to “2. REPLACEMENT PROPOSAL FROM A-MOTION TO
QDS-MOTION”.
Before conversion
A-Motion
Program
After conversion
QDS-Motion
Program
Before conversion
Ladder Program for A
After conversion
Ladder Program for Q
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6.1 Motion
6.1.1 Data list available for diversion or not
The following table shows the overview whether the data can be diverted or not for the diversion function of motion project in MT Works2. The data may not be diverted for the case, but more than half can be diverted.
For details, please refer to “2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION”.
A171SHCPUN, A172SHCPUN A173UHCPU
Data list available for diversion or not
SV13 SV22 SV13 SV22
System setting
System setting data
High speed reading data
(Servo amplifier has been converted to MR-J3-B/MR-J4-B after diverting)
Basic setting (Multiple CPU etc. must be set)
Servo data setting
Motion
SFC program
Fixed parameter
Home position return data
JOG operation data
Servo parameter
Parameter block
Limit output data
Motion SFC parameter
Motion SFC program
Operation control program
Transition program
Conversion data
Automatic numbering setting
Servo program
(Change electronic gear)
Besides MR-J2S: , MR-J2S:
: Not use Motion SFC
: Use Motion SFC
(Device must be revised)
(Device must be revised)
(Device must be revised)
(Data must be converted again)
(Device must be reviewed)
- -
Mechanical system program
Mechanical edit data
Mechanical conversion data
Cam conversion data -
(Data must be converted again)
-
Cam data
Device memory
SW3RNC-GSVE only
(# device only)
: Can be diverted (can be used directly)
: Data must be revised
: Must be set again
- : Data does not exist because it has not been used in diversion source (A-Motion).
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6.1.2 Motion program diversion procedure in MT Works2
The following describes the procedure for diverting an A173UHCPU/A17nSHCPUN project using MT
Works2. For details, refer to "2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION". For details, please refer to “2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION”
1) Start MT Developer2, and select "Divert File" --> "Diversion of Other Format Project" from the "Project" tab.
2) Specify the CPU type, OS type, and operation method after the replacement in the "Diversion of Other
Format Project" dialog box, and select "Browse".
•
Omitted below
•
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10) Input "Workspace Name", "Project Name", and "Title", and select "Save".
11) Select "Yes".
Please refer to "4.1 Data list available for diversion or not (SV13/SV22)", and set the data that cannot be diverted if necessary. And for the multiple-CPU parameter setting, please refer to “2. REPLACEMENT
PROPOSAL FROM A-MOTION TO QDS-MOTION” and the user's manual for the using module.
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6.2 Ladder Program Diversion Function in GX Works2
6.2.1 Ladder program diversion procedure in GX Works2
This section explains the conversion overview of a ladder program for A-Motion controller (SCPU). For details of ladder program created by GX Developer, please refer to “2. REPLACEMENT PROPOSAL
FROM A-MOTION TO QDS-MOTION”.
1) After starting GX Works2, select "Start GX Developer" from the "Project" tab.
2) The following shows the conversion of ladder program created by SW3RNC-GSVE. (GPPA file format)
After GX Works2/GX Developer is started, select "Import file" --> "Import from GPPA format file" from the "Project" tab.
•
Omitted below
•
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9) Select "Change PLC type" from the "Project" tab in GX Developer.
10) Specify the PLC series (QCPU(Qmode)) and PLC type (QnUD(E)(H)CPU) after the replacement in the "Change PLC type" dialog box, and select "OK".
•
Omitted below
•
14) When "Save as" is selected from the "Project" tab, the following dialog box appears. Input "Project name" and "Title", and select "Save".
15) The new project creation dialog box appears. Select "Yes".
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6.2.2 The process after diverting the ladder program in GX Works2
Although the ladder program has been diverted by GX Works2, the dedicated instructions and dedicated devices for A-Motion may not be converted automatically, please correct it manually as follows. And, there is also a tool called" A/QnA->Q conversion support tool" to support the process.
For details, please refer to “2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION”.
1) Motion dedicated instructions
(SVST, CHGA, CHGV, CHGT, SFCS, ITP)
--> Convert to SM1255.
2) A-Motion dedicated (not included in QDS-Motion)
• Special relay
• Special register
--> Convert to SM1255 and SD1255.
As it has been converted as above, please remember using content of these devices in the pre-converted program (A-Motion ladder), and change the converted content in SM1255, SD1255 to
Q17nDSCPU Motion dedicated instructions and other bit device after converting. (Please refer to the user's manual of each CPU module and the programming manual)
• A-Motion (Ladder)
1) Motion dedicated instructions
(SVST, CHGA, CHGV, CHGT, SFCS, ITP)
2) A-Motion dedicated (not included in QDS-Motion)
• Special relay
• Special register
As it has been converted as above, please remember using content of these devices in the pre-converted program (A-Motion ladder), and change the converted content in SM1255,
SD1255 to Q17nDSCPU Motion dedicated instructions and other bit device after converting.
Convert
• QDS-Motion (Ladder)
SM1255
SD1255
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6.3 Precautions of Program Transition
6.3.1 Precautions of shared device memory transition between SCPU (PLC) and PCPU (Motion
CPU)
PLC CPU and Motion CPU are integrated in A-Motion, while these are not integrated in QDS-Motion.
And the shared device memory can be used by the Multiple CPU high speed transmission (+ automatic refresh). Therefore it is necessary to execute the automatic refresh setting and allocate to the Motion CPU device which used PLC CPU after the project diversion. Pay attention to the number of automatic refresh block because the limit is 32 in Q173DSCPU/Q172DSCPU.
A-Motion
QDS-Motion
Q Bus
Automatic Refresh
(per scan time)
High
Speed Bus
(0.88ms
cyclical transition)
Automatic Refresh
(per main cycle/ per operation cycle )
[Advantage]
- 0.88ms cyclical transition can be done in high speed transmission area
- Automatic refresh per operation cycle is possible
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. OVERVIEW OF A-MOTION REPLACEMENT
DOCUMENTS
Please refer to the following documents. And it can be downloaded from Mitsubishi Electric FA Site whenever you want.
7.1 Relevant
Motion Controller Q17nDSCPU/Q170MSCPU, Motion Controller
Simple Motion Module QD77MS/QD77GF Q17nDCPU
L(NA) 03062 L(NA)03036
MELSERVO-J4 MELSERVO-J2-Super Transition Guide
L(NA) 03058 L(NA)03091
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Manuals
Q170M(S) Series User's Manual
Q170MSCPU User's Manual
IB-0300212
Q173D(S)/Q172D(S) Series User's Manual
Q173D(S)CPU/Q172D(S)CPU User's Manual
IB-0300133
Q173D(S)/Q172D(S) Series Programming Manual
Programming Manual (COMMON) [type Q173D(S)/Q172D(S)]
IB-0300134
Q173D(S)/Q172D(S) Series Programming Manual
SV13/22Programming Manual (Motion SFC) [type Q173D(S)/Q172D(S)]
IB-0300135
Q173D(S)/Q172D(S) Series Programming Manual
SV13/22Programming Manual (REAL MODE) [type Q173D(S)/Q172D(S)]
IB-0300136
Q173D(S)/Q172D(S) Series Programming Manual
SV22Programming Manual (VIRTUAL MODE) [type Q173D(S)/Q172D(S)]
IB-0300137
Q173D(S)/Q172D(S) Series Programming Manual
SV22Programming Manual (Advanced Synchronous Control) [type Q173DS/Q172DS]
IB-0300198
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MR-J4 Series
Transition from MELSERVO-J2-Super/J2M Series to J4 Series Handbook
L(NA)03093
MR-J4 Series
MR-J4-_B(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL
SH-030106
MR-J4 Series
MR-J4 Servo amplifier Instructions and Cautions for Safe Use of AC Servos
IB-0300175E
MR-J4 Series
MELSERVO-J4 Servo amplifier INSTRUCTION MANUAL TROUBLE SHOOTING
SH-030109
MR-J4 Series
MR-J4W2-_B/MR-J4W3-_B SERVO AMPLIFIER INSTRUCTION MAMUAL
SH-030105
MR-J4 Series
Conversion Unit for SSCNET of MR-J2S-B Compatible AC Servo
MR-J4_B_-RJ020/MR-J4-T20 SERVO AMPLIFIER INSTRUCTION MANUAL
SH-030125
MR-J4 Series
Instructions and Cautions for Drive of HC/HA Series Servo Motor with
MR-J4-_B_-RJ020 Servo Amplifier
SH-030127
MR-J4 Series
Conversion unit for SSCNET of MR-J2S-B MR-J4-T20 Installation Guide
IB-0300204E
MR-J3 Series
MR-J3-_B SERVO AMPLIFIER INSTRUCTION MANUAL
SH-030051
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
2. REPLACEMENT PROPOSAL FROM
A-MOTION TO QDS-MOTION
2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION .............................................................. 1
1.
OVERVIEW .................................................................................................................................................... 3
2.
EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE ..................................................................... 3
2.1
Equipment Correspondence ...................................................................................................................... 3
2.2
Servo Amplifier Correspondence .............................................................................................................. 4
2.3
Operating System Software Correspondence .......................................................................................... 5
2.4
Engineering Environment .......................................................................................................................... 5
3.
DIFFERENCES BETWEEN Q173DSCPU/Q172DSCPU AND A173UHCPU/
A172SHCPUN/A171SHCPUN ...................................................................................................................... 6
3.1
Differences between Q173DSCPU/Q172DSCPU and A173UHCPU/A172SHCPUN/A171SHCPUN ... 6
3.1.1
Differences list .................................................................................................................................... 6
3.1.2
Difference between self diagnosis error and Motion (SFC) error history ......................................... 9
3.1.3
Item that is necessary to change/revise with the change of servo system network ...................... 10
3.2
Device Comparison ................................................................................................................................. 11
3.2.1
I/O device .......................................................................................................................................... 11
3.2.2
Internal relay ..................................................................................................................................... 11
3.2.3
Data register ..................................................................................................................................... 14
3.2.4
Motion register .................................................................................................................................. 17
3.2.5
Special relay ..................................................................................................................................... 18
3.2.6
Special register ................................................................................................................................. 20
3.2.7
Other devices ................................................................................................................................... 23
4.
DIVERSION OF PROJECT CREATED BY A173CPUN/A172CPUN ....................................................... 25
4.1
Data List Available for Diversion or Not (SV13/SV22) ............................................................................ 25
4.2
Program Diversion Procedure in Motion CPU Side ................................................................................ 27
4.2.1
Diversion procedure using MT Developer2 ..................................................................................... 27
4.2.2
Without using SFC ........................................................................................................................... 30
4.2.3
Precautions for diverting cam data .................................................................................................. 31
4.3
Program Diversion Procedure in PLC CPU Side .................................................................................... 32
4.3.1
Conversion procedure of a sequence project for QnUD(E)(H)CPU using GX Works2/
GX
5.
USING A/QnA->Q CONVERSION SUPPORT TOOL IN SEQUENCE PROGRAM ................................ 37
5.1
Preparation for Using Support Tool ......................................................................................................... 37
5.2
Using Procedure of Support Tool ............................................................................................................ 38
5.3
Sequence Program Correction in Created Embedding File ................................................................... 40
5.3.1
Correction of special relay/special register ...................................................................................... 40
5.3.2
Correction of motion dedicated instructions .................................................................................... 40
5.3.3
Others ............................................................................................................................................... 40
6.
POINTS AND PRECAUTIONS OF REPLACEMENT ................................................................................ 41
6.1
Difference of Motion CPU Configuration ................................................................................................. 41
6.1.1
System configuration ........................................................................................................................ 41
6.1.2
Shared device ................................................................................................................................... 42
6.2
Precautions about Replacement ............................................................................................................. 43
6.2.1
Slot position (system setting) ........................................................................................................... 43
6.2.2
Communication data device between PLC CPU and Motion CPU ................................................ 44
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
6.2.3
Block number of refresh setting and total points number restriction .............................................. 46
6.2.4
Timer devices and counter devices ................................................................................................. 50
6.2.5
Indirect designation of servo program ............................................................................................. 50
6.2.6
Parameter block ............................................................................................................................... 51
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
1. OVERVIEW
This article explains the change content when replace the system using
A173UHCPU/A172SHCPUN/A171SHCPUN with the system using Q173DSCPU/Q172DSCPU. Please read A173UHCPU as A173UHCPU-S1.
2. EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE
Please prepare module, servo amplifier, operating system software and engineering environment according to the table in this article.
It is necessary to use the supported product in iQ Platform, when using Q173DSCPU/Q172DSCPU.
PLC CPU module
Motion CPU module
Main base unit
Product
Forced stop input cable
Connector for forced stop input cable
Servo external signals interface module
Synchronous encoder interface module
Manual pulse generator interface module
Use A17nSHCPUN/A173UHCPU
Model name
-
-
• A173UHCPU
• A172SHCPUN
• A171SHCPUN
• A173UHCPU
• A172SHCPUN
• A171SHCPUN
• A172B
• A175B
• A178B(-S□)
A171SENC
A172SENC
-->
Use Q17nDSCPU
Model name
QnUD(E)(H)CPU
Q173DSCPU
Q172DSCPU
Q3□DB
(high speed main base unit)
Q170DEMICON
Q172DLX (Note-1)
Q172DEX
Q173DPX (Note-2) necessary
Use If necessary
Serial ABS synchronous encoder
Serial ABS synchronous encoder cable
For MR-HENC
For Q171ENC
Battery
For CPU module
For synchronous encoder
Manual pulse generator
SSCNET(III) cable
- Q171ENC-W8
MR-HSCBL□M MR-JHSCBL□M
-
A6BAT is built in CPU module
MR-HDP01
Q170ENCCBL□M
Q6BAT is built in CPU module
A6BAT is built in Q172DEX
<--(same as left)
• MR-HBUS□M
• MR-J2HBUS□M-A
(cable for SSCNET)
• MR-J3BUS□M
• MR-J3BUS□M-A
• MR-J3BUS□M-B
(cable for SSCNET III)
(Note-1): Motion CPU built-in I/F (input 4 points) can be used.
(Note-2): Manual pulse/INC synchronous encoder (1 module) in Motion CPU built-in I/F can be used.
<Precautions>
• Main base unit can use Multiple CPU high speed main base unit (Q3□DB) only.
• SSCNET communication between personal computer using SSC I/F servo (A10BD-PCF/A30BD-PCF) and
SSC I/F card (A30CD-PCF) and Motion CPU module is not corresponding in Q173DSCPU/Q172DSCPU.
• Q173DSCPU/Q172DSCPU cannot be used to combine with
Q173HCPU(-T)/Q172HCPU(-T)/Q173CPUN(-T)/Q172CPUN(-T).
• Q173DSCPU/Q172DSCPU are not compatible with teaching units.
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
Amplifier
The servo system network is changed from SSCNET to SSCNET III or SSCNET III/H. Use a servo amplifier compatible with SSCNET III or SSCNET III/H. Select a servo motor that can be connected with an
SSCNET III or SSCNET III/H-compatible servo amplifier.
<Amplifier correspondence>
Use A17nSHCPUN/A173UHCPU
Product Model name
MR-H series MR-H-□BN
Product
Use Q17nDSCPU
Model name
MR-J3 series • MR-J3(W)-□B(S)
MR-J2S series MR-J2S-□B -->
MR-J2 series
MR-J2-Jr series
MR-J2-□B
MR-J2-03B5
MR-J4 series
• MR-J4(W□)-□B
* It will operate in MR-J3 compatibility mode when mixed with MR-J3.
<Specification compare of servo system network>
SSCNET III
Optical fiber cable
SSCNET III/H
50Mbps 150Mbps
Communication media
Communication speed
Communication cycle
Metal cable
5.6Mbps
Sending 3.55ms
Receiving 3.55ms
Maximum number of control axes per system
8 axes/system 16 axes/system
Transmission distance Overall length is 30m
-->
[Standard code for inside panel/standard cable for outside panel]
Up to 20m between stations
Maximum overall length is 320m
(20m x 16 axes)
[Long distance cable]
Up to 50m between stations
Maximum overall length is
800m
(50m x 16 axes)
[Long distance cable]
Up to 100m between stations
Maximum overall length is
1600m
(100m x 16 axes)
For the communication with servo amplifiers, "SSCNET III" or "SSCNET III/H" must be set for each system in the SSCNET setting of the system setting. For details, refer to MR-J4 SERVO AMPLIFIER
INSTRUCTION MANUAL.
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
2.3 Operating System Software Correspondence
Use operating system for Q173DSCPU/Q172DSCPU.
The latest version of SV22 has been installed in Q173DSCPU/Q172DSCPU with shipment.
Download the latest version of operating system besides SV22 from Mitsubishi Electric FA Site for use.
Application
Use Q17nDSCPU
Model name
For conveyor assembly
(SV13)
For automatic machinery
(SV22)
Use A17nSHCPUN/A173UHCPU
Model name
For A173UHCPU
For A172SHCPUN
For A171SHCPUN
For A173UHCPU
For A172SHCPUN
For A171SHCPUN
SW2SRX-SV13B
SW2NX-SV13B
SW3RN-SV13B
SW0SRX-SV13D
SW0NX-SV13D
SW3RN-SV13D
SW0SRX-SV13G
SW0NX-SV13G
SW2SRX-SV22A
SW2NX-SV22A
SW3RN-SV22A
SW0SRX-SV22C
SW0NX-SV22C
SW3RN-SV22C
SW0SRX-SV22F
SW0NX-SV22F
-->
For Q173DSCPU
For Q172DSCPU
For Q173DSCPU
For Q172DSCPU
SW8DNC-SV13QJ
SW8DNC-SV13QL
SW8DNC-SV22QJ
SW8DNC-SV22QL
Environment
The following shows the engineering environment supported in Q173DSCPU/Q172DSCPU.
For the following purchase software, the latest version of which can download from Mitsubishi Electric FA
Site and update.
MELSOFT MT Works2 SW1DNC-MTW2-□
MR Configurator2 (Note-1) (Note-2) SW1DNC-MRC2-□
MELSOFT GX Works2 (Note-3) SW1DNC-GXW2-□
Ver.1.53F or later
Ver.1.12N or later
Ver.1.53F or later
Execute the installation of GX Developer when installing GX Works2.
(Note-1): MR Configurator2 is bundled in MT Works2.
(Note-2): MR Configurator2 can be installed after downloading from Mitsubishi Electric FA Site in the personal computer in which GX
Works2 or MT Works2 is installed.
(Note-3): GX Developer also can be installed together when install MELSOFT GX Works2.
In “2.4.3 Diversion procedure in PLC CPU side”, GX Developer is necessary to convert sequence program.
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
3. DIFFERENCES BETWEEN Q173DSCPU/Q172DSCPU AND A173UHCPU/
A172SHCPUN/A171SHCPUN
3.1 Differences between Q173DSCPU/Q172DSCPU and
A173UHCPU/A172SHCPUN/A171SHCPUN list
Item Q17nDSCPU
A17nSHCPUN/A173UHCPU
A171SH A172SH A173UH
Points of replacement
Peripheral I/F
• USB/RS-232/Ethernet
(Via PLC CPU)
• PERIPHERAL I/F
(Motion CPU manager)
RS422/SSCNET
Communicate with peripheral by corresponding I/F.
Battery Q6BAT is built in (3.0V) A6BAT is built in (3.6V)
Pay attention to the using battery is different.
Forced stop input
• Use EMI terminal of Motion
CPU module
• Use device specified by forced stop input setting in the system setting
Use EMG terminal of main base unit
Multiple CPU high speed transmission memory for data transfer between
CPU modules
I/O points
Internal relays (M)
Latch relays (L)
Step relays (S)
Link relays (B)
Timer s (T)
Counters (C)
Data registers (D)
Link registers (W)
Annunciators (F)
Included -
8192 points
-
-
8192 points
12288 points
None(M latch can be set in latchsetting)
-
8192 points
8192 points
2048 points
File registers (R)
Special relays (M)
Special relays (SM)
-
-
2256 points
Special registers (D) -
Special registers (SD) 2256 points
2048 points
Total point is 2048 in shared M,L,S
1024 points
256 points
256 points
1024 points
1024 points
256 points
Up to 8192 points
256 points
-
256 points
-
8192 points
Total point is
8192 in shared M,L,S
8192 points
2048 points
2048 points
8192 points
8192 points
2048 points
Always use a forced stop input cable
(Please fabricate it by customers.).
-
-
Left described devices is shared in
A-Motion but not shared in
QDS-Motion.
Execute automatic refresh setting if necessary.
Refer to Section 2.5 for details.
Motion registers (#) 12288 points -
8192 points
(Motion SFC OS only)
Multiple CPU shared devices (U□\G)
Up to 14336 points (Note-1) - -
Coasting timers (FT) 1point(888μs) -
Motion dedicated
PLC instruction
SV13
D(P).DDRD, D(P).DDWR,
D(P).SFCS, D(P).SVST,
D(P).CHGT, D(P).CHGT2,
D(P).CHGV, D(P).CHGVS
(Note-2) ,
D(P).CHGA, D(P).CHGAS
(Note-2) ,
D(P).GINT
Q172DLX, Q173DPX
CHGT, CHGV, CHGA
SVST
(Non Motion SFC OS only)
-
SFCS, ITP
(Motion SFC OS only)
A171SENC, A172SENC
Motion module
SV22
Installation position
Q172DLX, Q172DEX
Q173DPX
(Note-3)
Motion module cannot be installed in I/O slot 0 to 2
,
-
Replace motion dedicated PLC instruction with D(P).*** instruction.
(Refer to SV13/22 Programming
Manual (Motion SFC) [type
Q173D(S)/Q172D(S)].)
A171SENC, A172SENC
Please use Q172DLX, Q172DEX,
Q173DPX for motion module in the system which used
Q173DSCPU/Q172DSCPU.
Motion module can be installed in motion I/O slot only
In the system using
Q173DSCPU/Q172DSCPU, please install motion modules on the I/O slot
3 and later.
* Synchronous encoders can be used via MR-J4-□B-RJ.
(Note-1): The maximum number of devices varies depending on the system setting.
(Note-2): Only for SV22 advanced synchronous control
(Note-3): It can be mounted main base unit only
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
(Continued)
Item Q17nDSCPU
A17nSHCPUN/A173UHCPU
A171SH A172SH A173UH
Points of replacement
System setting
Servo system network
Teaching unit
CPU Multiple CPU shared memory high speed transmission area
• QnUD(E)(H)CPU will be No.1
• Use multiple CPU high-speed main base units (Q35DB,
Q38DB, Q312DB).
SSCNET III/H, SSCNET III
Unusable
Provided
• Multiple CPU is unsupported
• Use normal main base units
(A172B, A175B, A178B, A178B-S1,
A178B-S2, A178B-S3).
Use the system combining with available unit.
SSCNET
Usable -
Use memory
Automatic refresh
Automatic refresh setting
LED display
Multiple CPU high speed refresh function
Multiple CPU high speed transmission area of CPU shared memory Device shared between SCPU and
PCPU
Assign the device which used in PLC
CPU by automatic refresh setting manually to Motion CPU device after project diversion.
Latch range setting
Latch (1)
Latch (2)
All clear function
7-segment LED status display Each LED of RUN, ERR
Latch clear (1) of remote latch clear can clear in latch clear (1) Latch range setting is 1 setting
(2) only.
Can be cleared by latch clear Clear by L.CLR switch.
(1) (2) of remote latch clear
Execute it by installation mode None
Self diagnosis error
When the error of Motion CPU occurs independently, set it in the range of 10000 to 10999 according to the classification of error in diagnosis error (SD0).
At this moment, self diagnosis error flag (SM1) and diagnosis error flag (SM0) are also ON.
Motion error detection flag
(M2039)
No matter which error occurs,
M2039 will be ON in Motion
Even if the error of PCPU occurs, self diagnosis error will not occur.
Depending on the type of an error that
-
Please execute latch clear in MT
Works2.
-
Correct the program if necessary.
Correct the program if necessary.
Latch clear
Can be set in the range of 32
Provided turned ON. (Only when
SFC is used)
L.CLR switch -
RUN/STOP
ROM writing
ROM operation mode
Remote operation
Remote operation, RUN/STOP switch
• Execute in RAM operation mode/ROM operation mode
(installation switch operation of Motion CPU module is not necessary)
• Data of MT Works2 can be wrote to ROM directly
Select by rotary switch
RUN/STOP switch
None -
None
-
-
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(Continued)
Item Q17nDSCPU
A17nSHCPUN/A173UHCPU
A171SH A172SH A173UH
Select by dip switch
Points of replacement
Installation mode Select by rotary switch
-
Mechanical system program (SV22)
Operation cycle
(default value)
SV13
SV22
Ball screw and electronic gear setting of rotary table can be automatically calculated from the setting value of "Number of
Pulses/Rev." and "Travel
Value/Rev." of fixed parameter.
0.22ms/1 to 4 axes
0.44ms/5 to 10 axes
0.88ms/11 to 24 axes
1.77ms/25 to 32 axes
0.44ms/1 to 6 axes
0.88ms/7 to 16 axes
1.77ms/17 to 32 axes
The operation cycle setting (0.2
[ms]/0.4 [ms]) can be configured. (Note-1) (Note-2)
Ball screw and electronic gear setting of rotary table are set respectively in mechanical system program.
3.5ms/1 to
4 axes
3.5ms/1 to
4 axes
3.5ms/1 to
8 axes
3.5ms/1 to
8 axes
3.5ms/1 to
20 axes
7.1ms/21 to 32 axes
3.5ms/1 to
12 axes
7.1ms/13 to 24 axes
14.2ms/25 to 32 axes
-
When the operation cycle is set as default (automatic), the operation cycle will change. Operation cycle changes as left describing, and the program execution timing will change, so set the fixed operation cycle if necessary.
(Note-1): The following restrictions are applied when the communication method is "SSCNET III".
• When the operation cycle is 0.2 [ms], set "0 to 3" for the axis select switch setting of the servo amplifier, and configure the system setting.
• When the operation cycle is 0.4 [ms], set "0 to 7" for the axis select switch setting of the servo amplifier, and configure the system setting.
For details, refer to the instruction manual of the servo amplifier.
(Note-2): When MR-J4W3-□B (Software version: A2 or earlier) or MR-J3W-□B is used, set 0.4 [ms] or more for the operation cycle.
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3.1.2 Difference between self diagnosis error and Motion (SFC) error history
Self diagnosis error code
Self diagnosis error flag
Error flag state : ON : OFF
Motion (SFC) error history
Motion error detection flag
Q17nDSCPU
(SD0)
A17nSHCPN/
A173UHCPU
(D9008)
Description
Q17nDSCPU
(SM1)
A17nSHCPU
N/A173UHCP
U (M9008)
Q17nDSCPU
(#8640 + 12n)
*
(SFC version only)
A172SHCP
UN/A173U
HCPU
(#8000 + 8n)
*
Q17nDSCPU
(M2039)
(SFC version only)
A172SHCP
UN/
A173UHCP
U (M2039)
1 to 9999 10 to 84
10002 -
Self diagnosis error besides Motion CPU independent error
Minor/major error
(command generation axis)
10003 -
10004 -
10005 -
Minor/major error
(virtual servo motor axis)
Minor/major error
(synchronous encoder axis)
10006 -
10006 -
10007 -
10008 -
-
Servo program setting error
Mode switching error
10009 -
10010 -
10015 -
10016 -
10020 -
10021 -
10022 -
10023 -
10030 -
10042
10050
-
-
Manual pulse axis setting error
Test mode requirement error
10011 -
- -
Personal computer link communication error
10014 -
Servo amplifier
(MR-J4-□B) servo error
Motion slot error
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
SSCNET III/H head unit error
Safety observation error
(alarm) occurrence
10051 Safety observation error
(warning) occurrence
○
○ ×
○
○ ×
○
○
×
×
*
: n shows the value (n=0 to 7) corresponding to motion error history.
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3.1.3 Item that is necessary to change/revise with the change of servo system network
Difference
Item Change/Revise content
Q17nDSCPU
A17nSHCPUN/
A173UHCPU
System setting/SSCNET configuration
Electronic gear
Connect/disconnect of
SSCNET communication when servo amplifier power supply is OFF
Battery break warning/ battery warning
Q172DSCPU: 1 system
Q173DSCPU: 2 systems
(up to 16 axes/system)
Number of pulses per revolution:
1 to 2147483647[pulse]
Travel value per revolution:
1 to 2147483647[pulse]
When an SSCNET III cable or a servo amplifier in the middle of the
SSCNET system is replaced while the multiple
CPU system is on, use the connect/disconnect function of the SSCNET communication.
Servo error code
2102(92): Battery break warning
2116(9F): Battery warning
A171SHCPUN: 1 system
A172SHCPUN: 1 system
A173UHCPU: 4 systems
(up to 8 axes/system)
Number of pulses per revolution:
1 to 65535[pulse]
Travel value per revolution:
1 to 65535[pulse]
SSCNET cables or servo amplifiers in the middle of the SSCNET system can be replaced while the system is on.
Servo error code
2102(9F): Battery warning
2103(92): Battery break warning
Configure the rotary switch setting of the servo amplifier according to the SSCNET configuration.
Change the number of pulses per revolution and the travel value per revolution of the fixed parameter according to the resolution per revolution of the connected servo motor.
When the power supply servo amplifier is
OFF/ON in SSCNET system, use connect/disconnect function of SSCNET communication.
For details, refer to Motion controller Q series programming manual (common)
(Q173D(S)CPU/Q172D(S)CPU)
(IB-0300126) and "4.11.1 Connect/disconnect function of SSCNET communication".
Correct the program using the left servo error code.
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Comparison
X/Y0
X/Y7FF
X/Y800
X/Y1FFF
User device
(8192 points)
3.2.2 Internal
(1) SV13
Q173DSCPU Q172DSCPU
User device
(8192 points)
A173UHCPU
M0
User device
(2048 points)
M1600
M1680
M1680
M1760
M1800
M1880
M1960
M2000
M2047
M2048
M2320
M2400
M2720
M3040
M3072
M3136
M3200
User device
(2000 points)
Common device (320 points)
Unusable (80 points)
Status of each axis
(20 points x 32 axes)
Status of each axis
(20 points x 16 axes)
User device
(320 points)
Unusable (32 points)
Common device (command signal)
(64 points)
Unusable (64 points)
Command signal of each axis
(20 points x 32 axes)
Command signal of each axis
(20 points x 16 axes)
User device
(2000 points)
Common device
(320 points)
Unusable
(80 points)
Status of each axis
(20 points x
32 axes)
Unusable
(160 points)
Command signal of each axis
(20 points x
32 axes)
A172SHCPUN A171SHCPUN
User device
(1600 points)
Status of each axis
(20 points x 8 axes)
Status of each axis
(20 points x 4 axes)
Unusable
(40 points)
Unusable
(120 points)
Command signal of each axis
(20 points x 8 axes)
Command signal of each axis
(20 points x 4 axes)
Unusable
(80 points)
Common device (88 points)
M3520
M3840
M8191
User device
(4351 points)
User device
(4671 points)
User device
(4351 points)
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M0
(2) SV22 Real mode
M1360
M1364
M1600
M1680
M1760
M1800
M1880
User device
(2000 points)
User device
(2000 points)
M1960
M2000
M2047
M2048
M2320
Common device
(320 points)
M2400
M2720
Unusable (80 points)
Status of each axis
Status of each axis
(20 points x 32 axes)
(20 points x 16 axes)
User device
(320 points)
M3040
M3072
M3136
M3200
M3520
Unusable (32 points)
Common device (command signal) (64 points) axis
Unusable (64 points)
Command signal of
Command signal of each
(20 points x 32 axes) each axis
(20 points x 16 axes)
User device
(320 points)
Common device
(320 points)
Unusable (80 points)
Status of each axis
(20 points x 32 axes)
Unusable (160 points)
Command signal of each axis
(20 points x 32 axes)
M4000
M4320
Virtual servo motor axis status (Note-1)
(20 points x 32 axes)
Virtual servo motor axis status (Note-1)
(20 points x 16 axes)
User device
(320 points)
User device
(800 points)
M4640 Synchronous encoder axis status
(4 points x 12 axes)
M4656
M4688 Unusable (Note-1) (112 points)
M4800
M5120
Virtual servo motor axis command signal (Note-1)
(20 points x 32 axes)
Virtual servo motor axis command signal (Note-1)
(20 points x 16 axes)
User device
(320 points)
M5440
Synchronous encoder axis command signal
(4 points x 12 axes)
M5488
M8191
User device (2704 points)
Synchronous encoder axis status
(4 points x 4 axes)
User device
(3536 points)
(Note-1): This device can be used as a user device when used only in the SV22 real mode.
User device (1360 points)
Synchronous encoder axis status
(4 points x 1 axis)
User device (236 points)
Status of each axis
(20 points x 8 axes)
Status of each axis
(20 points x
4 axes)
Unusable
(40 points)
Command signal of each axis
(20 points x 8 axes)
Unusable
(120 points)
Command signal of each axis
(20 points x
4 axes)
Unusable
(80 points)
Common device (88 points)
2
- 12
2
. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
M0
(3) SV22 Virtual mode
Q173DSCPU
M1200
M1280
M1360
M1364
M1400
M1480
M1560
M1564
M1600
M1680
M1760
M1800
M1880
M1960
M2000
M2048
M2320
M2400
M2720
M3040
M3072
M3136
M3200
M3520
M3840
User device
(2000 points)
User device
(2000 points)
Common device (320 points)
Unusable (80 points)
Status of each axis
(20 points x 32 axes)
Status of each axis
(20 points x 16 axes)
User device
(320 points)
Unusable (32 points)
Common device (command signal) (64 points)
Unusable (64 points)
Command signal of each axis
(20 points x 32 axes)
Command signal of each axis
(20 points x 16 axes)
User device
(320 points)
Unusable (160 points)
Common device
(320 points)
Unusable
(80 points)
Status of each axis
(20 points x 32 axes)
Unusable
(160 points)
Command signal of each axis
(20 points x 32 axes)
Unusable (160 points)
User device (1360 points)
Virtual servo motor axis status (Note-1)(Note-2) Virtual servo motor axis status
(20 points x 8 axes)
(20 points x
4 axes)
User device (Note-2)
(80 points)
Synchronous encoder axis status
(4 points x 1 axis) (Note-2)
Unusable (Note-2) (36 points)
Virtual servo motor axis command signal
(20 points x 8 axes)
Virtual servo motor axis command signal (Note-1)(Note-2)
(20 points x
4 axes)
User device (Note-2)
(80 points)
Synchronous encoder axis command signal (4 points x 1 axis) (Note-2)
Unusable (36 points)
Status of each
Status of each axis
(20 points x 8 axes) axis (20 points x
4 axes)
Unusable (40 points)
Unusable
(120 points)
Command signal of each axis
(20 points x 8 axes)
Command signal of each axis
(20 points x
4 axes)
Unusable
(80 points)
Common device (88 points)
2
- 13
2
. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
(Continued)
Q173DSCPU
M4000 Virtual servo motor axis status
(Note-1)(Note-3)
M4320
(20 points x 32 axes)
Virtual servo motor axis status (Note-1)(Note-3)
(20 points x 16 axes)
User device (Note-3)
(320 points)
Virtual servo motor axis status (Note-1)(Note-3)
(20 points x 32 axes)
M4640 Synchronous encoder axis status
(4 points x 12 axes) (Note-3)
M4656
M4688 Unusable
Virtual servo motor axis
M4800
M5120
Virtual servo motor axis command signal (Note-1), (Note-3)
(20 points x 32 axes) command signal
(Note-1), (Note-3)
(20 points x 16 axes)
User device (Note-3)
(320 points)
Synchronous encoder axis status (Note-3)
(4 points x 4 axes)
Unusable (Note-3)
(144 points)
Virtual servo motor axis command signal
(Note-1)(Note-3)
(20 points x 32 axes)
M5440
M5456
Synchronous encoder axis command signal (Note-3)
(4 points x 12 axes)
M5488
M8191
D0
D320
D640
D672
D704
D758
User device (Note-4) (2704 points)
Monitor device of each axis
(20 points x 32 axes)
Monitor device of each axis
(20 points x 16 axes)
User device
(320 points)
Control change register
Control change register
(2 points x 32 axes)
(2 points x 16 axes)
User device (32 points)
Common device (command signal) (54 points)
Unusable (42 points)
User device (Note-4)
(2704 points)
(Note-1): Only the area of axis set by mechanical system program is occupied. The area of unused axis set by mechanical system program can be used by user.
(Note-2): When using virtual mode, do not set latch range as M1200 to M1599.
(Note-3): When using virtual mode, do not set latch range as M4000 to M5487.
(Note-4): Cam axis command signal and smoothing clutch completion signal can be set to any device by parameter. register
(1) SV13
Q173DSCPU
Monitor device of each axis
(20 points x 32 axes)
Control change register
(2 points x 32 axes)
Common device
(96 points)
User device
(800 points)
D800
D880
D960
D984
User device
(7392 points)
Synchronous encoder axis command signal (Note-3)
(4 points x 4 axes)
Unusable (Note-3)
(32 points)
User device
(7392 points)
Monitor device of each axis (20 points x 8 axes)
Monitor device of each axis (20 points x 4 axes)
Unusable
Control change register
(6 points x
8 axes)
(80 points)
Control change register
(6 points x
4 axes)
Unusable
(24 points)
Common device (16 points) D1008
D1024
D8191
2
- 14
2
. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
D672
D704
D748
D752
D758
D800
D0
(2) SV22 Real mode
Q173DSCPU
D320
D640
Monitor device of each axis
(20 points x 32 axes)
Control change register
(2 points x 32 axes)
Monitor device of each axis
(20 points x 16 axes)
User device
(320 points)
Control change register
(2 points x 16 axes)
User device
(32 points)
Monitor device of each axis
(20 points x 32 axes)
Control change register
(2 points x 32 axes)
D880
Common device (command signal)
(54 points)
Unusable (42 points)
Virtual servo motor axis monitor device
(10 points x 16 axes)
Common device
(96 points)
D960
D984
D1008
D1024
Virtual servo motor axis monitor device
(10 points x 32 axes)
User device
(160 points)
User device
(320 points)
User device (748 points)
Synchronous encoder axis monitor device
(4 points x 1 axis)
User device (48 points)
Monitor device of each axis
(20 points x 8 axes)
Monitor device of each axis
(20 points x 4 axes)
Control change register
(6 points x
8 axes)
Unusable
(80 points)
Control change register
(6 points x
4 axes)
Unusable
(24 points)
Common device (16 points)
D1120 Synchronous encoder axis monitor device
(10 points x 12 axes)
Synchronous encoder monitor device
(6 points x 4 axes)
D1144
D1240 Cam axis monitor device
(10 points x 32 axes)
Cam axis monitor device
(10 points x 16 axes) User device
(7048 points) D1400
D1560
D8191
User device (6632 points)
User device
(6792 points)
2
- 15
2
. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
D0
D320
D640
D672
(3) SV22 Virtual mode
Q173DSCPU
Monitor device of each axis
(20 points x 32 axes)
Monitor device of each axis
(20 points x 16 axes)
User device (320 points)
Control change register
(2 points x 16 axes)
Monitor device of each axis
(20 points x 32 axes)
(670 points)
D670
D678
D686
D688
D700
D704
D724
D748
D752
D758
D760
Control change register
(2 points x 32 axes) User device
(32 points)
Common device (command signal)
(54 points)
Unusable (42 points)
D780
D800
D880
D960
Virtual servo motor axis monitor device (Note-1)
(6 points x 32 axes)
Current value after differential gear of virtual servo motor axis main shaft
(4 points x 32 axes) (Note-1)
Virtual servo motor axis monitor device (Note-1)
(6 points x 16 axes)
Current value after differential gear of virtual servo motor axis main shaft
(4 points x 16 axes) (Note-1)
User device
(160 points)
D984
D1008
D1024
Control change register
(2 points x 32 axes)
Common device
(96 points)
Current value after differential gear of virtual servo motor axis main shaft (Note-1)
Current value after differential gear of virtual servo motor axis main shaft
(Note-1)
(2 points x 4 axes)
(2 points x 8 axes)
User device
(8 points)
Current value of differential gear of synchronous encoder axis main shaft (Note-1)
(2 points x 1 axis)
Unusable
(12 points)
Virtual servo motor axis monitor device
(Note-1)
(6 points x 8 axes)
Virtual servo motor axis monitor device
(Note-1)
(6 points x 4 axes)
User device
(24 points)
Synchronous encoder axis monitor device (4 points x1 axis) (Note-1)
Unusable (8 points)
Cam axis monitor device (Note-1)
(5 points x 8 axes)
Cam axis monitor device
(Note-1)
(5 points x 4 axes)
User device
(20 points)
Monitor device of each axis (20 points x 4 axes)
Monitor device of each axis (Note-1)
(20 points x 8 axes)
Unusable
(80 points)
Virtual servo motor axis monitor device (Note-1)
(6 points x 32 axes)
Current value after differential gear of virtual servo motor axis main shaft
(4 points x 32 axes) (Note-1)
Control change register
(6 points x 8 axes)
Control change register
(6 points x 4 axes)
Unusable
(24 points)
Common device
(16 points)
2
- 16
2
. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
#8008
#8016
#8024
#8032
#8040
#8048
#8056
#8064
#8191
#8192
#8640
#8736
#8752
#12287
(Continued)
Q173DSCPU
A171SHC
PUN
D1120
Synchronous encoder axis monitor device
(6 points x 12 axes)
Current value after differential gear of synchronous encoder axis main shaft
(4 points x 12 axes)
Synchronous encoder axis monitor device (Note-1)
(6 points x 4 axes)
Current value after differential gear of virtual servo motor axis main shaft
(4 points x 4 axes)
D1160 Unusable (80 points)
D1240 Cam axis monitor device (Note-1)
D1400
(10 points x 32 axes)
D1560
D8191
User device
(6632 points)
Cam axis monitor device (Note-1)
(10 points x 16 axes)
User device
(6792 points)
Cam axis monitor device (Note-1)
(10 points x 32 axes)
User device
(6632 points)
(Note-1): Only the areas of axes set with the mechanical system program are occupied. The areas of the axes not used by the mechanical system program can be used by users.
#0
#8000
Q17nDSCPU
User device (8000 points)
Monitor device
(640 points)
(SFC version only)
A173UHCPU/A172SHCPUN
User device (8000 points)
Past 7 times error information
(oldest error information)
Past 6 times error information
SFC error history
(8 times)
(64 points)
Past 5 times error information
Past 4 times error information
Past 3 times error information
Past 2 times error information
Past 1 times error information
Latest errors information
Unusable
(128 points)
(SFC version only)
A171SHCPUN
Motion error history device
(96 points)
Product information list device
(16 points)
System area
(3536 points)
2
- 17
-
-
-
-
-
-
-
-
-
-
-
-
-
-
2
. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
Device number
Q17nDSCPU
A17nSHCPUN/
A173UHCPU
Name Remark
SM60
-
-
SM53
M9000
M9002
M9004
M9005
Fuse blown detection
I/O module verification error
MINI link error
AC DOWN detection
SM51 M9007 Low battery latch
SM1 M9008 error
-
-
-
-
-
-
M9016
M9017
M9020
M9021
M9022
M9023
Data memory clear flag (all data)
Data memory clear flag (non-latch data)
User timing clock No.0
User timing clock No.1
User timing clock No.2
User timing clock No.3
-
-
M9024
M9025
User timing clock No.4
Clock data set requirement Clock data of CPU No.1 is operating.
- M9027 display
SM801
-
-
-
M9028
M9029
M9030
M9031
Clock data reading requirement
Data communication requirement batch processing A173UHCPU only
0.1 second clock
0.2 seconds clock
-
-
-
M9032
M9033
M9034
1 second clock
2 seconds clock
1 minute clock
A173UHCPU only
Q17nDSCPU: AC/DC DOWN detection
M9038
M9039
M9041
M9042
M9043
M9045
M9046
M9047
M9049
M9051
M9052
M9053
M9054
M9055
Only 1 scan is ON after RUN
RUN flag (only 1 scan is OFF after RUN)
PAUSE status contact
Stop status contact
Sampling trace completion
Reset watchdog timer (WDT)
Sampling trace
Sampling trace preparation
Switch output characters number
CHG command execution inhibition
Switch SEG command
Switch EI/DI command
STEP RUN flag
Status latch completion
A173UHCPU only
A173UHCPU only
A173UHCPU only
2
- 18
2
. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
(Continued)
Device number
Q17nDSCPU
A17nSHCPUN/
A173UHCPU
-
-
-
-
-
-
-
SM512
SM501
SM502
SM513
SM510
SM516
-
-
-
-
-
-
M9056
M9057
M9058
M9059
M9065
M9066
M9070
M9073
M9075
M9076
M9077
M9078
M9079
M9094
M9100
M9101
M9102
M9103
M9104
Name Remark
Main side P, I setting requirement
Sub side P, I setting requirement
Main side P, I setting completion
Sub side P, I setting completion
Partition processing execution detection
Partition processing requirement flag
Required search time of A8UPU/A8PUJ
Motion CPU WDT error
Test mode requirement error
Forced stop input flag
Manual pulse axis setting error flag
Test mode requirement error
Servo program setting error flag
I/O exchange flag
SFC program existence
Start/stop SFC program
Start status of SFC program
Continuous transition existence
Continuous transition prevention flag
-
-
-
-
M9180
M9181
M9182
M9196
Active step sampling trace completion flag
Active step sampling trace execution flag
Enable active step sampling trace
Operation output of block stop
- M9197
- M9198
- M9199 Data return of online sampling trace status latch
*
The special relay of Q17nDSCPU is in Motion CPU side.
Refer to the manual of PLC CPU for the special relay in PLC CPU side.
2
- 19
2
. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
Device number
Q17nDSCPU
A17nSHCPUN/
A173UHCPU
Name Remark
-
-
D9002
D9004
I/O module verification error
MINI link error
SD53 D9005 counter
SD0 D9008 error
- D9009 Detection of annunciator
-
SD203
-
-
-
-
-
-
SD210
SD211
SD212
-
-
D9014
D9015
D9017
D9018
D9019
D9020
D9021
D9022
D9025
D9026
D9027
D9035
D9036
I/O control method
CPU operation status
Minimum scan time (10ms unit)
Scan time (10ms unit)
Maximum scan time (10ms unit)
Constant scan (10ms unit)
Scan time (1ms unit)
Time (1 second unit)
Clock data (calendar, month)
Clock data (date, hour)
Clock data (minute, second)
Expansion file register
For specifying extended file register device
A173UHCPU only
SD1: Diagnosis error occurrence time
(calendar, month)
SD2: Diagnosis error occurrence time
(date, hour)
SD5: Error common information
SD520: Current main cycle (1ms unit)
SD521: Maximum main cycle (1ms unit)
SD524: Maximum operation cycle
(1µs unit)
A173UHCPU only
SD523: Motion setting operation cycle
(1µs unit)
A173UHCPU only
SD522: Motion operation cycle
(1µs unit)
A173UHCPU only
A173UHCPU only
A173UHCPU only
LED display priority order
- D9039
-
-
-
D9044
D9049
D9050
For sampling trace
Work area for SFC
SFC program error number
A173UHCPU only
A173UHCPU only
A173UHCPU only
- D9052 Error step A173UHCPU only
-
-
-
D9054
D9055
D9072
Error sequence step
Status latch
PLC communication check
A173UHCPU only
A173UHCPU only
A173UHCPU only
A173UHCPU only
-
-
D9085
D9090
Setting register of time check value A173UHCPU only
Number of boards in special function module over A173UHCPU only
Detailed error number
- D9092
- D9094 Exchange I/O start I/O number
2
- 20
2
. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
(Continued)
Device number
Q17nDSCPU
A17nSHCPUN/
A173UHCPU
- D9100
- D9101
- D9102
- D9103
- D9104
- D9105
- D9106
- D9107
- D9116
- D9117
- D9118
Name Remark
A173UHCPU only
I/O module verification error
- D9120
- D9121
- D9122
- D9123
- D9124 Number of annunciator detection
- D9125
- D9126
- D9127
- D9128
Annunciator detection number
- D9129
- D9130
- D9131
- D9132
- D9196
A173UHCPU only
A173UHCPU: Unusable
- D9181
SD510 D9182
A17nSHCPU:
Limit switch output status
A173UHCPU: storage area error
SD512 D9184 P CPU error cause
SD513 D9185
A173UHCPU: Manual
A17nSHCPU:
Servo amplifier classification
A17nSHCPU:
Manual pulse axis setting error information
Q17Ndscpu: PCPU WDT error cause
SD516
SD517
D9189
D9190
Error program No.
Error item information
A173UHCPU:
Servo amplifier
A17nSHCPU:
Servo amplifier installation information
A17nSHCPU:
Area for manual pulse (P1) smoothing magnification setting
Personal computer link communication error code
2
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2
. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
(Continued)
Device number
Q17nDSCPU
A17nSHCPUN/
A173UHCPU
Q17nDSCPU, A173UHCPU: smoothing magnification setting
Q17nDSCPU, A173UHCPU: smoothing magnification setting
Q17nDSCPU, A173UHCPU: smoothing magnification setting
- D760
- D761
- D762
- D763
- D764
- D765
- D766
A173UHCPU:
Name Remark
A17nSHCPU:
Unusable for Axis 1 to 32
- D769
- D770
- D771
- D772
- D773
- D774
- D775
- D776
- D777
- D778
- D779
- D780
- D781
- D782
A173UHCPU: for Axis 1 to 32
- D785
- D786
- D787
- D788
- D789
- D790
- D791
- D792
- D793
- D794
A17nSHCPU:
Cam axis monitor device
• A172SHCPUN:
5 points x 8 axes
• A171SHCPUN:
5 points x 4 axes
Q17nDSCPU:
#8000 + 20n (1 axis/word)
A173UHCPU:
D792 to (4 axes/word) - D797
- D798
- D799
*
The special register of Q17nDSCPU is in Motion CPU side.
About the special register of PLC CPU side, refer to the manual of PLC CPU.
2
- 22
2
. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
Item
Personal computer link communication error flag
PCPU preparation completion flag
- M2034
SM500 M9074
Home position return re-travel value
Travel value change register
Indirectly designated device
(word device)
D9 + 20n (Note-1)
(data abbreviated to 1 word)
#8006 + 20n, #8007 + 20n (Note-1)
(Referred to at monitoring)
Any device
(enable set D16 + 20n, D17 + 20n) (Note-1)
D0 to D8191
W0 to W1FFF
#0 to #7999
D9 + 20n (Note-1)
D16 + 20n (Note-1) ,
D17 + 20n (Note-1)
D800 to D8191
W0 to W1FFF
#0 to #7999
(Motion SFC
(real mode) only)
D815 (Note-1) + 20n
D0 to D799
W0 to W3FF
#0 to #7999
(Motion SFC of A172SH
(real mode) only)
U□\G10000 to
U□\G(10000 + p - 1) (Note-2)(Note-4)
X0 to X1FFF (Note-3)
- -
X0 to X1FFF X0 to X7FF
Indirectly designated device
(bit device)
Y0 to Y1FFF
M0 to M8191
-
B0 to B1FFF
F0 to F2047
U□\G10000.0 to
U□\G(10000 + p - 1).F
(Note-2)(Note-4)
Y0 to Y1FFF
M/L0 to M/L8191
M9000 to M9255
B0 to B1FFF
F0 to F2047
Y0 to Y7FF
M/L0 to M/L2047
M9000 to M9255
B0 to B3FF
F0 to F255
- -
Enable specified device in high speed reading function
D0 to D8191
D800 to D3069, D3080 to
D8191
W0 to W1FFF
D0 to D799
W0 to W1FFF W0 to W3FF
U□\G10000 to
U□\G(10000 + p - 1) (Note-2)(Note-4)
(Note-1): n shows the value (axis No.1 to 32: n=0 to 31) corresponding to axis No.
- -
(Note-2): p is the user free area points of the Multiple CPU high speed transmission area in each CPU.
□: First I/O number of CPU module
(Note-3): In PXn + 0 to PXn + F, the input devices assigned to the motion CPU built-in I/F (DI), PXn + 4 to PXn + F are fixed to 0 and cannot be used.
(Note-4): Setting is available only for the devices of the own CPU.
2
- 23
2
. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
(Continued)
Item
Output device
X0 to X1FFF
Y0 to Y1FFF
M0 to M8191
-
B0 to B1FFF
U□\G10000.0 to
U□\G(10000 + p - 1).F
(Note-2)(Note-5)
D0 to D8191
W0 to W1FFF
X0 to X1FFF
Y0 to Y1FFF
M0 to M8191
L0 to L8191
B0 to B1FFF
X0 to X7FF
Y0 to Y7FF
M0 to M2047
L0 to L2047
B0 to B3FF
- -
D0 to D8191
W0 to W1FFF
D0 to D1023
W0 to W3FF
Watch data
#0 to #9215
U□\G10000 to
U□\G(10000 + p - 1) (Note-2)(Note-5)
#0 to #8191 #0 to #8191
- -
ON section setting
Output enable/disable bit
Forced output bit
-
D0 to D8191
W0 to W1FFF
#0 to #9215
Constant (Hn/Kn) (Note4)
U□\G10000 to
U□\G(10000 + p - 1) (Note-2)(Note-5)
X0 to X1FFF (Note-3)
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)(Note-5)
Absolute address (H0 to
HFFFFFFFF)
D0 to D8191
W0 to W1FFF
Absolute address (H0 to
HFFFFFFFF)
D0 to D1023
W0 to W3FF
#0 to #8191 #0 to #8191
Constant (Hn/Kn) (Note-4) Constant
- -
X0 to X1FFF
Y0 to Y1FFF
M0 to M8191
L0 to L8191
B0 to B1FFF
F0 to F2047
M9000 to M9255
TT0 to TT2047
TC0 to TC2047
CT0 to CT1023
CC0 to CC1023
X0 to X7FF
Y0 to Y7FF
M0 to M2047
L0 to L2047
B0 to B3FF
F0 to F255
M9000 to M9255
TT0 to TT255
TC0 to TC255
CT0 to CT255
CC0 to CC255
- -
Clutch status
Any device
(M2160 to M2223 can also be set)
M2160 to M2223
(unnecessary to set in mechanical system program)
A171SHCPUN:
M1984 to M1991
A172SHCPUN:
M1984 to M1999
(unnecessary to set in mechanical system program)
Cam axis command signal
(cam/ball screw switch command)
Any device
(M5488 to M5519 can also be set.)
-
Smoothing clutch Any device completion signal (M5520 to M5583 can also be set.)
(Note-1): n indicates a value corresponding to an axis No. (Axis No.1 to 32: n = 0 to 31)
-
(Note-2): p is the user free area points of the Multiple CPU high speed transmission area in each CPU.
□: Start I/O number of CPU module
(Note-3): In PXn + 0 to PXn + F, the input devices assigned to the motion CPU built-in I/F (DI), PXn + 4 to PXn + F are fixed to 0 and cannot be used.
(Note-4): The setting range depending on setting unit.
(Note-5): Setting is available only for the devices of the own CPU.
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
4. DIVERSION OF PROJECT CREATED BY A173CPUN/A172CPUN
4.1 Data List Available for Diversion or Not (SV13/SV22)
Motion SFC is not compatible Motion SFC is compatible
A17nSHCPUN A173UHCPU A172SHCPUN A173UHCPU
SV13 SV22 SV13 SV22 SV13 SV22 SV13 SV22
Remark
System setting
System setting data
High speed reading data
Basic setting data
Fixed parameter
Home position return data
JOG operation data
Servo data setting Servo parameter
Parameter block
Limit output data
Servo program
Motion SFC parameter
Motion
SFC program
Mechanical system program
Motion SFC program
Operation control program
Transition program
Conversion data
Automatic numbering setting
Mechanical edit data
Mechanical conversion data
Cam data
Device memory
Backup data
Cam conversion data
Real mode axis information
Note-1
Note-2
Note-3
Note-3
Note-4
Note-5, Note-6
Note-5
Note-5
Note-5
Note-8
Note-5, Note-7
Note-8
(SW3RNC-GSVE only)
Note-8
Communication setting
: Can be diverted
: Data must be revised
: Must be set again
Note-8
(Note-1) System setting data
• Motion dedicated module of slot 0 to 1
Motion dedicated module cannot be attached to slot 0 to 1 in Q17nDSCPU. Move it slot 3 or later.
• Pulse/synchronous encoder I/F module A172SENC
A172SENC module is converted to Q172DLX. Manual pulse/synchronous encoder setting are deleted.
Set Q172DEX, Q172DLX, or Q173DPX if necessary.
• Limit output module A1SY42 (when Motion SFC is not compatible with OS)
Limit output module A1SY42 is not diverted.
• Axis No. setting of external input signal module
Axis No. setting of external input signal module in Q17nDSCPU is moved to servo external signal parameter in servo data.
• Servo amplifier setting
The servo amplifier is converted to MR-J4-B when SSCNET III/H is selected, or converted to MR-J3-B when SSCNET
III is selected.
Others besides servo amplifier (inverter etc.) are deleted.
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
(Note-2) Basic setting data
It is necessary to set Multiple CPU in QDS-Motion. Set according to system.
(Note-3) Fixed parameter, servo parameter (servo amplifier besides MR-J2S)
Fixed parameter (Number of Pulses/Rev. and Travel Value/Rev.) is not converted. Servo parameter is initialized.
Revise parameter with servo amplifier after changing.
(Note-4) Limit output data (when Motion SFC is not compatible with OS)
Data is deleted because of incompatibility. Revise the data.
(Note-5) Servo program, Motion SFC program, mechanical system program
• Motion dedicated device
Assignment of Motion dedicated device is different between A17nSHCPUN/A173UHCPU and QDS-Motion.
Change Motion dedicated device.
(Note-6) Servo program
• Word points of indirect device
There are changes of word points between A17nSHCPUN/A173UHCPU and QDS-Motion.
Execute conversion check and revise if necessary.
(Note-7) Mechanical system program
• Unit setting of output axis
Unit settings of fixed parameter and output axis are set respectively in A-Motion, but fixed parameter is set only in
Q17nDSCPU. Revise the unit settings when unit settings of fixed parameter and output axis are different.
(Note-8) Conversion data, setting data
It cannot be diverted because CPU is different. Convert/set the data again.
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
4.2 Program Diversion Procedure in Motion CPU Side procedure using MT Developer2
The following shows an example of procedures for replacing an A-Motion CPU side project with a
QDS-Motion CPU project using MT Developer2. Always backup the project before the program replacement.
1) Start MT Developer2, and select "Divert File" --> "Diversion of Other Format Project" from the "Project" tab.
2) Specify the CPU type, OS type, and operation method after the replacement in the "Diversion of Other
Format Project" dialog box, and select "Browse".
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
3) Select "Browse" in Save Folder Path and the source project from "Folder List", and click "Open".
4) Select data to be converted in "File Selection".
5) Select "Divert".
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6) Convert the series of the servo amplifier. Select the servo amplifier series and servo system network specification after the replacement, and select "OK".
7) The servo parameter initialization dialog box appears. To initialize the servo parameters, select "Yes".
8) The conversion of the project is completed. Select "OK".
After the project conversion, make the cross comparison or check the data on each screen.
9) Select "Save As" from the "Project" tab to save the project after the conversion.
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
10) Input "Workspace Name", "Project Name", and "Title", and select "Save".
11) The new project creation dialog box appears. Select "Yes".
When no SFC program is used in the A-Motion CPU side program (Diversion source) and servo parameters other than SFC programs are diverted, perform the following procedure after the operation of
11).
1) Select "Motion SFC Program Manager".
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
2) Select "Unused" for "Motion SFC Program", and select "OK".
About the file converted by MT Woks2, refer to "2.4.1 Data list available for diversion or not (SV13/SV22)", and then set the data which can not be diverted if necessary. About the setting of Multiple CPU parameter, refer to "2.3 Differences between Q173DSCPU/Q172DSCPU and
A173UHCPU/A172SHCPUN/A171SHCPUN", "QCPU User's Manual (Multiple CPU System) Model Name:
SH-080475", "Programming Manual (COMMON) [compatible with Q173D(S)/Q172D(S)] Model Name:
1XB921" and then set.
4.2.3 Precautions for diverting cam data
To edit cam data, read the data directly using "Read Other Type Cam Data".
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
4.3 Program Diversion Procedure in PLC CPU Side
4.3.1 Conversion procedure of a sequence project for QnUD(E)(H)CPU using GX Works2/
GX Developer
The following describes an example of the procedure for replacing a sequence project using
GX Developer. Always backup the project before the replacement.
(1) Conversion of sequence program created by SW3RNC-GSVE/SW2□-GSVE
1) After starting GX Works2, select "Start GX Developer" from the "Project" tab.
2) The following shows the conversion of a sequence program created by
SW3RNC-GSV/SW2□-GSV (GPPA file format).
After GX Developer is started, select "Import file" --> "Import from GPPA format file" from the
"Project" tab.
Caution 1: Storage location of an execution file
The execution file in the GPPA format is usually stored in the following folder.
• Folder structure
"C drive (route drive)" --> "GPP" --> "USR" --> "System name" --> "Machine name (folder which includes the gppa.cnf file)"
Caution 2: Name of diversion source project
When name of diversion source project exceeds 8 characters, it can not be read.
Change the name so that the number of characters is within the limit and execute the conversion operation.
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
3) Select "Browse".
4) Select the conversion target file and select "OK".
5) Check the conversion targets (Program/Device comment/Parameter), and select "Execute".
Note) Either "Comment 1" or "Comment 2" will be selected for device comment.
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6) The conversion completion dialog box appears. Select "OK".
7) Select "Close".
8) Select "Change PLC type" from the "Project" tab in GX Developer.
9) Specify the PLC series (QCPU(Qmode)) and PLC type (QnUD(E)(H)CPU) after the replacement in the "Change PLC type" dialog box, and select "OK".
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
10) The "Change PLC type" dialog box appears. Select "Yes".
Note) In this replacement handbook, "Yes" is selected because the changes will be checked later by using a support tool.
When the supporting tool is not used, select "Confirm change".
11) The following dialog box appears. Select "OK".
Some devices cannot be replaced properly and are forcibly converted to
"SM1255" or "SD1255".
Refer to the explanation about the usage of the A/QnA->Q conversion support tool described later and replace those devices with appropriate ones.
12) When "Save as" is selected from the "Project" tab, the following dialog box appears. Input "Project name" and "Title", and select "Save".
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13) The new project creation dialog box appears. Select "Yes".
Although the sequence program has been converted following this procedure, it may not be operated correctly.
Be sure to refer to the manual after Section 5 for program correction.
(2) Conversion of sequence program for A-Motion created by GX Developer
The following describes an example of the procedure for replacing a sequence project using GX
Developer. Always backup the project before the replacement.
1) After starting GX Works2, select "Start GX Developer" from the "Project" tab.
2) The following shows the conversion of a sequence program for A-Motion created by GX Developer
(GPPW file format).
3) After GX Developer is started, select "Open project" from the "Project" tab.
4) Select the file to be converted, and select "Open".
For the following conversion operations, refer to (1) SW3RNC-GSVE/SW2□-GSVE sequence program
conversion procedure after 8).
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5. USING A/QnA->Q CONVERSION SUPPORT TOOL IN SEQUENCE PROGRAM
To confirm the converted content of the sequence program, use "A/QnA->Q conversion support tool".
Please download and install the A/QnA->Q conversion support tool from Mitsubishi Electric FA Site.
For details, refer to A/QnA->Q conversion support tool guidebook in the same page.
To download the tool, access the Mitsubishi Electric FA Site
(http://www.mitsubishielectric.co.jp/fa/index.html) and as follows. http://www.mitsubishielectric.co.jp/fa/download/software/search.do?mode=software&kisyu=%2Fplca&lan g=2&select=0&softid=0
5.1 Preparation for Using Support Tool
To use the support tool, prepare the following.
1) Source sequence program (for compare)
2) Target sequence program (converted program in QnUD(E)(H)CPU)
3) "A/QnA->Q conversion support tool" (please get it from Mitsubishi Electric FA Site)
4) "A/QnA->Q conversion support tool guidebook" (please get it from Mitsubishi Electric FA Site)
5) GX Developer (GX Works2)
Caution
Convert 1) into a project whose CPU type is changed to A2SH or A3U and save the project using GX
Developer as follows. The conversion method is same as "Section 2.4.3 Program diversion procedure in
PLC CPU side"
• A171SHCPUN and A172SHCPUN
Select "ACPU" for PLC series and "A2SH" for PLC type in the "Change PLC type" dialog box, and select "OK".
• A173UHCPU
Select "ACPU" for PLC series and "A3U" for PLC type in the "Change PLC type" dialog box, and select
"OK".
* This operation is necessary to use A/QnA->Q program conversion support tool.
File before conversion
File after conversion
A/QnA->Q conversion support tool
Analysis result Index file
Add statement to file after conversion in GX
Developer file
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5.2 Using Procedure of Support Tool
1) Click "Start" --> "MELSOFT Application" --> "AQCnvSupport" to start the support tool.
Then select "A/QnA->Q program conversion support tool execute".
2) The "A/QnA->Q program conversion support tool" dialog box appears. Specify a source file in the
GPPA format, A2SH file, or A3U file for "Project for A/QnA series before PLC type changing". Specify the file converted to the QnUD(E)(H)CPU type file for "Project for Q series after PLC type changed", and select "Next".
File for compare (A2SH) is above, and file converted to Q26UDEHCPU is below
Then execute the operation according to A/QnA->Q conversion support tool guidebook.
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3) Created file
Once the operation is completed by following the description in A/QnA->Q Conversion Support Tool
Operation Guide, an analysis result Index file (HTML document) and a GX Developer file in which statements of the modifications are embedded are created in the specified folder.
4) Display
• Index file of analysis result
The following shows an example of the execution results of the analysis result index file.
• Statement is embedded in GX Developer file
The following shows an example of the execution results of the GX Developer file in which statements are embedded.
"Statement display" or "Ctrl + F7" displays the contents that need to be modified.
* In the case described above, the device M9074 has been replaced with the device SM1255. Correct the device to an appropriate one.
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5.3 Sequence Program Correction in Created Embedding File
5.3.1 Correction of special relay/special register
The special relay that cannot be converted from A-Motion is converted to "SM1255", and the special register that cannot be converted from A-Motion is converted to "SD1255". Modify the devices according to a between-the-lines statement.
5.3.2 Correction of motion dedicated instructions
A-Motion-dedicated instructions (SVST, CHGA, CHGV, CHGT, SFCS, ITP) are converted to "SM1255".
Modify the devices according to a between-the-lines statement.
5.3.3 Others
Confirm the details of user's manual and programming manual in each CPU module and then correct. Or, for use method of GX Developer etc., refer to each product manual.
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6. POINTS AND PRECAUTIONS OF REPLACEMENT
6.1 Difference of Motion CPU Configuration configuration
The differences between basic system of A-Motion and basic system of QDS-Motion are shown in the following chart.
• The PLC function and the motion function are integrated in one A-motion CPU. However, in
QDS-motion, they are in different CPUs.
• A-Motion is compatible with SSCNET as a servo system network, but QDS-Motion is compatible with
SSCNET III or SSCNET III/H. Servo amplifiers connectable to each motion are also different.
• A motion module A172SENC (Pulse generator/synchronous encoder interface module) is replaced with a motion module Q172DLX (Servo external signal interface module), Q172DEX (Synchronous encoder interface module), or Q173DPX (Manual pulse generator interface module).
• A base unit is changed to a Q series multiple CPU high speed base unit. As a result, motion modules
(Q172DLX, Q173DEX, and Q172DPX) cannot be installed in the CPU slot and Slot 0 to 2.
• For the connection between QDS-Motion and a personal computer, RS-422 and SSCNET cannot be used. Connect them with Ethernet (Direct connection to QDS-Motion), USB, RS-232, or Ethernet
(Connection via PLC).
(Servo external signals input)
Main base unit
A17□B
+
Motion controller
A171SHCPUN/A172SHCPUN
A173UHCPU
Pulse generator/synchronous encoder interface module
A172SENC
Manual pulse
MR-HDP01
Serial ABS synchronous encoder
MR-HENC
(Servo external signals input)
Main base unit
Q3□DB
+
Power supply module
Q6□P
+
PLC CPU
QnUD(E)(H)CPU
+
Motion controller
Q172DSCPU
Q173DSCPU
Servo external signals interface module
Q172DLX
Synchronous encoder module
Q172DEX
Manual pulse input module
Q173DPX
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Manual pulse
MR-HDP01
Serial ABS synchronous encoder
MR-HENC, Q171ENC-W8
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
In A-motion, the PLC and Motion functions are integrated in an A-motion CPU. Thus, the both function shares the memory. In QDS-Motion, a PLC CPU and a Motion CPU are divided as different modules. Thus, configuring some settings (assignment to the multiple CPU shared devices/automatic refresh setting) is required to share the memory.
For details, refer to "QCPU User's Manual (Multiple CPU System) Model Code SH-080475",
"Programming Manual (COMMON) [compatible with Q173D(S)/Q172D(S)] Model Code: 1XB921".
A-Motion QDS-Motion
About shared device memory, after diverting the project, execute the automatic refresh setting. It is necessary to distribute the device being used by PLC CPU to the device of Motion CPU.
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION about
6.2.1 Slot position (system setting)
When the motion module (A172SENC) used in A-Motion is replaced with a QDS-Motion controller, the slot position for installing the motion module will change as follows. (For the QDS-Motion, motion modules
(Q172DLX, Q172DEX, Q173DPX) cannot be installed on the CPU slot and the I/O slot 0 to 2.)
Example) Place A172SENC in slot 0 in A-Motion
A172SENC is arranged in Slot 0.
↓ Convert A172SHCPU to Q173DSCPU
A172SHCPU to Q173DSCPU (Slot 0), A172SENC to Q172DLX (Slot 1)
Q172DLX is arranged in Slot 1.
↓
If executing relative check in above screen, the following error will occur.
↓
To clear errors, install motion modules (Q172DLX, Q172DEX, Q173DPX) on Slot 3 or later of the main base unit.
When an A program is converted to a Q program, A172SENC is automatically converted to Q172DLX.
When Q172DEX or Q173DPX is used with QDS-Motion, change and add modules.
Arrange motion modules to be used on Slot 3 or later of the main base unit.
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
6.2.2 Communication data device between PLC CPU and Motion CPU
(1) Shared devices between PLC CPU (SCPU) and Motion CPU (PCPU)
• A-Motion
Example) Since both SCPU and PCPU share the same devices, PCPU (SCPU) can use the data that SCPU (PCPU) stored in the devices for some processing.
A-Motion system
SCPU Shared device
PCPU
SCPU and PCPU share the same devices and data in the devices.
• QDS-Motion
Example)
Since a PLC CPU and a Motion CPU operate as different CPUs, some settings
(assignment to multiple CPU shared device/automatic refresh setting) are required to share the same devices.
By configuring these settings, both CPUs can share the same data for some processing.
QDS-Motion S
C
P
U
PLC CPU
Device memory
Automatic refresh area
Multiple CPU shared device
Automatic refresh area
Multiple CPU shared device
Motion CPU
Device memory
P
C
P
U
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
(2) Obtain synchrony between SCPU and PCPU
Since QDS-Motion has a PLC CPU and a Motion CPU as different modules, the task processing time differs. To synchronize the start timing of task processing, configure some settings
(assignment to multiple CPU shared device/automatic refresh setting) for the task start trigger
(device).
PLC
CPU
SCPU processing start
SCPU processing start
SCPU processing start
PLC
CPU
SCPU processing start
SCPU wait
SCPU processing start
SCPU wait
Motion
CPU
PCPU processing start
PCPU processing start
: Task start trigger (device)
Processing times differ depending on the
CPU type, and the start timing of task processing cannot be synchronized.
Motion
CPU
PCPU processing start
PCPU processing start
: Task start trigger (device)
By sharing the task start trigger (device)
(assignment to multiple CPU shared device/ automatic refresh setting), the start timing of task processing can be synchronized.
For details of (1) and (2), refer to "QCPU User's Manual (Multiple CPU System) Model code:
SH-080485ENG" and "Programming Manual (COMMON) [type Q173D(S)/Q172D(S)] Model
Code: 1XB928", and set common devices.
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
6.2.3 Block number of refresh setting and total points number restriction
In QDS-Motion, the automatic refresh function is added as a new function that A-motion does not have.
Automatic refresh settings of 32 ranges (total 14K points) can be configured for each CPU.
Device memory
(D, M etc.)
PCPU
Shared memory
No.1
No.2
* 32 ranges can be set for each CPU.
•
•
•
The following explains the replacement method of devices.
Example)
The following shows the replacement procedure for when devices 1) to 4) are assigned.
1) M128 to M767 (640 points) and M1088 to M1215 (320 points): Device ranges to be shared
2) M768 to M1087 (320 points): Device range not to be shared
3) M3840 to M4159 (320 points): Device range to be shared
4) M4160 to M4479 (320 points): Free device range
Procedure: Replace 2) devices with 4) devices. --> Replace 3) devices with 2) free devices.
M128 to M767
(Devices to be shared)
M768 to M1087
(Devices not to be shared)
M1088 to M1215
(Devices to be shared)
•••
M3840 to M4159
(Devices to be shared)
M4160 to M4479
(Free devices)
M128 to M767
(Devices to be shared)
M768 to M1087
(Free devices)
M128 to M767
(Devices to be shared)
M768 to M1087
(Devices to be shared)
Replace
M1088 to M1215
(Devices to be shared)
Replace
M1088 to M1215
(Devices to be shared)
•••
•••
M3840 to M4159
(Devices to be shared)
M4160 to M4479
(Devices not to be shared)
M3840 to M4159
(Free device)
M4160 to M4479
(Devices not to be shared)
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
Device number batch replacement procedure
The following shows the procedure for replacing devices in a PLC side project using GX Works2.
Always backup the project before the replacement of devices.
1) Start GX Works2, and select "Device Batch Replace" from the "Find/Replace" tab.
2) Select the "Device" tab, and input "Find Device", "Replace Device", and "Device Point". Select "All
Replace".
1)
3)
2)
4)
1) Input the start device before the replacement in Find Device.
2) Input the start device after the replacement in Replace Device.
3) Input device points to replace.
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
3) Replace "M3840 to M4159" with device numbers of "M768 to M1087" by the same method as 2).
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
The following shows the procedure for replacing devices in a motion side project using MT Developer2.
Always backup the project before the replacement of devices.
1) Start MT Developer2, and select "Replace Device Number Batch" from the "Find/Replace" tab.
2) Select "Replacing with specified K/F/G program range" and input "Replace From:/To:" and "Replace
With:" in "Device No.". Select "Check >> Execute".
1)
2)
1) Specify the end device from start device before conversion.
2) Specify start device after conversion.
3) Replace "M3840 to M4159" with device numbers of "M768 to M1087" by the same method as 2).
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
6.2.4 Timer devices and counter devices
In A-Motion, a PLC CPU and a motion PU share T (Timer device) and C (Counter device). However, after the transition to QDS-Motion, T/C cannot be referred to from the Motion CPU. Instead, when the same function is used with the QDS-Motion CPU, the TIME instruction can be used.
When the PLC CPU is synchronized with the Motion CPU using T/C of the PLC CPU, set an interlock by configuring some settings (T/C assignment to multiple CPU shared devices/automatic refresh setting).
6.2.5 Indirect designation of servo program
About indirect designation of servo program, because word length is changed from 16 bit to 32 bit by replacement, use word number should be 2 (even number).
• Indirect designation of servo program in A-Motion
Odd device
• After the conversion from A-Motion to QDS-Motion
The project is converted with the odd device.
• Error content and measures when execute program conversion in QDS-Motion
• Change the device number to an even number and modify all the related devices.
Replace the odd device with an even device.
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
Since QDS-Motion's error check function is improved, errors and warnings may be displayed to the parameter to which A-Motion does not display errors and warnings. Correct the errors according to the content of the errors and warnings.
Example) A-Motion
• After the conversion from A-Motion to QDS-Motion
• Error contents and measures
In the above case, set the sudden stop deceleration time to be equal to the deceleration time setting value (500ms or shorter).
Note that the error check becomes stricter than before the replacement as the above case.
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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
Memo
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3
. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
3. REPLACEMENT PROPOSAL FROM
A-MOTION TO STAND-ALONE MOTION
3. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION ...................................................... 1
1. OVERVIEW ....................................................................................................................................................... 3
2. EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE ......................................................................... 3
2.1 Equipment Correspondence ...................................................................................................................... 3
2.2 Servo Amplifier Correspondence .............................................................................................................. 4
2.3 Operating System Software Correspondence .......................................................................................... 5
2.4 Engineering Environment .......................................................................................................................... 5
3. DIFFERENCES BETWEEN Q170MSCPU(-S1) AND A173UHCPU/A172SHCPUN/A171SHCPUN ........... 6
3.1 Differences between Q170MSCPU(-S1) and A173UHCPU/A172SHCPUN/A171SHCPUN ................. 6
Differences list ................................................................................................................................................... 6
Difference between self diagnosis error and Motion (SFC) error history ...................................................... 10
Item that is necessary to change/revise with the change of servo system network ..................................... 11
3.2 Device Comparison ................................................................................................................................. 12
3.2.1 I/O device .......................................................................................................................................... 12
3.2.2 Internal relay ..................................................................................................................................... 12
3.2.3 Data register ..................................................................................................................................... 16
3.2.4 Motion register .................................................................................................................................. 19
3.2.5 Special relay ..................................................................................................................................... 20
3.2.6 Special register ................................................................................................................................. 22
3.2.7 Other devices ................................................................................................................................... 25
4. DIVERSION OF PROJECT CREATED BY A173UHCPU/A172SHCPUN/A171SHCPUN .......................... 27
4.1 Data List Available for Diversion or Not (SV13/SV22) ............................................................................ 27
4.2 Program Diversion Procedure in Motion CPU Side ................................................................................ 29
4.2.1 Diversion procedure using MT Developer2 ..................................................................................... 29
4.2.2 Without using SFC ........................................................................................................................... 32
4.2.3 Precautions for diverting cam data .................................................................................................. 33
4.3 Program Diversion Procedure in PLC CPU Side .................................................................................... 34
4.3.1 Conversion procedure of ladder program for QnUD(H)CPU using GX Works2/GX Developer .... 34
5. USING A/QnA->Q CONVERSION SUPPORT TOOL IN LADDER PROGRAM .......................................... 39
6. POINTS AND PRECAUTIONS OF REPLACEMENT .................................................................................... 39
6.1 Difference of Motion CPU Configuration ................................................................................................. 39
6.1.1 System configuration ........................................................................................................................ 39
6.2 Precautions about Replacement ............................................................................................................. 40
6.2.1 Slot position (system configuration) ................................................................................................. 40
7. DIFFERENCE BETWEEN Q170MSCPU AND Q170MSCPU-S1 ................................................................ 42
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7.1 Difference between Q170MSCPU and Q170MSCPU-S1 ...................................................................... 42
7.1.1 (1) Motion control specification ........................................................................................................ 42
7.1.2 (2) Motion SFC performance specification ...................................................................................... 42
7.1.3 (3) PLC CPU part control specification ............................................................................................ 42
7.1.4 (4) Power supply specification ......................................................................................................... 42
7.1.5 (5) Battery life specification .............................................................................................................. 42
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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
1. OVERVIEW
This article explains the change content when replace the system using
A173UHCPU/A172SHCPUN/A171SHCPUN with the system using Q170MSCPU(-S1). Besides, about
A173UHCPU-S1, it can be read as A173UHCPU in another way. Q170MSCPU-S1 is the capacity expansion version of Q170MSCPU. Refer to the 7th section about the main differences with Q170MSCPU.
2. EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE
Please prepare module, servo amplifier, operating system software and engineering environment according to the table in this article.
2.1 Equipment Correspondence
It is necessary to use the supported product in iQ Platform, when using Q170MSCPU(-S1).
Product
Motion CPU module
PLC CPU section
Use A173UHCPU, A17nSHCPUN
Model name
• A173UHCPU
• A172SHCPUN
• A171SHCPUN
Use Q170MSCPU(-S1)
Model name
Q170MSCPU
(recognized as Q03UDCPU)
Q170MSCPU-S1
(recognized as Q06UDHCPU)
Motion CPU module
Motion CPU section
Main base unit
Extension base unit
• A173UHCPU
• A172SHCPUN
• A171SHCPUN
• A172B
• A175B
• A178B(-S□)
• A1S6□B
• A168B
• A6□B
Q170MSCPU(-S1)
-
Q5□B, Q6□B
7 units (up to 64 slots) (Note-1)
Power supply module (when an extension base unit Q6□B is used)
Forced stop input cable
Connector for forced stop input cable
Servo external signal interface module
Manual pulse interface module
Serial ABS synchronous encoder
Serial ABS synchronous encoder cable
Battery
For CPU module
For synchronous encoder
Manual pulse generator
SSCNET(III) cable
-
-
-
A171SENC
A172SENC
MR-HENC
MR-HSCBL□M
(between A-Motion and MR-HENC)
Connect A6BAT to the CPU module
MR-HDP01
• MR-HBUS□M
• MR-J2HBUS□M-A
(cable for SSCNET)
-->
Q61P, Q62P, Q63P, Q64PN
Fabricate this cable by customers.
FK-MCP1.5/3-ST-3.81 (standard accessory)
Q172DLX (Note-2)
Q173DPX (Note-3)
Use if necessary (Note-2)
Q171ENC-W8 (Note-4)
Q170ENCCBL□M-A (Note-4)
(between MR-J4-□B-RJ and
Q171ENC-W8)
Connect Q6BAT to the CPU module
Connect MR-BAT6V1SET to
MR-J4-□B-RJ (Note-4)
<-- (same as left)
• MR-J3BUS□M
• MR-J3BUS□M-A
• MR-J3BUS□M-B
(cable for SSCNET III)
(Note-1): Use 8 slots as free slots of the main base unit.
(Note-2): Motion CPU built-in I/F (input 4 points) can be used.
(Note-3): Manual pulse/INC synchronous encoder (1 module) in Motion CPU built-in I/F can be used.
(Note-4): When a serial ABS synchronous encoder is used with Q170MSCPU(-S1), connect the encoder to the servo amplifier
MR-J4-□B-RJ.
<Precautions>
• Q170MSCPU(-S1) is not compatible with teaching units.
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2.2 Servo Amplifier Correspondence
The applicable servo system network is changed from SSCNET to SSCNET III or SSCNET III/H. Use servo amplifiers compatible with SSCNET III or SSCNET III/H. Select a servo motor that can be connected with an SSCNET III or SSCNET III/H-compatible servo amplifier.
<Amplifier correspondence>
Use A17nSHCPUN/A173UHCPU
Product Model name
Use Q17nDSCPU
Product Model name
MR-H series MR-H-□BN
MR-J3 series • MR-J3(W)-□B(S)
MR-J2S series
MR-J2 series
MR-J2-Jr series
MR-J2S-□B
MR-J2-□B
MR-J2-03B5
-->
MR-J4 series
• MR-J4(W□)-□B
* Operates in the MR-J3 compatibility mode when mixed with
MR-J3.
<Specification compare of servo system network>
SSCNET III
Communication media
Communication speed
Metal cable
5.6Mbps
Communicati on cycle
Sending 3.55ms
Receiving 3.55ms
Maximum number of control axes per system
8 axes/system
50Mbps
Optical fiber cable
16 axes/system
150Mbps
0.44ms/0.88ms 0.22ms/0.44ms/0.88ms
Transmission distance Overall length is 30m
-->
[Standard cord for inside panel/Standard cable for outside panel]
Up to 20m between stations
Maximum overall length is 320m
(20m x 16 axes)
[Long-distance cable]
Up to 50m between stations
Maximum overall length is
800m
(50m x 16 axes)
[Long-distance cable]
Up to 100m between stations
Maximum overall length is
1600m
(100m x 16 axes)
For the communication with servo amplifiers, "SSCNET III" or "SSCNET III/H" must be set for each system in the SSCNET setting of the system setting.
When "SSCNET III/H" is set, MR-J4(W)-□B can be used. When "SSCNET III" is set, MR-J3(W)-□B can be used.
When MR-J4(W) (MR-J3 compatibility mode compatible product) is connected to the system where "SSCNET
III" is set, the servo amplifier operates in the MR-J3 compatibility mode (SSCNET III). However, if the
MR-J4(W) that was once connected to "SSCNET III/H" is connected to "SSCNET III", an alarm may occur. For details, refer to MR-J4 SERVO AMPLIFIER INSTRUCTION MANUAL.
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2.3 Operating System Software Correspondence
Use operating system for Q170MSCPU(-S1).
The latest version of SV22 has been installed in Q170MSCPU(-S1) with shipment.
Download the latest version of operating system besides SV22 from Mitsubishi Electric FA Site for use.
Application
Use A17nSHCPUN/A173UHCPU
Model name
SW2SRX-SV13B
Use Q170MSCPU(-S1)
Model name
For conveyor assembly
(SV13)
For A173UHCPU
For A172SHCPUN
For A171SHCPUN
SW2NX-SV13B
SW3RN-SV13B
SW0SRX-SV13D
SW0NX-SV13D
SW3RN-SV13D
SW2SRX-SV13G
SW0NX-SV13G
SW2SRX-SV22A
-->
For Q170MSCPU(-S1) SW8DNC-SV13QN
For automatic machinery
(SV22)
For A173UHCPU
For A172SHCPUN
SW2NX-SV22A
SW3RN-SV22A
SW0SRX-SV22C
SW0NX-SV22C
For Q170MSCPU(-S1) SW8DNC-SV22QN
For A171SHCPUN
SW3RN-SV22C
SW0SRX-SV22F
SW0NX-SV22F
2.4 Engineering Environment
The following shows the engineering environment supported in Q170MSCPU(-S1).
For the following purchase software, the latest version of which can download from Mitsubishi Electric FA
Site and update.
MELSOFT MT Works2
MR Configurator2 (Note-1) (Note-2)
MELSOFT GX Works2 (Note-3) name Remark
SW1DNC-MTW2-□
SW1DNC-MRC2-□
Ver.1.56J or later
Ver.1.18U or later
SW1DNC-GXW2-□ Ver.1.77F or later
Execute the installation of GX
Developer when installing GX
Works2.
(Note-1): MR Configurator2 is bundled in MT Works2.
(Note-2): MR Configurator2 can be installed after downloading from Mitsubishi Electric FA Site in the personal computer in which GX
Works2 or MT Works2 is installed.
(Note-3): GX Developer also can be installed together when install MELSOFT GX Works2.
In "3.4.3, Diversion procedure in PLC CPU side", GX Developer is necessary to convert sequence program.
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3. DIFFERENCES BETWEEN Q170MSCPU(-S1) AND A173UHCPU/A172SHCPUN/A171SHCPUN
3.1 Differences between Q170MSCPU(-S1) and A173UHCPU/A172SHCPUN/A171SHCPUN
Differences list
A17nSHCPUN/A173UHCPU
Item Q170MSCPU(-S1) Points of replacement
A171SH A172SH A173UH
Peripheral I/F
• USB/RS-232
(Via PLC CPU)
• PERIPHERAL I/F
(Motion CPU manager)
RS422/SSCNET
Communicate with peripheral by corresponding I/F.
Battery Q6BAT is built in (3.0V) A6BAT is built in (3.6V)
Pay attention to the using battery is different.
Forced stop input
Always use a forced stop input cable (Please fabricate it by customers).The forced stop cannot be released without using it.
Multiple CPU high speed transmission memory for data transfer between CPU modules
I/O points
Internal relays (M)
Included -
Latch relays (L)
8192 points
12288 points
None (M latch can be set in latchsetting)
Step relays (S)
Link relays (B)
Timers (T)
Counters (C)
Data registers (D)
Link registers (W)
Annunciators (F)
File registers (R)
-
8192 points
-
-
8192 points
8192 points
2048 points
-
Special relays (M)
Special relays (SM)
-
2256 points
Special registers (D) -
Special registers (SD) 2256 points
Motion registers (#) 12288 points
2048 points
Total point is 2048 in shared M,L,S
1024 points
256 points
256 points
1024 points
1024 points
256 points
Up to 8192 points
8192 points
Total point is 8192 in shared
M,L,S
8192 points
2048 points
2048 points
8192 points
8192 points
2048 points
256 points
-
256 points
-
-
8192 points
(Motion SFC OS only)
-
-
The devices on the left are shared in A-Motion but not shared in
Stand-alone Motion.
Execute automatic refresh setting if necessary.
Refer to Section 3.5 for details.
-
Multiple CPU shared devices (U□\G)
• Use EMI connector of
Motion CPU module
• Use device specified by forced stop input setting in the system setting
Up to 14336 points (Note-1)
Use EMG terminal of main base unit
- -
Coasting timers(FT)
Motion dedicated sequence instruction
1point(888 μ s)
D(P).DDRD, D(P).DDWR,
D(P).SFCS, D(P).SVST,
D(P).CHGT, D(P).CHGT2,
D(P).CVGV,
D(P).CHGVS
(Note-2) ,
D(P).CHGA,
D(P).CHGAS
(Note-2) ,
D(P).GINT
CHGT, CHGV, CHGA
SVST
(Non Motion SFC OS only)
-
SFCS, ITP
(Motion SFC OS only)
Replace motion dedicated PLC instruction with D(P).
*** instruction.
Refer to (Q173D(S) CPU/Q172
D(S) CPU Motion controller
(SV13/SV22) programming manual (Motion SFC).)
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(Continued)
A17nSHCPUN/A173UHCPU
Item Q170MSCPU(-S1)
A173UH
Points of replacement
Motion module
SV13
Loading position
Q172DLX, Q173DPX
Used in extension base
A171SH A172SH
A171SENC, A172SENC
Only in motion I/O slot can motion module be installed
Please use Q172DLX or
Q173DPX for motion module in the system which used
Q170MSCPU(-S1).
(Note-3)
Used in extension base.
Refer to Section 3.2.1 Equipment correspondence.
(Note-1): The number of available points differs depending on the system setting.
(Note-2): Only for SV22 advanced synchronous control.
(Note-3): When a serial ABS synchronous encoder is used with Q170MSCPU(-S1), connect the encoder to the servo amplifier MR-J4□
B-RJ.
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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
(Continued)
Item Q170MSCPU(-S1)
System setting
• PLC section is Q03UD (when
Q170MSCPU is used) or
Q06UDH (when
Q170MSCPU-S1 is used)
• Use Q5□B, Q6□B when it is extension base unit.
SSCNET III/H, SSCNET III
Unusable
Servo system network
Teaching unit
CPU shared memory
Multiple CPU high speed transmission area
Provided
Automatic refresh
LED display
Latch range setting
Use memory
Multiple CPU high speed refresh function
Multiple CPU high speed transmission area of CPU shared memory
Automatic refresh setting
Settable in 32 range
Provided
Latch (1)
Latch (2)
Clear all function
Self diagnosis error
7-segment LED display
Latch clear (1) of remote latch clear can clear in latch clear (1)
(2)
Can be cleared by latch clear
(1) (2) of remote latch clear
Execute by installation mode
When the error occurs in the
Motion CPU itself, set 10000 to
10999 according to the error type in the diagnosis error
(SD0). Both self diagnosis error flag (SM1) and diagnosis error flag (SM0) are ON.
A17nSHCPUN/A173UHCPU
A171SH A172SH
A178B-S1, A178B-S2,
A178B-S3)
SSCNET
Usable
Assign the device which used in
Device shared between SCPU and PLC CPU by automatic refresh
PCPU setting manually to Motion CPU device after project diversion.
Each LED of RUN, ERR
None
A173UH
• Not corresponding to Multiple
CPU
• Main base unit is A17□B
(A172B, A175B, A178B,
Latch range setting is 1 setting only.
Clear by L.CLR switch.
Even if the error of PCPU occurs, self diagnosis error does not occur.
-
-
-
-
Points of replacement
Use the system combining with available unit.
Please execute latch clear in MT
Works2.
Correct the program if necessary.
Motion error detection flag
(M2039)
Latch clear
No matter which error occurs,
M2039 is ON in Motion CPU.
-
Errors will not occur but
M2039 is ON according to the classification of errors when using SFC.
L.CLR switch
Correct the program if necessary.
-
RUN/STOP
ROM write
Mode operated by ROM
Installation mode
Remote operation
Remote operation, RUN/STOP switch
• Execute in RAM operation mode/ROM operation mode
(installation switch operation of Motion CPU module is not necessary)
• Data of MT Works2 can be wrote to ROM directly
Select by rotary switch
Select by rotary switch
RUN/STOP switch
None -
None
Select by dip switch
-
-
-
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(Continued)
A17nSHCPUN
Item Q170MSCPU(-S1)
A171SH A172SH A173UH
Mechanical system program
(SV22)
Operation cycle
(default value)
SV13
SV22
Ball screw and electronic gear setting of rotary table can be automatically calculated from the setting value of "Number of
Pulses/Rev." and "Travel
Value/Rev." of fixed parameter.
0.22ms/1 to 4 axes
0.44ms/5 to 10 axes
0.88ms/11 to 16 axes
Possible to set 0.2
[ms] in operation cycle setting (Note-1)
0.44ms/1 to 6 axes
0.88ms/7 to 16 axes
Possible to set 0.2
[ms] in operation cycle setting (Note-2)
Ball screw and electronic gear setting of rotary table are set respectively in mechanical system program.
3.5ms
/1 to 4 axes
3.5ms
/1 to 4 axes
3.5ms
/1 to 8 axes
3.5ms
/1 to 8 axes
3.5ms
/1 to 20 axes
7.1ms
/21 to 32 axes
3.5ms
/1 to 12 axes
7.1ms
/13 to 24 axes
14.2ms
/25 to 32 axes
(Note-1): The following restrictions are applied when the communication method is "SSCNET III"
-
Points of replacement
When the operation cycle is set as default (automatic), the operation cycle will change. Operation cycle changes as left describing, and the program execution timing will change, so set the fixed operation cycle if necessary.
• When the operation cycle is 0.2 [ms], set "0 to 3" for the axis select switch setting of the servo amplifier, and configure the system setting.
• When the operation cycle is 0.4 [ms], set "0 to 7" for the axis select switch setting of the servo amplifier, and configure the system setting.
For details, refer to the instruction manual of the servo amplifier.
(Note-2): When MR-J4W3-□B (Software version: A2 or earlier) or MR-J3W-□B is used, set 0.4 [ms] or more for the operation cycle.
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Difference between self diagnosis error and Motion (SFC) error history
Self diagnosis error code
Q170MSCP
U(-S1)
(SD0)
A17nSHCP
UN/
A173UHCP
U (D9008)
Description
Error flag status : ON : OFF
Self diagnosis error flag
Q170MSCP
U(-S1)
(SM1)
A17nSHCP
UN/
A173UHCP
U(M9008)
Motion (SFC) error history
Q170MSCP
U(-S1)
(#8640 +
12n) *
(SFC version only]
A172SHCP
UN/
A173UHCP
U
(#8000 +
8n) *
Motion error detection
Flag
Q170MSCP
U(-S1)
(M2039)
(SFC version only]
A172SHCP
UN/
A173UHCP
U(M2039)
1 to 9999 10 to 84
Self diagnosis error besides
Motion CPU independent error
10007
10008
10009
10010
10020
10021
10030
10042
-
-
-
-
-
-
-
-
Servo program setting error
Mode switching error
Manual pulse axis setting error
Test mode requirement error
Motion SFC control error (F/FS)
Motion SFC control error (G)
Motion CPU internal bus error
SSCNET III/H head unit error
* : n shows the value (n= 0 to 7) corresponding to motion error history.
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Item that is necessary to change/revise with the change of servo system network
Difference
Item Change/Revise content
Q170MSCPU(-S1)
A17nSHCPUN/
A173UHCPU
System setting/SSCNET configuration
Electronic gear
Q170MSCPU(-S1): 1 system
(up to 16 axes/system)
Number of pulses per revolution:
1 to 2147483647[pulse]
Travel value per revolution:
1 to 2147483647[pulse]
A171SHCPUN: 1 system
A172SHCPUN: 1 system
A173UHCPU: 4 system
(up to 8 axes/system)
Number of pulses per revolution: 1 to
65535[pulse]
Travel value per revolution: 1 to
65535[pulse]
Execute rotary switch setting of amplifier and the connection of amplifier combining with SSCNET configuration.
Change the "Number of Pulses/Rev." and
"Travel Value/Rev." of fixed parameter combining with resolution per revolution of the connecting servo motor.
Connect/disconnect of
SSCNET communication when servo amplifier power supply is
OFF
When an SSCNET III cable or a servo amplifier in the middle of the
SSCNET system is replaced while the multiple
CPU system is on, use the connect/disconnect function of the SSCNET communication.
SSCNET cables or servo amplifiers in the middle of the SSCNET system can be replaced while the system is on.
When the power supply servo amplifier is
OFF/ON in SSCNET system, use connect/disconnect function of SSCNET communication.
For details, refer to Motion controller Q series programming manual (common)
(Q173D(S)CPU/Q172D(S)CPU)
(IB-0300126) and "Connect/disconnect function of SSCNET communication".
Battery break warning/ battery warning
Servo error code
2102(92): Battery break warning
2116(9F): Battery warning
Servo error code
2102(9F): Battery warning
2103(92): Battery break warning
Correct the program using the left servo error code.
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3.2 Device Comparison
3.2.1 I/O device
Q170MSCPU(-S1) A173UHCPU A172SHCPUN A171SHCPUN
X/Y0
X/Y7FF
X/Y800
X/Y1FFF
User device
(8192 points)
User device
(8192 points)
User device
(2048 points)
3.2.2 Internal relay
(1) SV13
Q170MSCPU(-S1) A173UHCPU A172SHCPUN A171SHCPUN
M0
M1600
M1680
M1760
M1800
M1880
User device
(2000 points)
User device
(2000 points)
Status of each axis
(20 points x 8 axes)
User device
(1600 points)
Status of each axis
(20 points x 4 axes)
Unusable
(40 points)
Unusable
(120 points)
Command signal of each axis
(20 points x 8 axes)
Command signal of each axis
(20 points x 4 axes)
Unusable
(80 points)
M1960
M2000
M2047
M2048
Common device
(320 points)
Common device
(320 points)
Common device (88 points)
M2320
M2400
M2720
M3040
M3072
M3136
M3200
Unusable
(80 points)
Status of each axis
(20 points x 16 axes)
User device
(320 points)
Unusable
(32 points)
Common device (command signal)
(64 points)
Unusable
(64 points)
Command signal of each axis
(20 points x 16 axes)
Unusable
(80 points)
Status of each axis
(20 points x 32 axes)
Unusable
(160 points)
Command signal of each axis
(20 points x 32 axes)
M3520
M3840
M8191
User device
(4672 points)
User device
(4351 points)
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(2) SV22 Real mode
Q170MSCPU(-S1) A173UHCPU A172SHCPUN A171SHCPUN
M0
M1360
M1364
M1600
M1680
M1760
M1800
M1880
M1960
M2000
M2048
M2320
User device
(2000 points)
Common device
(320 points)
Unusable (80 points)
User device
(2000 points)
Common device
(320 points)
Unusable (80 points)
User device
(1360 points)
Synchronous encoder axis status (4 points x 1 axis)
User device (236 points)
Status of each axis
Status of each axis
(20 points x 8 axes)
(20 points x 4 axes)
Unusable
(40 points)
Unusable
(120 points)
Command signal of each axis
(20 points x 8 axes)
Command signal of each axis
(20 points x 4 axes)
Unusable
(40 points)
Common device
(88 points)
M2400
M2720
M3040
M3072
M3136
M3200
M3520
M3840
Status of each axis
(20 points x16 axes)
User device
(320 points)
Unusable
(32 points)
Common device (command signal)
(64 points)
Unusable
(64 points)
Command signal of each axis
(20 points x 16 axes)
User device
(320 points)
Unusable
(160 points)
Status of each axis
(20 points x 32 axes)
Unusable
(160 points)
Command signal of each axis
(20 points x 32 axes)
M4000
M4320
Virtual servo motor axis status (Note-1)
(20 points x 16 axes)
User device
(320 points)
User device
(800 points)
M4640
Synchronous encoder axis status
(4 points x 12 axes)
Synchronous encoder axis status
(4 points x 4 axes)
M4656
M4688
M4800
Unusable (Note-1)
(112 points)
Virtual servo motor axis status (Note-1)
(20 points x 16 axes)
User device
(3536 points)
M5120
User device
(320 points)
(Note-1): This device can be used as a user device when used only in the SV22 real mode.
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(Continued)
M5440
M5488
M8191
Q170MSCPU(-S1) A173UHCPU A172SHCPUN A171SHCPUN
Synchronous encoder axis command signal
(4 points x 12 axes) User device
(3536 points)
User device (2704 points)
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(3) SV22 Virtual mode
M0
M1200
M1280
M1360
M1364
M1400
M1480
M1560
M1564
M1600
M1680
M1760
M1800
M1880
M1960
M2000
M2048
User device
(2000 points)
Common device
(320 points)
User device
(2000 points)
Common device
(320 points)
User device
(1360 points)
Virtual servo motor axis status
(20 points x 8 axes)
Virtual servo motor axis status (Note-1) (Note-2)
(20 points x 4 axes)
User device (Note-2)
(80 points)
Synchronous encoder axis status
(4 points x 1 axis) (Note-2)
Unusable (Note-2)
(36 points)
Virtual servo motor axis command signal
(20 points x 8 axes)
Virtual servo motor axis command signal (Note-1)
(Note-2)
(20 points x 4 axes)
User device (Note-2)
(80 points)
Synchronous encoder axis command signal
(4 points x 1 axis)
Unusable (36 points)
Status of each axis
(20 points x 8 axes)
Unusable (40 points)
Status of each axis
(20 points x 4 axes)
Unusable
(120 points)
Command signal of each axis
(20 points x 8 axes)
Command signal of each axis
(20 points x 4 axes)
Unusable
(80 points)
Common device
(88 points)
M2320
Unusable
(80 points)
Unusable
(80 points)
M2400
M2720
M3040
M3072
M3136
M3200
M3520
M3840
M4000
M4320
Status of each axis
(20 points x 16 axes)
User device
(320 points)
Unusable
(32 points)
Common device (command signal)
(64 points)
Unusable
(64 points)
Command signal of each axis
(20 points x 16 axes)
User device
(320 points)
Unusable
(160 points)
Virtual servo motor axis status
(20 points x 16 axes) (Note-1)(Note-3)
User device (320 points) (Note-1)
(Note-3)
Status of each axis
(20 points x 32 axes)
Unusable
(160 points)
Command signal of each axis
(20 points x 32 axes)
Unusable
(160 points)
Virtual servo motor axis status (Note-1)(Note-3)
(20 points x 32 axes)
3
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3
. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
(Continued)
M4640 Synchronous encoder axis status
(4 points x 12 axes) (Note-3)
Synchronous encoder axis status (Note-3)
(4 points x 4 axes)
M4656
M4800
M5120
Virtual servo motor axis command signal (Note-1) (Note-3)
(20 points x 32 axes)
M5440
M5456
Synchronous encoder axis command signal
(4 points x 12 axes) (Note-3)
Synchronous encoder axis command signal (Note-3)
(4 points x 4 axes)
Unusable
(32 points) (Note-3)
M5488
User device (2704 points) (Note-4)
User device
(2704 points) (Note-4)
M8191
(Note-1): Only the area of axis set by mechanical system program is occupied. The area of unused axis set by mechanical system program can be used by user.
(Note-2): When using virtual mode, do not set latch range as M1200 to M1599.
(Note-3): When using virtual mode, do not set latch range as M4000 to M5487.
(Note-4): Cam axis command signal and smoothing clutch completion signal can be set to any device by parameter.
3.2.3 Data register
(1) SV13
D0
D320
D640
D672
D704
D758
Virtual servo motor axis command signal
(20 points x 16 axes) (Note-1)(Note-3)
User device (320 points) (Note-3)
Monitor device of each axis
(20 points x 16 axes)
User device
(320 points)
Control change register
(2 points x 16 axes)
User device
(32 points)
Common device (command signal)
(54 points)
Unusable
(42 points)
Unusable
(144 points) (Note-3)
Monitor device of each axis
(20 points x 32 axes)
Control change register
(2 points x 32 axes)
Common device
(96 points)
User device
(800 points)
D800
D880
D960
D984
D1008
D1023
D1024
D8191
User device
(7392 points)
User device
(7392 points)
Monitor device of each axis
(20 points x 8 axes)
Monitor device of each axis
(20 points x 4 axes)
Unusable
(80 points)
Control change register
(6 points x 4 axes) Control change register
(6 points x 8 axes)
Common device
(16 points)
Unusable
(24 points)
3
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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
(2) SV22 Real mode
D0
D320
D640
D672
Monitor device of each axis
(20 points x 16 axes)
User device
(320 points)
Control change register
(2 points x 16 axes)
User device
(32 points)
Monitor device of each axis
(20 points x 32 axes)
Control change register
(2 points x 32 axes)
User device
(748 points)
D704
D748
D752
D758
Common device
(54 points)
Unusable
(42 points)
Common device
(96 points)
Synchronous encoder axis monitor device
(4 points x 1 axis)
User device
(48 points)
D800
D880
D960
D984
D1008
Virtual servo motor axis monitor device (Note-1)
(10 points x 16 axes)
User device
(160 points)
User device
(320 points)
Monitor device of each axis
(20 points x 8 axes)
Monitor device of each axis
(20 points x 4 axes)
Control change register
(6 points x 8 axes)
Unusable
(80 points)
Control change register
(6 points x 4 axes)
Unusable
(24 points)
Common device
(16 points)
D1024
D1120
Synchronous encoder axis monitor device (Note-1)
(10 points x 12 axes)
Synchronous encoder axis monitor device (6 points x 4 axes) (Note-1)
D1144
D1240
D1400
Cam axis monitor device (Note-1)
(10 points x 16 axes)
User device
User device
(7048 points)
D8191
(6792 points)
(Note-1): Only the area of axis set by mechanical system program is occupied. The area of unused axis set by mechanical system can be used by user.
3
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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
(3) SV22 Virtual mode
D0
D320
Monitor device of each axis
(20 points x 16 axes)
User device
(320 points)
Monitor device of each axis
(20 points x 32 axes)
User device
(670 points)
D640
D670
D678
D686
D688
D700
D704
D724
D748
D752
D758
D760
D780
D800
D880
D960
D984
D992
D1008
Control change register
(2 points x 16 axes)
User device
(32 points)
Common device (command signal)
(54 points)
Unusable
(42 points)
Virtual servo motor axis monitor device (Note-1)
(6 points x 16 axes)
Current value after differential gear of virtual servo motor axis main shaft
(4 points x 16 axes) (Note-1)
User device
(160 points)
Control change register
(2 points x 32 axes)
Common device
(96 points)
Virtual servo motor axis monitor device (Note-1)
(6 points x 32 axes)
Current value after differential gear of virtual servo motor axis main shaft (Note-1)
(4 points x 32 axes)
Current value after differential gear of virtual servo motor axis main shaft (Note-1)
(2 points x 8 axes)
Current value after differential gear of virtual servo motor axis main shaft (Note-1)
(2 points x 4 axes)
User device
(8 points)
Current value after differential gear of synchronous encoder axis main shaft (Note-1)
(2 points x 1 axis)
Unusable
(12 points)
Virtual servo motor axis monitor device (Note-1)
(6 points x 8 axes)
Virtual servo motor axis monitor device (Note-1)
(6 points x 4 axes)
User device
(24 points)
Synchronous encoder axis monitor device
(4 points x 1 axis)
Unusable
(8 points)
Cam axis monitor device (Note-1)
(5 points x 8 axes)
Cam axis monitor device (Note-1)
(5 points x 4 axes)
User device
(20 points)
Monitor device of each axis
(20 points x 4 axes)
Monitor device of each axis
(20 points x 8 axes) Unusable
(80 points)
Control change register
(6 points x 8 axes)
Control change register
(6 points x 4 axes)
Unusable
(24 points)
Common device
(16 points)
D1024
3
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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
(Continued)
D1120
Synchronous encoder axis monitor device
(6 points x 12 axes)
Current value after differential gear of synchronous encoder axis main shaft
(4 points x 12 axes)
Synchronous encoder axis monitor device (Note-1)
(6 points x 4 axes)
Current value after differential gear of synchronous encoder axis main shaft
(4 points x 4 axes)
D1160
Unusable
(80 points)
Cam axis monitor device (Note-1)
D1240
(10 points x 16 axes)
Cam axis monitor device (Note-1)
(10 points x 32 axes)
D1400
D1560
User device
(6792 points)
User device
D8191 (6632 points)
(Note-1): Only the areas of axes set with the mechanical system program are occupied. The areas of the axes not used by the mechanical system program can be used by users.
3.2.4 Motion register
#0
#7999
User device
(8000 points)
User device
(8000 points)
#8000
#8008
#8016
#8024
#8032
#8040
#8048
#8056
#8064
Monitor device
(640 points)
Past 7 times error information
(oldest error information)
Past 6 times error information
Past 5 times error information
Past 4 times error information
Past 3 times error information
Past 2 times error information
Past 1 time error information
Latest error information
Unusable
(128 points)
#8192
#8640
#8736
Motion error history device
(96 points)
Product information list device
(16 points)
#8752
#12287
System area
(3536 points)
3
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-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
3
. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
3.2.5 Special relay
Q170MSCPU
(-S1)
Device number
A17nSHCPUN/
A173UHCPU
Name Remark
SM60
-
-
SM53
M9000
M9002
M9004
M9005
Fuse blown detection flag
I/O module verification error
MINI link error
AC DOWN detection flag
SM51
SM1
M9007
M9008
Low battery latch flag
Self diagnosis error flag
-
-
-
-
-
-
M9016
M9017
M9020
M9021
M9022
M9023
Data memory clear flag (all data)
Data memory clear flag (not latch data)
User timing clock No.0
User timing clock No.1
User timing clock No.2
User timing clock No.3
-
-
M9024
M9025
User timing clock No.4
Clock data set requirement Clock data of CPU No.1 is operating.
- M9027 display
SM801
-
-
-
M9028
M9029
M9030
M9031
Clock data reading requirement
Data communication requirement batch processing A173UHCPU only
0.1 second clock
0.2 second clock
-
-
-
M9032
M9033
M9034
1 second clock
2 seconds clock
1 minute clock
A173UHCPU only
Q170MSCPU (-S1):
AC/DC DOWN detection
M9038
M9039
M9040
M9041
M9042
M9043
M9045
M9046
M9047
M9049
M9051
M9052
M9053
M9054
M9055
Only 1 scan is ON after RUN
RUN flag (only 1 scan is OFF after RUN)
PAUSE enable coil
PAUSE status contact
Stop status contact
Sampling trace completion
Reset watchdog timer (WDT)
Sampling trace
Sampling trace preparation
Switch output characters number
CHG command execution inhibition
Switch SEG command
Switch EI/DI command
STEP RUN flag
Status latch completion flag
A173UHCPU only
A173UHCPU only
A173UHCPU only
3
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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
(Continued)
Q170MSCPU
(-S1)
Device number
A17nSHCPUN/
A173UHCPU
-
-
-
-
-
-
-
SM512
SM500
M9056
M9057
M9058
M9059
M9065
M9066
M9070
M9073
M9074
Name Remark
Main side P, I setting requirement
Sub side P, I setting requirement
Main side P, I setting completion
Sub side P, I setting completion
Partition processing execution detection
Partition processing requirement flag
Needed search time of A8UPU/A8PUJ
Motion CPU WDT error flag
PCPU preparation completion flag
SM502
SM513
SM510
SM516
M9076
M9077
M9078
M9079
Forced stop input flag
Manual pulse axis setting error flag
Test mode requirement error flag
Servo program setting error flag
-
-
-
-
-
-
M9094
M9100
M9101
M9102
M9103
M9104
I/O exchange flag
SFC program existence
Start/stop SFC program
Start status of SFC program
Continuous transition existence
Continuous transition prevention flag
-
-
-
-
M9180
M9181
M9182
M9196
Active step sampling trace completion flag
Active step sampling trace execution flag
Enable active step sampling trace
Operation output of block stop
- M9197
- M9198
- M9199 Data return of online sampling trace status latch
*
The special relay of Q170MSCPU(-S1) is in Motion CPU side.
Refer to the manual of PLC CPU for the special relay in PLC CPU side.
3
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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
3.2.6 Special register
Q170MSCPU
(-S1)
Device number
A17nSHCPUN/
A173UHCPU
Name Remark
-
-
D9002
D9004
I/O module verification error
MINI link error
SD53 D9005 counter
SD0 D9008 error
- D9009 Detection of annunciator
SD203 D9015 CPU operation status
A173UHCPU only
SD1: Diagnosis error occurrence time
(calendar, month)
SD2: Diagnosis error occurrence time
(date, hour)
-
-
-
-
-
D9017
D9018
D9019
D9020
D9021
Minimum scan time (10ms unit)
Scan time (10ms unit)
Maximum scan time (10ms unit)
Constant scan (10ms unit)
Scan time (1ms unit)
-
SD210
SD211
SD212
SD213
-
D9022
D9025
D9026
D9027
D9028
D9035
Time (1 second unit)
Clock data (calendar, month)
Clock data (date, hour)
Clock data (minute, second)
Clock data (0, week)
Expansion file register
- D9036 For specifying extended file register device number
- D9037
SD520: Current main cycle (1ms unit)
SD521: Maximum main cycle (1ms unit)
SD524: Maximum operation cycle
(1µs unit)
A173UHCPU only
SD523: Motion setting operation cycle
(1µs unit)
A173UHCPU only
SD522: Motion operation cycle
(1µs unit)
A173UHCPU only
A173UHCPU only
-
-
LED display priority order
- D9039
- D9044 For sampling trace
D9049
D9050
Work area for SFC
SFC program error number
A173UHCPU only
A173UHCPU only
A173UHCPU only
- D9052 Error step A173UHCPU only
-
-
-
D9054
D9055
D9072
Error sequence step
Status latch
PLC communication check
A173UHCPU only
A173UHCPU only
A173UHCPU only
-
-
D9085
D9090
Detail error number
- D9092
- D9094 Exchange I/O start I/O number
A173UHCPU only
Setting register of time check value A173UHCPU only
Number of boards in special function module over A173UHCPU only
3
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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
(Continued)
Q170MSCPU
(-S1)
Device number
A17nSHCPUN/
A173UHCPU
- D9100
- D9101
- D9102
- D9103
- D9104
- D9105
- D9106
- D9107
- D9116
- D9117
- D9118
Name Remark
A173UHCPU only
I/O module verification error
- D9120
- D9121
- D9122
- D9123
- D9124 Number of annunciator detection
- D9125
- D9126
- D9127
- D9128
- D9129
- D9130
- D9131
A173UHCPU only
- D9132
- D9180
- D9181 A17nSHCPUN: Limit
SD510 D9182 storage area mode requirement error
SD513 D9185
Q170MSCPU(-S1), pulse axis setting error information
A17nSHCPUN: Servo amplifier classification
A17nSHCPUN: Manual pulse axis setting error information
A17nSHCPUN: Test information
SD516
SD517
D9189
D9190
Error program No.
Error item information
SD502 D9191
- D9196
Q170MSCPU(-S1),
A173UHCPU: Servo amplifier installation
A17nSHCPUN: Servo amplifier installation information
A17nSHCPUN: Area for manual pulse (P1) smoothing magnification setting
Personal computer link communication error code
3
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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
(Continued)
Device number
Q170MSCPU
(-S1)
A17nSHCPUN/
A173UHCPU
Q170MSCPU(-S1), A173UHCPU:
Name Remark smoothing magnification setting
Q170MSCPU(-S1), A173UHCPU:
A17nSHCPUN:
Unusable smoothing magnification setting
Q170MSCPU(-S1), A173UHCPU: smoothing magnification setting
- D760
- D761
- D762
- D763
- D764
- D765
- D766
A173UHCPU:
Limit switch output disable setting area for Axis 1 to 32
- D769
- D770
- D771
- D772
- D773
- D774
- D775
- D776
- D777
- D778
- D779
- D780
- D781
- D782
A173UHCPU:
A17nSHCPUN:
Cam axis monitor device
• A172SHCPUN: 5 points x 8 axes
• A171SHCPUN: 5 points x 4 axes area for Axis 1 to 32
- D785
- D786
- D787
- D788
- D789
- D790
- D791
- D792
- D793
- D794
- D797
- D798
- D799
* The special register of Q170MSCPU(-S1) is in Motion CPU side.
About the special register of PLC CPU side, refer to the manual of PLC CPU.
Q170MSCPU(-S1):
#8000 + 20n (1 axis/word)
A17nSHCPUN:
D792 to (4 axes/word)
A173UHCPU:
D792 to (4 axes/word)
3
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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
3.2.7 Other devices
Item
Personal computer link communication error flag
PCPU preparation completion flag
- M2034
SM500 M9074
Home position return re-travel value
Travel value change register
D9 + 20n (Note-1)
(data abbreviated to 1 word)
#8006 + 20n, #8007 + 20n (Note-1)
(Referred to at monitoring)
Any device
(enable set D16 + 20n and D17 +
20n) (Note-1)
D0 to D8191
W0 to W1FFF
D9 + 20n (Note-1)
D16 + 20n, D17 + 20n (Note-1)
D811 + 20n (Note-1)
D815 (Note-1) + 20n
Indirectly designated device
(word device)
#0 to #7999
D800 to D8191
W0 to W1FFF
#0 to #7999
(Motion SFC
(real mode) only)
D0 to D799
W0 to W3FF
#0 to #7999
(Motion SFC of A172SH
(real mode) only)
U□\G10000 to
U□\G(10000 + p - 1) (Note-2) (Note-4)
X0 to X1FFF (Note-3)
- -
X0 to X1FFF X0 to X7FF
Indirectly designated device
(bit device)
Y0 to Y1FFF
M0 to M8191
-
B0 to B1FFF
F0 to F2047
U□\G10000.0 to
U□\G(10000 + p - 1).F
(Note-2) (Note-4)
D0 to D8191
Y0 to Y1FFF
M/L0 to M/L8191
M9000 to M9255
B0 to B1FFF
F0 to F2047
Y0 to Y7FF
M/L0 to M/L2047
M9000 to M9255
B0 to B3FF
F0 to F255
- -
D800 to D3069, D3080 to D8191 D0 to D799
Enable specified device in W0 to W1FFF high speed reading function U□\G10000 to
U□\G(10000 + p - 1) (Note-2) (Note-4)
(Note-1): n shows the value (axis No.1 to 16: n= 0 to 15) corresponding to axis No.
W0 to W1FFF W0 to W3FF
- -
(Note-2): p is the user free area points of the Multiple CPU high speed transmission area of each CPU.
□: First I/O number of CPU module
(Note-3): In PXn + 0 to PXn + F, the input devices assigned to the motion CPU built-in I/F (DI), PXn + 4 to PXn + F are fixed to 0 and cannot be used. (n = Start input number)
(Note-4): Setting is available only for the devices of the own CPU.
3
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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
(Continued)
Item
Output device
Watch data
ON section setting
Output enable/disable bit
Forced output bit
Clutch status
Q170MSCPU(-S1) A173UHCPU A17nSHCPUN
X0 to X1FFF
Y0 to Y1FFF
M0 to M8191
-
B0 to B1FFF
U□\G10000.0 to
U□\G(10000 + p - 1).F
(Note-2) (Note-5)
D0 to D8191
W0 to W1FFF
#0 to #9215
U□\G10000 to
U□\G(10000 + p - 1) (Note-2) (Note-5)
X0 to X1FFF
Y0 to Y1FFF
M0 to M8191
L0 to L8191
B0 to B1FFF
- -
D0 to D8191
W0 to W1FFF
#0 to #8191
X0 to X7FF
Y0 to Y7FF
M0 to M2047
L0 to L2047
B0 to B3FF
D0 to D1023
W0 to W3FF
#0 to #8191
- -
-
Absolute address (H0 to
HFFFFFFFF)
D0 to D8191
W0 to W1FFF
#0 to #8191
Constant (Hn/Kn) (Note-4)
Absolute address (H0 to
HFFFFFFFF)
D0 to D1023
W0 to W3FF
#0 to #8191
Constant (Hn/Kn) (Note-4)
D0 to D8191
W0 to W1FFF
#0 to #9215
Constant (Hn/Kn) (Note-4)
U□\G10000 to
U□\G(10000 + p - 1) (Note-2) (Note-5)
X0 to X1FFF (Note-3)
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) (Note-5)
- -
X0 to X1FFF
Y0 to Y1FFF
M0 to M8191
L0 to L8191
B0 to B1FFF
F0 to F2047
M9000 to M9255
TT0 to TT2047
TC0 to TC2047
CT0 to CT1023
CC0 to CC1023
X0 to X7FF
Y0 to Y7FF
M0 to M2047
L0 to L2047
B0 to B3FF
F0 to F255
M9000 to M9255
TT0 to TT255
TC0 to TC255
CT0 to CT255
CC0 to CC255
- -
Any device
(M2160 to M2223 can also be set.)
M2160 to M2223
(unnecessary to set in mechanical system program)
A171SHCPU: M1984 to M1991
A172SHCPU: M1984 to M1999
(unnecessary to set in mechanical system program)
Cam axis command signal
(cam/ball screw switching instruction)
Smoothing clutch completion signal
Any device
(M5488 to M5519 can also be set.)
Any device
(M5520 to M5583 can also be set.)
-
-
(Note-1): n shows the value (axis No.1 to 16: n= 0 to 15) corresponding to axis No.
(Note-2): p is the user free area points of the Multiple CPU high speed transmission area of each CPU.
□: Start I/O number of CPU module
(Note-3): In PXn + 0 to PXn + F, the input devices assigned to the motion CPU built-in I/F (DI), PXn + 4 to PXn + F are fixed to 0 and cannot be used.
(Note-4): The setting range depending on setting unit.
(Note-5): Setting is available only for the devices of the own CPU.
Confirm use status for "cross reference" etc. in MT Works2, and change to the device number of Q170MSCPU(-S1).
3
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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
4. DIVERSION OF PROJECT CREATED BY A173UHCPU/A172SHCPUN/A171SHCPUN
4.1 Data List Available for Diversion or Not (SV13/SV22)
Motion SFC is not compatible Motion SFC is compatible
A17nSHCPUN A173UHCPU A172SHCPUN A173UHCPU
SV13 SV22 SV13 SV22 SV13 SV22 SV13 SV22
System setting
System setting data
High speed reading data
Basic setting data
Fixed parameter
Home position return data Servo data setting
JOG operation data
Servo parameter
Parameter block
Limit output data
Servo program
Motion
Operation control program Motion
SFC program
Remark
Note-1
Note-2
Note-3
Note-3
Note-4
Note-5, Note-6
Note-5
Note-5
Note-5
Note-8
Mechanical system program
Automatic numbering setting
Mechanical edit data
Mechanical conversion data
Cam conversion data
Real mode axis information
Cam data
Device memory (SW3RNC-GSVE only)
Note-5, Note-7
Note-8
Note-8
Note-8
Backup data
Communication setting
: Can be diverted
: Data must be revised
: Must be set again
(Note-1) System setting data
• About PLC/motion module
When Q170MSCPU(-S1) is used with PLCs or motion modules, an extension base unit is required.
• Pulse/synchronous encoder I/F module A172SENC
A172SENC module is converted to Q172DLX. The manual pulse generator/synchronous encoder setting is deleted.
Set Q172DLX module or Q173DPX module if necessary.
(manual pulse can also be used in internal I/F)
• Limit output module A1SY42 (when Motion SFC is not compatible with OS)
Limit output module A1SY42 is not diverted.
• Axis No. setting of external input signal module
Axis No. setting of external input signal module in Q170MSCPU(-S1) is moved to servo external signal parameter in servo data.
• Servo amplifier setting
The servo amplifier is converted to MR-J4-B when SSCNET III/H is selected, or converted to MR-J3-B when SSCNET
III is selected.
Others beside servo amplifier (inverter etc.) are deleted.
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(Note-2) Basic setting data
Stand-alone Motion requires the multiple CPU setting. Set according to system.
(Note-3) Fixed parameter, servo parameter (servo amplifier besides MR-J2S)
Fixed parameter (Number of Pulses/Rev. and Travel Value/Rev.) is not converted. Servo parameter is initialized.
Revise parameter with servo amplifier after changing.
(Note-4) Limit output data (when Motion SFC is not compatible with OS)
Data are deleted because of incompatibility. Revise the data.
(Note-5) Servo program, Motion SFC program, mechanical system program
• Motion dedicated device
The allocation of the motion dedicated device is different between A17nSHCPUN/A173UHCPU and Q-Motion.
Change the motion dedicated device.
(Note-6) Servo program
• Word point of indirect device
There are changes of word point between A17nSHCPUN/A173UHCPU and Q-Motion.
Execute conversion check and revise if necessary.
(Note-7) Mechanical system program
• Unit setting of output axis
Unit settings of fixed parameter and output axis are set respectively in A-Motion, but fixed parameter is set only in
Q170MSCPU(-S1). Revise the unit settings when unit settings of fixed parameter and output axis are different.
(Note-8) Conversion data, setting data
It can not be diverted because CPU is different. Convert/set the data again.
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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
4.2 Program Diversion Procedure in Motion CPU Side
4.2.1 Diversion procedure using MT Developer2
The following shows an example of procedures for replacing an A-Motion CPU side project with a
Stand-alone Motion CPU project using MT Developer2. Always backup the project before the program replacement.
1) Start MT Developer2, and select "Divert File" --> "Diversion of Other Format Project" from the
"Project" tab.
2) Select the "Browse" button in the "Diversion of Other Format Project" dialog box.
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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
3) Select "Browse" in Save Folder Path and the source project from "Folder List", and click "Open".
4) Select the CPU type and OS type in "CPU/OS Selection".
5) Click the "Divert" button.
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6) Select "Divert".
7) Execute the series conversion of the servo amplifier. Select the servo amplifier series and servo system network specification after the replacement, and select "OK".
8) The conversion of the project is completed. Select "OK".
After the project conversion, make the cross comparison or check the data on each screen.
9) Select "Save As" from the "Project" tab to save the project after the conversion.
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10) Input "Workspace Name", "Project Name", and "Title", and select "Save".
11) The new project creation dialog box appears. Select "Yes".
4.2.2 Without using SFC
When no SFC program is used in the A-Motion CPU side program (Diversion source) and servo parameters other than SFC programs are diverted, perform the following procedure after the operation of
11).
1) Select "Motion SFC Program Manager".
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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
2) Select "Unused" for "Motion SFC Program", and select "OK".
About the file converted by MT Woks2, refer to "Section 3.4.1 Data list available for diversion or not
(SV13/SV22)", and then set the data which can not be diverted if necessary. Besides, about the setting of
Multiple CPU parameter, refer to " Section 3.3.Difference between Q170MSCPU(-S1) and
A173UHCPU/A172SHCPUN/A171SHCPUN", "QCPU User's Manual (Multiple CPU System) Model Name
SH-080475", "Programming Manual (COMMOM) [corresponding to Q173D(S)/Q172D(S)] Model Name:
1XB921" and then set.
4.2.3 Precautions for diverting cam data
To edit cam data, read the data directly using "Read Other Type Cam Data".
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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
4.3 Program Diversion Procedure in PLC CPU Side
4.3.1 Conversion procedure of ladder program for QnUD(H)CPU using GX Works2/GX
Developer
The following describes an example of the procedure for replacing a sequence project using GX
Developer. Always backup the project before the replacement.
(1) Conversion of ladder program created by SW3RNC-GSVE/SW2□-GSVE
1) After starting GX Works2, select "Start GX Developer" from the "Project" tab.
2) The following shows the conversion of a sequence program created by
SW3RNC-GSV/SW2□-GSV (GPPA file format).
After GX Developer is started, select "Import file" --> "Import from GPPA format file" from the
"Project" tab.
Caution 1: Storage location of an execution file
The execution file in the GPPA format is usually stored in the following folder.
• Folder structure
"C drive (route drive)" --> "GPP" --> "USR" --> "System name" --> "Machine name (folder which includes the gppa.cnf file)"
Caution 2: Name of diversion source project
When name of diversion source project exceeds 9 characters, it can not be read.
Change the name so that the number of characters is within the limit and execute the conversion operation.
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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
3) Select "Browse".
4) Select the conversion target file and select "OK".
5) Check the conversion targets (Program/Device comment/Parameter), and select "Execute".
Note) Only one of "Comment1" and "Comment2" can be selected for Device comment.
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6) The conversion completion dialog box appears. Select "OK".
7) Select "Close".
8) Select "Change PLC type" from the "Project" tab in GX Developer.
9) Specify the PLC series (QCPU(Qmode)) and PLC type (Q03UD) after the replacement in the
"Change PLC type" dialog box, and select "OK". (For Q170MSCPU-S1, specify "Q06UDH" for the
PLC type.)
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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
10) The "Change PLC type" dialog box appears. Select "Yes".
Note) In this replacement handbook, "Yes" is selected because the changes will be checked later by using a support tool.
When the supporting tool is not used, select "Confirm change".
11) The following confirmation dialog box appears. Select "OK".
12) Select "Save as" from the "Project" tab.
Input "Project name" and "Title", and select "Save".
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13) The new project creation dialog box appears. Select "Yes".
Although the sequence program has been converted by following this procedure, it may not be operated correctly. For the program modifications, refer to Section 5 and later.
To open the file in which CPU has been changed with GX Developer2 again, select "Open Other Data"
--> "Open Other Project" from the "Project" tab.
(2) Conversion of ladder program for A-Motion created by GX Developer
The following describes an example of the procedure for replacing a sequence project using GX
Developer. Always backup the project before the replacement.
1) After starting GX Works2, select "Start GX Developer" from the "Project" tab.
2) The following shows the conversion of a sequence program for A-Motion created by GX Developer
(GPPW file format).
3) After GX Developer is started, select "Open project" from the "Project" tab.
4) Select the file to be converted, and select "Open".
For the following conversion operations, refer to (1) SW3RNC-GSVE/SW2□-GSVE ladder program
conversion procedure after 8).
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5. USING A/QnA->Q CONVERSION SUPPORT TOOL IN LADDER PROGRAM
To confirm the modified content of ladder program, use "A/QnA->Q conversion support tool".
About the explanation, refer to "2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION".
6. POINTS AND PRECAUTIONS OF REPLACEMENT
6.1 Difference of Motion CPU Configuration
6.1.1 System configuration
In the following chart, the difference between basic system of A-Motion and Q170MSCPU(-S1) is shown.
A-Motion corresponds to SSCNET as servo network, but Q170MSCPU(-S1) corresponds to SSCNET
III. Accordingly, connectable servo amplifier will be changed.
The system configuration of A-Motion is initialized.
When Q170MSCPU(-S1) is used with PLCs or motion modules, an extension base unit (Q5□B or
Q6□B) is required.
For the connection between Q170MSCPU(-S1) and a personal computer, RS-422 and SSCNET cannot be used. Connect them with USB, RS232, or Ethernet.
(Servo external signal input)
Main base unit
A17□B
+
Motion Controller
A171SHCPUN/A172SHCPUN
A173UHCPU
Pulse generator/synchronous encoder interface module
A172SENC
Manual pulse
MR-HDP01
(Servo external signal input)
External signal interface module
Q172DLX (use extension base)
Q170MSCPU(-S1)
Power supply module
+
PLC CPU
+
Motion controller integration structure
Input: 4 points
Output: 2 points
Serial ABS synchronous encoder
MR-HENC
Manual pulse
MR-HDP01
Extension base unit
Q5□B, Q6□B
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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
6.2 Precautions about Replacement
6.2.1 Slot position (system configuration)
When the motion module (A172SENC) used in A-motion is replaced with Q170MSCPU(-S1), the system configuration of the motion module is initialized as follows. Configure the setting again..
Example) When A172SENC is arranged in Slot 0 of A-Motion
A172SENC is arranged in Slot 0.
↓ A172SHCPUN is converted to Q170MSCPU(-S1)
The main base unit of A-Motion management is deleted and is converted in initialization status as follows.
After converting A172SHCPUN to Q170MSCPU(-S1), execute as follows.
Execute the setting of extension base by "Basic Setting" --> "Base Setting" as follows.
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Next, execute the setting of motion module.
The chart of arranging the motion module is as follows.
About other precautions, refer to "2. REPLACEMENT PROPOSAL FROM A-MOTION TO
QDS-MOTION".
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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
7. DIFFERENCE BETWEEN Q170MSCPU AND Q170MSCPU-S1
About the specification of Q170MSCPU-S1, the difference with Q170MSCPU is showed as center. About the content not described in this section, it has the same specification as Q170MSCPU.
Operating system software and peripheral software package use the same thing as Q170MSCPU.
7.1 Difference between Q170MSCPU and Q170MSCPU-S1
7.1.1 (1) Motion control specification
Q170MSCPU and Q170MSCPU-S1 have the same specification.
7.1.2 (2) Motion SFC performance specification
Q170MSCPU and Q170MSCPU-S1 have the same specification.
7.1.3 (3) PLC CPU part control specification
Specification
Item
Q170MSCPU Q170MSCPU-S1
PLC CPU part Q03UDCPU or equivalent Q06UDHCPU or equivalent
Program capacity
PLC type in creating program
Model name displayed by system monitor
Processing speed (PLC
LD instruction instruction)
MOV instruction
30k step
Q03UD
Q03UDCPU
60k step
Q06UDH
Q06UDHCPU
0.02μs 0.0095μs
0.04μs 0.019μs
File registers (R, ZR) 98304 points 393216 points
7.1.4 (4) Power supply specification
Q170MSCPU and Q170MSCPU-S1 have the same specification.
7.1.5 (5) Battery life specification
As the program capacity increases and the processing speed is improved, the data-holding time while the power of Q170MSCPU-S1 is off is about one tenth of the data-holding time of Q170MSCPU. (The data-holding time varies greatly depending on the energization rate and ambient temperature of when data is held. For details, refer to Q170MSCPU/Q170MSCPU-S1 User's Manual.)
Select an appropriate battery for the usage environment.
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
4. REPLACEMENT FROM A-MOTION TO
QN-MOTION
4. REPLACEMENT FROM A-MOTION TO QN-MOTION .................................................................................................... 1
1.
OVERVIEW ....................................................................................................................................................... 2
2.
EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE ......................................................................... 2
2.1
Equipment Correspondence ...................................................................................................................... 2
2.2
Equipment Configuration of Q173CPUN/Q172CPUN Motion ................................................................. 4
2.3
Operating System Software Correspondence .......................................................................................... 6
2.4
Engineering Environment .......................................................................................................................... 6
3.
DIFFERENCES BETWEEN Q173CPUN/Q172CPUN AND A173UHCPU/A172SHCPUN/A171SHCPUN . 7
3.1
Differences between Q173CPUN/Q172CPUN and A173UHCPU/A172SHCPUN/A171SHCPUN ........ 7
3.1.1
Differences list .................................................................................................................................... 7
3.1.2
Differences between self diagnosis error and Motion (SFC) error history ..................................... 10
3.1.3
Items required to be changed/revised with the servo system network change ............................. 11
3.2
Device Comparison ................................................................................................................................. 12
3.2.1
I/O device .......................................................................................................................................... 12
3.2.2
Internal relay ..................................................................................................................................... 12
3.2.3
Data register ..................................................................................................................................... 15
3.2.4
Motion register .................................................................................................................................. 18
3.2.5
Special relay ..................................................................................................................................... 19
3.2.6
Special register ................................................................................................................................. 21
3.2.7
Other devices ................................................................................................................................... 24
4.
DIVERSION OF PROJECT CREATED WITH A173CPUN/A172CPUN ...................................................... 26
4.1
List of Available Data for Diversion (SV13/SV22) ................................................................................... 26
4.2
Program Diversion Procedure in Motion CPU Side ................................................................................ 28
4.2.1
Diversion procedure using MT Developer2 ..................................................................................... 28
4.2.2
When SFC is not used ..................................................................................................................... 31
4.2.3
Precautions for diverting cam data .................................................................................................. 31
4.3
Program Diversion Procedure in PLC CPU Side .................................................................................... 32
4.3.1
Conversion procedure of sequence program for Qn(H)CPU using GX Works2/ GX Developer .. 32
5.
USING A/QnA->Q CONVERSION SUPPORT TOOL FOR SEQUENCE PROGRAMS ............................. 37
5.1
Preparation for Using Support Tool ......................................................................................................... 37
5.2
Using Procedure of Support Tool ............................................................................................................ 38
5.3
Correction of the Sequence Program in Created Embedded File ......................................................... 40
5.3.1
Correction of special relay/special register ...................................................................................... 40
5.3.2
Correction of motion-dedicated instructions .................................................................................... 40
5.3.3
Others ............................................................................................................................................... 40
6.
POINTS AND PRECAUTIONS OF REPLACEMENT .................................................................................... 41
6.1
Difference of Motion CPU Configuration ................................................................................................. 41
6.1.1
System configuration ........................................................................................................................ 41
6.1.2
Shared device ................................................................................................................................... 42
6.2
Precautions on Replacement .................................................................................................................. 43
6.2.1
Slot position (system setting) ........................................................................................................... 43
6.2.2
Restrictions on the number of blocks and total points in the refresh setting .................................. 44
6.2.3
Timer counter ................................................................................................................................... 44
6.2.4
Parameter block ............................................................................................................................... 44
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
1. OVERVIEW
This article explains the changes when a system using A173UHCPU/A172SHCPUN/A171SHCPUN
(A-Motion) is replaced with a system using Q173CPUN/Q172CPUN (QN-Motion). For A173UHCPU-S1,
A173UHCPU should be read as A173UHCPU-S1.
2. EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE
Please prepare modules, operating system software, and engineering environment according to the table in this article.
Correspondence
When Q173CPUN/Q172CPUN is used, use the products that support Q series.
When Q17nCPUN is used
Product
When
A17nSHCPUN/A173UHCPU is used
Q172CPUN Q173CPUN
PLC CPU module
Motion CPU module
Main base unit
• A173UHCPU
• A172SHCPUN
• A171SHCPUN
• A172B
• A175B
• A178B(-S□)
QnHCPU
Q173CPUN(-T)
Q172CPUN(-T)
Q3□B
Servo external signals interface module
Synchronous encoder interface module
Manual pulse generator interface module
A171SENC
A172SENC
Q172LX
Q172EX
Q172EX-S2
Q173PX
Serial ABS synchronous encoder
Serial ABS synchronous encoder cable
Battery
For MR-HENC
For Q170ENC
For CPU module
- Q170ENC
MR-HSCBL□M MR-JHSCBL□M
-
A6BAT is built in CPU module.
→
Q170ENCCBL□M
Connect a built-in rechargeable battery or
A6BAT from the external battery module
(Note-1) .
MR-HDP01
A6BAT is built in Q172EX(-S2).
<-- (same as left)
For synchronous encoder
Manual pulse generator
SSCNET cable (Note-2)
When MR-H servo amplifier is used
MR-HBUS□M
With external battery
• Q172HBCBL□M-B
Without external battery
• Q172HBCBL□M
With external battery
• Q172J2BCBL□M-B
With external battery
• Q173DVCBL□M
+ MR-J2HBUS□M
Without external battery
• Q173HB △CBL□M
With external battery
• Q173DVCBL□M
When MR-J2S servo amplifier is used
MR-J2HBUS□M-A
Without external battery
+
MR-J2HBUS□M-A
Without external battery
• Q172J2BCBL□M • Q173J2B △CBL□M
(Note-1): For QN-Motion, the long-term backup is available by using an external battery (A6BAT) in addition to the short-term backup with a built-in rechargeable battery.
When the external battery (A6BAT) is used, use the battery with Q173DV (when Q173CPUN is used) or Q170BAT (when
Q172CPUN is used).
(Note-2): The models of SSCNET cables and others to be used differ depending on whether the external battery is used or not.
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
<Precautions>
• In addition to USB and RS-232C, SSCNET can also be used for the communication between
Q173CPUN/Q172CPUN and a personal computer by using an SSCNET I/F board
(A10BD-PCF/A30BD-PCF) or SSCNET I/F card (A30CD-PCF).
• iQ Platform modules cannot be used in the combination of the multiple CPU modules.
• Q173CPUN-T and Q172CPUN-T are compatible with teaching units (A31TU-D3□/A31TU-DN□).
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
2.2 Equipment Configuration of Q173CPUN/Q172CPUN Motion
Connection method with servo amplifiers
With Dividing unit Without Dividing unit/External unit
C
P
U
N
Q
1
7
3
T
PULL
POWER
MODE
RUN
ERR
USER
MODE
RUN
ERR
USER
PULL
USB
PULL
USB
RS-232 RS-232
CN1
1)
Q173CPUN(-T)
SSCNET LINE 1
5)
Dividing unit (Note-1)
(Q173DV)
CN1A CN1B
5)
CN1A CN1B
Amplifier Amplifier
SSCNET LINE 2
6)
5)
CN1A CN1B
5)
CN1A CN1B
6)
PULL
POWER
MODE
RUN
ERR
USER
MODE
RUN
ERR
USER
PULL
USB
PULL
USB
RS-232 RS-232
CN1
2)
Q173CPUN(-T)
SSCNET LINE 1
CN1A CN1B
Amplifier Amplifier
SSCNET LINE 2
CN1A CN1B
5)
5)
CN1A CN1B
CN1A CN1B
6)
6)
Amplifier Amplifier
(Note-1) When using the external battery, install the Battery (A6BAT/MR-BAT) to the Dividing unit (Q173DV).
Amplifier Amplifier
C
P
U
N
Q
1
7
2
T
PULL
POWER RUN
ERR
USER
BAT
BOOT
RUN
ERR
USER
BAT
BOOT
PULL
USB
PULL
USB
RS-232 RS-232
CN1
4)
Q172CPUN(-T)
CN1A CN1B
5)
CN1A CN1B
6)
Battery unit (Note-2)
(Q170BAT)
Amplifier Amplifier
(Note-2) When using the external battery, install the Battery (A6BAT/MR-BAT) to the Battery unit (Q170BAT).
PULL
POWER RUN
ERR
USER
BAT
BOOT
RUN
ERR
USER
BAT
BOOT
PULL
USB
PULL
USB
RS-232 RS-232
CN1
3)
Q172CPUN(-T)
CN1A CN1B
5)
CN1A CN1B
6)
Amplifier Amplifier
SSCNET cable model
1) Q173CPUN(-T) ↔ Distribution unit Q173DVCBL□M 0.5m, 1m
2) Q173CPUN(-T) ↔ Servo amplifier (Note-1) Q173J2B CBL□M (Note-3) 0.5m, 1m, 5m
3)
4)
5)
Application
Q172CPUN(-T) ↔ Servo amplifier
Q172CPUN(-T) ↔ Servo amplifier
↔ Battery module
Servo amplifier ↔ Servo amplifier
Distribution unit ↔ Servo amplifier
Cable model
Q172J2BCBL□M
FR-V5NSCBL□
Q172J2BCBL□M-B
MR-J2HBUS□M-A
Q172J2BCBL□M
Cable length
0.5m, 1m, 5m
0.5m, 1m, 5m, 10m, 20m
0.5m, 1m, 5m
0.5m, 1m, 5m
0.5m, 1m, 5m
Connection details
• Q173CPUN(-T) ↔ Distribution unit (Q173DV)
• Q173CPUN(-T) ↔ Servo amplifier (MR-J2□-B (Note-4) )
• Q172CPUN(-T) ↔ Servo amplifier (MR-J2□-B (Note-4) )
• Q172CPUN(-T) ↔ FR-V5NS (Note-5)
• Q172CPUN(-T) ↔ Servo amplifier (MR-J2□-B (Note-4) )
↔ Battery module (Q170BAT)
• Servo amplifier (MR-J2□-B (Note-4) ) ↔ Servo amplifier
(MR-J2□-B (Note-4) )
• Distribution unit Q173DV ↔ Servo amplifier
(MR-J2□-B (Note-4) )
• Servo amplifier (MR-J2□-B (Note-4) ) ↔ FR-V5NS (Note-5)
• Distribution unit (Q173DV) ↔ FR-V5NS (Note-5)
• FR-V5NS (Note-5) ↔ FR-V5NS (Note-5) FR-V5NSCBL□ 0.5m, 1m, 5m, 10m, 20m
6) Termination resistor MR-A-TM -
• Connect to the SSCNET last servo amplifier
(MR-J2□-B (Note-4) ).
(Note-1) Separated into the number of systems from the connector on the Q173CPUN(-T) side.
(Note-2) □: Cable length. When the cable length is 0.5m, specify 0.5 in □.
(Note-3) : Number of separated SSCNET systems (None: 1 system, 2: 2 systems, 4: 4 systems)
(Note-4) MR-J2□-B: MR-J2S-□B/MR-J2M-P8B/MR-J2-03B5
(Note-5) SSCNET communication option for the vector inverter FREQROL-V500 series
Precautions for use:
When Q173DV (External battery-mountable) is used with Q173CPUN, up to four systems (eight axes per system) can be used.
When Q173J2B CBL□M is used with Q173CPUN, up to four systems (eight axes per system) can be used.
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
Connection with personal computers
Q170BDCBL□M
A30BD-PCF/A10BDPCF
• Desktop computer
ISA-compatible: A30BD-PCF
PCI-compatible: A10BD-PCF
Q173CPUN/Q172CPU
Q170CD
CBL□M
A30CD-PCF
1) USB
2) RS-232C
3) SSCNET
• Laptop computer
PCMCIA-compatible:
A30CD-PCF
When 1) USB or 2) RS-232C is used
Although RS422 is used for A-Motion, RS-232C or USB is used for Q173CPUN/Q172CPUN.
Use an appropriate cable for the desktop or laptop computer that is being used.
When 3) SSCNET is used
Although A270BDCBL□M and A270CDCBL□M cables are used for A-Motion, use Q170BDCBL□M and
Q170CDCBL□M cables.
(Caution)
Using A30BD-PCF, A10BD-PCF, and A30CD-PCF are not recommended because the number of personal computers with ISA, PCI, or PCMCIA, the interfaces appropriate for them, is decreasing and these models cannot used on Windows7 (64bit) and Windows8.
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
2.3 Operating System Software Correspondence
Use an operating system for Q173CPUN/Q172CPUN.
Application
When A17nSHCPUN/A173UHCPU is used When Q17nCPUN is used
Model Model
SW2SRX-SV13B
For A173UHCPU For Q173CPUN SW6RN-SV13QB
For conveyor assembly
(SV13)
For automatic machinery
(SV22)
For automatic machinery
(SV43)
For A172SHCPUN
For A171SHCPUN
For A173UHCPU
For A172SHCPUN
For A171SHCPUN
For A173UHCPU
For A172SHCPUN
For A171SHCPUN
SW2NX-SV13B
SW3RN-SV13B
SW0SRX-SV13D
SW0NX-SV13D
SW3RN-SV13D
SW2SRX-SV13G
SW0NX-SV13G
SW2SRX-SV22A
SW2NX-SV22A
SW3RN-SV22A
SW0SRX-SV22C
SW0NX-SV22C
SW3RN-SV22C
SW0SRX-SV22F
SW0NX-SV22F
SW2SRX-SV43A
SW2NX-SV43A
SW0SRX-SV43C
SW0NX-SV43C
SW0SRX-SV43F
SW0NX-SV43F
→
For Q172CPUN
For Q173CPUN
For Q172CPUN
For Q173CPUN
For Q172CPUN
SW6RN-SV13QD
SW6RN-SV22QA
SW6RN-SV22QC
SW5RN-SV43QA
SW5RN-SV43QC
The following shows the engineering environment that support Q173CPUN/Q172CPUN.
After the purchase of the following software, download and update to the latest version of them from the
Mitsubishi Electric FA Site.
Remarks
MELSOFT MT Works2
MELSOFT GX Works2
SW1DNC-MTW2-E
SW1DNC-GXW2-E
Ver.1.52E or later
Ver.1.50C or later
Install GX Developer as well when installing GX
Works2 (Note-1) .
(Note-1): Install GX Developer together when installing MELSOFT GX Works2.
In "Section 2.4.3 Program Diversion Procedure in PLC CPU Side", GX Developer will be required to convert a sequence program.
4
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4
. REPLACEMENT FROM A-MOTION TO QN-MOTION
3. DIFFERENCES BETWEEN Q173CPUN/Q172CPUN AND
A173UHCPU/A172SHCPUN/A171SHCPUN
3.1 Differences between Q173CPUN/Q172CPUN and A173UHCPU/A172SHCPUN/A171SHCPUN list
Item Q17nCPUN
A17nSHCPUN/A173UHCPU
A171SH A172SH A173UH
Points of replacement
Peripheral I/F • USB/RS-232/SSCNET RS422/SSCNET
Communicate with peripheral equipment using appropriate I/Fs.
Battery
Forced stop input
I/O points
Internal relays (M)
Latch relays (L)
Step relays (S)
Link relays (B)
Timers (T)
Counters (C)
Data registers (D)
Link registers (W)
Annunciators (F)
Built-in rechargeable battery
(If a power failure lasts for one month or longer, add an external battery A6BAT/
MR-BAT.)
Specify a bit device (PX, M) with a parameter (Forced stop terminals of the servo amplifier can be used).
8192 points
8192 points in total of M and L
-
8192 points
-
-
8192 points
8192 points
2048 points
A6BAT is built in. (3.6 V)
Use EMG terminals of the main base unit.
2048 points
2048 points in total
(shared use of M, L, S)
1024 points
256 points
256 points
1024 points
1024 points
256 points
File registers (R)
Special relays (M)
Special registers (D) 256 points
Coasting timers
(FT)
256 points
1 point (888μs) -
Motion registers (#)
-
256 points
8192 points
Up to 8192 points
256 points
-
8192 points
(Motion SFC OS only)
Always use a forced stop input cable
(sold separately). Otherwise, the forced stop cannot be canceled.
8192 points -
8192 points in total
(shared use of M, L, S)
8192 points
2048 points
2048 points
8192 points
8192 points
2048 points
The devices on the left are shared in
A-Motion but not shared in
Q-Motion.
Configure the automatic refresh setting if necessary.
For details, refer to Chapter 5.
Multiple CPU shared devices (U□\G)
Up to 4096 points - -
Motion dedicated sequence instruction
Motion module
SV13
SV22
S(P).SFCS, S(P).SVST,
S(P).CHGA, S(P).CHGV,
S(P).CHGT, S(P).DDRD,
S(P).DDWD, S(P).GINT
Q172LX, Q172EX-S2
Q173PX
(Note-1) ,
CHGT, CHGV, CHGA
SVST
(Non Motion SFC OS only)
-
SFCS, ITP
(Motion SFC OS only)
A171SENC, A172SENC
Replace motion dedicated PLC instructions with S(P).*** instructions.
(Refer to Chapter 3 of SV13/22
Programming Manual (Motion SFC)
[type Q173D(S)/Q172D(S)].)
Use motion modules Q172LX,
Q172EX-S2, and Q173PX in the system using
Q173CPUN/Q172CPUN.
Installation position
Motion modules can be installed in a free slot of CPU.
Motion modules can be installed in motion I/O slots only.
-
(Note-1) : Can be installed to main base units only.
4
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4
. REPLACEMENT FROM A-MOTION TO QN-MOTION
(Continued)
Item Q17nCPUN
A17nSHCPUN/A173UHCPU
A171SH A172SH A173UH
Points of replacement
System setting
• Qn(H)CPU will be CPU No.1.
• Use main base units Q33B,
Q35B, Q38B, and Q312B.
• Multiple CPU system is not supported.
• Main base unit is A17□B.
(A172B, A175B, A178B, A178B-S1,
A178B-S2, and A178B-S3)
Use appropriate units in combination.
SSCNET
Usable
Refer to Section 3.1.3.
Use A31TU-D□ series.
Servo system network
Teaching unit
Memory to be used
Automatic refresh
Automatic refresh setting
LED display
Latch range setting
Latch (1)
Latch (2)
All clear function
SSCNET
Usable
Multiple CPU transmission area in CPU shared memory
For the setting 1 to 4, devices
(D/W/#/M/Y/B) of up to 2k words can be set per CPU.
Each LED of RUN, ERR
Range that can be cleared with the latch clear key
Range that cannot be cleared with the latch clear key
All user data and password settings are deleted.
SCPU and PCPU share the same devices.
Each LED of RUN, ERR
Latch range setting is 1 setting only.
The range is cleared with the L.CLR switch.
After the project diversion, manually assign the devices used by the PLC
CPU to devices in the Motion CPU in the automatic refresh setting.
-
-
None -
Self diagnosis error
Motion SFC error detection flag
(M2039) turns on when an error is detected. Self diagnosis error flag (M9008) and Diagnosis error flag (M9010) does not turn on when an error is detected.
When a Motion CPU-specific error occurs, the error details are set to D9008.
Even though a PCPU error occurs, a self diagnosis error will not occur.
Correct the program if necessary.
Motion error detection flag
(M2039)
Latch clear
No matter which error occurs,
M2039 will be ON in Motion
CPU.
-
Depending on the type of the error that occurred, M2039 is turned ON (only when
SFC is used).
Correct the program if necessary.
RESET/L.CLR switch (Note-1) - switch RUN/STOP -
ROM writing
Execute in the installation/ROM writing mode.
None -
ROM operation mode
Select with the DIP switch.
None -
Installation mode Select with the DIP switch. -
(Note-1) : In the multiple CPU system, PLC CPUs/Motion CPUs of No.2 to No.4 cannot be reset individually. The whole multiple CPU system stops. To reset the whole system, reset the PLC CPU of No.1.
4
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4
. REPLACEMENT FROM A-MOTION TO QN-MOTION
(Continued)
Item
Operation cycle
(Default value)
SV13
SV22
Q17nCPUN A17nSHCPUN/A173UHCPU
Q172CPUN Q173CPUN A171SH A172SH A173UH
Points of replacement
0.88ms/
1 to 8 axes
0.88ms/
1 to 4 axes
1.77ms/5 to 8 axes
0.88ms/
1 to 8 axes
1.77ms/
9 to 16 axes
3.55ms/
17 to 32 axes
0.88ms/
1 to 4 axes
1.77ms/
5 to 12 axes
3.55ms/
13 to 24 axes
7.11ms/
25 to 32 axes
3.55ms/
1 to 4 axes
3.55ms/
1 to 4 axes
3.55ms/
1 to 8 axes
3.55ms/
1 to 8 axes
3.55ms/
1 to 20 axes
7.11ms/
21 to 32 axes
3.55ms/
1 to 12 axes
7.11ms/
13 to 24 axes
14.22ms/
25 to 32 axes
When the operation cycle is set as default (automatic), the operation cycle will change. The operation cycle may change as shown on the left, and the program execution timing will change. Set a fixed operation cycle if necessary.
4
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4
. REPLACEMENT FROM A-MOTION TO QN-MOTION
3.1.2 Differences between self diagnosis error and Motion (SFC) error history
Self diagnosis error code
Q17nCPUN
(D9008)
A17nSHCPUN/
A173UHCPU
(D9008)
Description
Error flag state : ON : OFF
Self diagnosis error flag
Q17nCPUN
(M2324/M9008)
A17nSHCPUN/
A173UHCPU
(M9008)
Motion error detection flag
Q17nCPUN
(M2039)
A172SHCPUN/
A173UHCPU
(M2039)
10 INSTRCT CODE ERR.
-
3001 to
3013
- 12 MISSING END INS.
1105 20
- 24 END NOT EXECUTE
FUSE BREAK OFF 1300
1413 to
1416
32
1401 41
2121 to
2126
- 46 SP.UNIT
1600 to
1601
1500 -
7000 to
7003
7010 -
7020 -
10000 -
MULTI EXE. ERROR
4
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4
. REPLACEMENT FROM A-MOTION TO QN-MOTION
3.1.3 Items required to be changed/revised with the servo system network change
Differences
Item Change/Revise content
Q17nCPUN
A17nSHCPUN/
A173UHCPU
System setting/
SSCNET configuration
Q172CPUN: 1 system
Q173CPUN: 4 systems
(up to 8 axes/system)
A171SHCPUN: 1 system
A172SHCPUN: 1 system
A173UHCPU: 4 system
(up to 8 axes/system)
Configure the rotary switch setting of servo amplifiers and connect the servo amplifiers considering the SSCNET configuration.
Home position return function
Poximity dog type (2 types),
Count type (3 types),
Data set type (2 types),
Dog cradle type,
Stopper type (2 types),
Limit switch combined type
(with the home position return retry function and home position shift function)
Proximity dog type,
Count type,
Data set type
Review this item according to the SSCNET configuration.
Manual pulse generator operation function
Synchronous encoder operation function
3 modules can be connected.
Q172CPUN: 8 modules
Q173CPUN: 12 modules
A171SHCPUN: 1 module
A172SHCPUN: 1 module
A173UHCPU(-S1):
3 modules
A171SHCPUN: 1 module
A172SHCPUN: 1 module
A173UHCPU(-S1):
4 modules
Review this item according to the SSCNET configuration.
Review this item according to the SSCNET configuration.
Electronic gear
Forced stop input
Number of pulses per revolution:
1 to 2147483647
Travel value per revolution:
1 to 2147483647
Unit magnification:
None (x1)
Specify a bit device (PX, M) with a parameter (Forced stop terminals of the servo amplifier can be used).
Number of pulses per revolution: 1 to 65535
Travel value per revolution: 1 to 65535
Unit magnification: x1, x10, x100, x1000
Emergency stop of basic units (Forced stop terminals of the servo amplifier cannot be used)
Change the number of pulses per revolution and the travel value per revolution of the fixed parameter according to the resolution per revolution of the connected servo motor.
Review this item because the forced stop method changes.
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4
. REPLACEMENT FROM A-MOTION TO QN-MOTION
Comparison
X/Y0
X/Y7FF
X/Y800
X/Y1FFF
3.2.2 Internal
(1) SV13
User device
(8192 points)
Q17nCPUN
M0
User device
(8192 points)
M1600
M1680
M1760
M1800
User device
(2000 points)
User device
(2000 points)
User device
(2048 points)
User device
(1600 points)
Status of each axis
(20 points x 8 axes)
Status of each axis
(20 points x 4 axes)
Unusable
(40 points)
Unusable
(120 points)
Command signal of each axis
(20 points x 8 axes)
Command signal of each axis
(20 points x 4 axes)
Unusable
(80 points)
M1880
M1960
M2000
M2047
M2048
M2320
M2400
Common device
(320 points)
Common device
(320 points)
Unusable
(80 points)
Status of each axis
(20 points x 32 axes)
Common device (88 points)
M3040
M3072
M3136
M3200
Special relay allocation device
(80 points)
Status of each axis
(20 points x 32 axes)
Unusable
(32 points)
Common device
(command signal)
(64 points)
Special relay allocation device
(64 points)
Command signal of each axis
(20 points x 32 axes)
Unusable
(160 points)
Command signal of each axis
(20 points x 32 axes)
M3840
M8191
User device
(4352 points)
User device
(4352 points)
4
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4
. REPLACEMENT FROM A-MOTION TO QN-MOTION
(2) SV22 Real mode
M0
M1360
M1364
M1600
M1680
M1760
M1800
User device
(2000 points)
User device
(2000 points)
M1880
M1960
M2000
M2047
M2048
M2320
Common device
(320 points)
Common device
(320 points)
M2400
M3040
M3072
M3136
Special relay allocation device
(80 points)
Status of each axis
(20 points x 32 axes)
Unusable
(32 points)
Common device (command signal)
(64 points)
Special relay allocation device
(64 points)
Command signal of each axis
(20 points x 32 axes)
Unusable
(80 points)
Status of each axis
(20 points x 32 axes)
Unusable
(160 points)
M3200
M3840
M4640
User device
(800 points)
Synchronous encoder axis status
(4 points x 12 axes)
Command signal of each axis
(20 points x 32 axes)
User device
(800 points)
Synchronous encoder axis status
(4 points x 4 axes)
M4656
M4688
User device
(752 points)
M5440
Synchronous encoder axis command signal
(4 points x 12 axes)
User device
(3536 points)
M5488
User device (2704 points)
M8191
When the virtual mode is used, do not set the latch range as M4000 to M5599.
User device
(1360 points)
Synchronous encoder axis status (4 points x 1 axis)
User device (236 points)
Status of each axis
(20 points x 8 axes)
Status of each axis
(20 points x 4 axes)
Unusable
(40 points)
Unusable
(120 points)
Command signal of each axis
(20 points x 8 axes)
Command signal of each axis
(20 points x 4 axes)
Unusable
(80 points)
Common device
(88 points)
4
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4
. REPLACEMENT FROM A-MOTION TO QN-MOTION
(3) SV22 Virtual mode
M0
M1200
M1280
M1360
M1364
M1400
M1480
M1560
M1564
M1600
M1680
M1760
M1800
M1880
M1960
M2000
M2048
M2320
M2400
M3040
M3072
M3136
M3200
M3840
User device
(2000 points)
User device
(2000 points)
Common device
(320 points)
Special relay allocation device
(80 points)
Status of each axis
(20 points x 32 axes)
Unusable
(32 points)
Common device (command signal)
(64 points)
Special relay allocation device
(64 points)
Command signal of each axis
(20 points x 32 axes)
Unusable
(160 points)
Common device
(320 points)
Unusable
(80 points)
Status of each axis
(20 points x 32 axes)
Unusable
(160 points)
Command signal of each axis
(20 points x 32 axes)
Unusable
(60 points)
Virtual servo motor axis status
User device
(1360 points)
Virtual servo motor axis status (Note-1)(Note-2)
(20 points x 8 axes)
(20 points x 4 axes)
User device (Note-2)
(80 points)
Synchronous encoder axis status
(4 points x 1 axis) (Note-2)
Unusable (Note-2)
(36 points)
Virtual servo motor
Virtual servo motor axis command signal
(20 points x 8 axes) axis command signal (Note-1)(Note-2)
(20 points x 4 axes)
User device (Note-2)
(80 points)
Synchronous encoder axis command signal
(4 points x 1 axis) (Note-2)
Unusable
(36 points)
Status of each axis
(20 points x 8 axes)
Status of each axis
(20 points x 4 axes)
Unusable
(40 points)
Unusable
(120 points)
Command signal of each axis
(20 points x 8 axes)
Command signal of each axis
(20 points x 4 axes)
Unusable
(80 points)
Common device
(88 points)
4
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4
. REPLACEMENT FROM A-MOTION TO QN-MOTION
(Continued)
M4000
M4640
Virtual servo motor axis status
(20 points x 32 axes)
(Only mechanical system setting axes uses)
Synchronous encoder axis status
(4 points x 12 axes)
Virtual servo motor axis status (Note-1)(Note-3)
(20 points x 32 axes)
Synchronous encoder axis status (Note-3)
(4 points x 4 axes)
Unusable (Note-3)
(144 points)
M4656
M4688
M4800
M5440
M5456
M5488
M5520
M5584
Unusable
(112 points)
Virtual servo motor axis command signal
(20 points x 32 axes)
(Only mechanical system setting axes uses)
Synchronous encoder axis command signal
(4 points x 12 axes)
Cam axis command signal
(1 points x 32 axes)
(Only mechanical system setting axes uses)
Smoothing clutch completion signal
(2 points x 32 axes)
Unusable
(16 points)
Virtual servo motor axis command signal (Note-1)(Note-3)
(20 points x 32 axes)
Synchronous encoder axis command signal (Note-3)
(4 points x 4 axes)
Unusable (Note-3)
(32 points)
M5600
M8191
User device
(2592 points)
(Note-1): Only the areas of axes set with the mechanical system program are occupied. The areas of the axes not used by the mechanical system program can be used by users.
(Note-2): When using virtual mode, do not set latch range as M1200 to M1599.
(Note-3): When using virtual mode, do not set latch range as M4000 to M5487.
(Note-4): Cam axis command signal and smoothing clutch completion signal can be set to any device using parameters. register
(1) SV13
D0
D640
Monitor device of each axis
(20 points x 32 axes)
Control change register
(2 points x 32 axes)
Monitor device of each axis
(20 points x 32 axes)
Control change register
(2 points x 32 axes)
User device
(800 points)
D704 Common device (96 points) Common device (96 points)
D800
D880
D960
User device
(7392 points)
User device
(7392 points)
Monitor device of each axis
(20 points x 8 axes)
Control change register
(6 points x 8 axes)
Monitor device of each axis
(20 points x 4 axes)
Unusable (80 points)
Control change register
(6 points x 4 axes)
Unusable (24 points) D984
D1008
D1023
D1024
D8191
Common device
(16 points)
4
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4
. REPLACEMENT FROM A-MOTION TO QN-MOTION
(2) SV22 Real mode
D0
D640
Monitor device of each axis
(20 points x 32 axes)
Control change register
(2 points x 32 axes)
Monitor device of each axis
(20 points x 32 axes)
Control change register
(2 points x 32 axes)
User device
(748 points)
D704
D748
D752
D800
D880
D960
D984
Common device
(96 points)
User device
(320 points)
Common device
(96 points)
User device
(320 points)
D1008
D1023
D1024
D1120
Synchronous encoder axis monitor device
(10 points x 12 axes)
Synchronous encoder axis monitor device (Note-1)
(6 points x 4 axes)
D1144
D1240
D8191
User device
(6952 points)
User device
(7048 points)
(Note-1): This device can be used as a user device when used only in the SV22 real mode.
Synchronous encoder axis monitor device
(4 points x 1 axis)
User device
(48 points)
Monitor device of each axis (Note-1)
(20 points x 8 axes)
Control change register
(6 points x 8 axes)
Monitor device of each axis
(20 points x 4 axes)
Unusable
(80 points)
Control change register
(6 points x 4 axes)
Unusable
(24 points)
Common device
(16 points)
4
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4
. REPLACEMENT FROM A-MOTION TO QN-MOTION
(3) SV22 Virtual mode
D0
D640
D670
D678
D686
D688
D700
D704
D724
D748
D752
D758
D760
D780
D800
Monitor device of each axis
(20 points x 32 axes)
Control change register
(2 points x 32 axes)
Common device
(command signal)
(96 points)
D880
D960
D984
D1008
D1023
D1024
D1119
Virtual servo motor axis monitor devices
(6 points x 32 axes)
Current value after differential gear of virtual servo motor axis main shaft
(4 points x 32 axes)
Monitor device of each axis
(20 points x 32 axes)
Control change register
(2 points x 32 axes)
Common device
(96 points)
Virtual servo motor axis monitor device (Note-1)
(6 points x 32 axes)
Current value after differential gear of virtual servo motor axis main shaft (Note-1)
(4 points x 32 axes)
User device
(670 points)
Current value of differential gear of virtual servo motor axis main shaft (Note-1)
(2 points x 8 axes)
Current value of differential gear of virtual servo motor axis main shaft (Note-1)
(2 points x 4 axes)
User device
(8 points)
Current value of differential gear of synchronous encoder axis main shaft (Note-1)
(2 points x 1 axis)
Unusable
(12 points)
Virtual servo motor axis monitor device (Note-1)
(6 points x 8 axes)
Virtual servo motor axis monitor device (Note-1)
(6 points x 4 axes)
User device
(24 points)
Synchronous encoder axis monitor device
(4 points x 1 axis) (Note-1)
Cam axis monitor device (Note-1)
(5 points x 8 axes)
Unusable
(8 points)
Cam axis monitor device (Note-1)
(5 points x 4 axes)
Monitor device of each axis (Note-1)
(20 points x 8 axes)
User device
(20 points)
Monitor device of each axis
(20 points x 4 axes)
Unusable
(80 points)
Control change register
(6 points x 8 axes)
Control change register
(6 points x 4 axes)
Unusable
(24 points)
Common device
(16 points)
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
#0
#7999
#8000
#8008
#8016
#8024
#8032
#8040
#8048
#8056
#8064
#8191
(Continued)
D1120
D1160
D1192
Synchronous encoder axis monitor device
(6 points x 12 axes)
Current value after differential gear of synchronous encoder axis main shaft
(4 points x 12 axes)
Synchronous encoder axis monitor device (Note-1)
(6 points x 4 axes)
Current value after differential gear of synchronous encoder axis main shaft
(4 points x 4 axes)
D1240
D1560
D8191
Cam axis monitor device (Note-1)
(10 points x 32 axes)
User device
(6632 points)
Unusable
(80 points)
Cam axis monitor device (Note-1)
(10 points x 32 axes)
User device
(6632 points)
(Note-1): Only the areas of axes set with the mechanical system program are occupied. The areas of the axes not used by the mechanical system program can be used by users.
Q17nCPUN
User device
(8000 points)
Past 7 times error information
(oldest error information)
Past 6 times error information
Past 5 times error information
Past 4 times error information
Past 3 times error information
Past 2 times error information
Past 1 times error information
Latest error information
Servo monitor device
(128 points)
(SFC version only)
A173UHCPU
(SFC version only)
A172SHCPUN
SFC
Error history
(8 times)
(64 points)
User device
(8000 points)
Past 7 times error information
(oldest error information)
Past 6 times error information
Past 5 times error information
Past 4 times error information
Past 3 times error information
Past 2 times error information
Past 1 times error information
Latest error information
Unusable
(128 points)
(SFC version only)
A171SHCPUN
4
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
Device number
Q17nCPUN
A17nSHCPUN/
A173UHCPU
Name Remarks
M2320
-
-
M9000 M9000
M9002
M9004
Fuse blown detection flag
I/O module verification error
MINI link error
M2321 M9005 M9005 AC DOWN detection flag
M2322 M9006 M9006 Low flag
M2323
M2324
M9007
M9008
M9007
M9008
Low battery latch flag
Self diagnosis error flag
M2325 M9010 M9010 Diagnosis flag
- M9011 flag
-
-
-
-
-
-
M9016
M9017
M9020
M9021
M9022
M9023
Data memory clear flag (all data)
Data memory clear flag (non-latch data)
User timing clock No.0
User timing clock No.1
User timing clock No.2
User timing clock No.3
M3136
-
M9025
M9024
M9025
User timing clock No.4
Clock data set requirement
M2328 M9026 M9026 Clock error
M3137
-
-
-
-
-
M9028 M9028
M9029
M9030
M9031
M9032
M9033
Clock data reading requirement
Data communication requirement batch processing
0.1 second clock
0.2 second clock
1 second clock
2 second clock
- M9034 1 minute clock
M2326 M9036 M9036 Always
M2327 M9037 M9037 Always
-
-
M9038
M9039
Only 1 scan is ON after RUN
RUN flag (only 1 scan is OFF after RUN)
-
-
-
-
-
-
-
-
-
-
-
M9041
M9042
M9043
M9045
M9046
M9047
M9049
M9051
M9052
M9053
M9054
PAUSE status contact
Stop status contact
Sampling trace completion
Reset watchdog timer (WDT)
Sampling trace
Sampling trace preparation
Switch output characters number
CHG command execution inhibition
Switch SEG command
Switch EI/DI command
STEP RUN flag
A173UHCPU only
Q17nCPUN: AC/DC DOWN detection
A173UHCPU only
A173UHCPU only
A173UHCPU only
- M9055 Status latch completion flag
* Q17nCPUN has only four blocks for automatic refresh. If the number of blocks is insufficient, change the device numbers of special relays to M2000s and use them.
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
(Continued)
Device number
Q17nCPUN
A17nSHCPUN/
A173UHCPU
Name Remarks
M2329
M2330
M2332
M2333
M2334
M2335
-
-
-
-
-
-
-
M9073
M9074
M9056
M9057
M9058
M9059
M9065
M9066
M9070
M9073
M9074
Main side P, I setting requirement
Sub side P, I setting requirement
Main side P, I setting completion
Sub side P, I setting completion
Partition processing execution detection
Partition processing requirement flag
Required search time of A8UPU/A8PUJ
Motion CPU WDT error flag
PCPU preparation completion flag
-
-
-
-
-
M9076
M9077
M9078
M9079
M9076
M9077
M9078
M9079
M9081
Forced stop input flag
Manual pulse axis setting error flag
Test mode requirement error flag
Servo program setting error flag
- Communication requirement register area BUSY signal
- M9091 flag
- M9094 I/O exchange flag
M9100
M9101
M9102
M9103
M9104
SFC program existence
Start/stop SFC program
Start status of SFC program
Continuous transition existence
Continuous transition prevention flag
-
-
-
-
M9180
M9181
M9182
M9196
Active step sampling trace completion flag
Active step sampling trace execution flag
Enable active step sampling trace
Operation output of block stop
- M9197
- M9198
- M9199 Data return of online sampling trace status latch
* Q17nCPUN has only four blocks for automatic refresh. If the number of blocks is insufficient, change the device numbers of special relays to M2000s and use them.
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
Device number
Q17nCPUN
A17nSHCPUN/
A173UHCPU
Name Remarks
-
-
D9002
D9004
I/O module verification error
MINI link error
D9005 D9005 counter
-
D9015
D9014
D9015
I/O control method
CPU operation status
A173UHCPU only
D9010: Diagnosis error occurrence time
(calendar, month)
D9011: Diagnosis error occurrence time
(date, hour)
D9014: Error information
-
-
-
-
-
-
D9025
D9026
D9027
D9028
-
D9017
D9018
D9019
D9020
D9021
D9022
D9025
D9026
D9027
D9028
D9035
Minimum scan time (10ms unit)
Scan time (10ms unit)
Maximum scan time (10ms unit)
Constant scan (10ms unit)
Scan time (1ms unit)
Time (1 second unit)
Clock data (calendar, month)
Clock data (date, hour)
Clock data (minute, second)
Clock data (0, week)
Expansion file register
SD520: Current main cycle (1ms unit)
SD521: Maximum main cycle (1ms unit)
SD524: Maximum operation cycle (1µs unit)
A173UHCPU only
SD523: Motion setting operation cycle
(1µs unit)
A173UHCPU only
SD522: Motion operation cycle (1µs unit)
A173UHCPU only
A173UHCPU only
For specifying extended file register device number A173UHCPU only
- D9037
-
-
LED display priority order
- D9039
- D9044 For sampling trace
D9049
D9050
Work area for SFC
SFC program error number
-
-
D9054
- D9055
D9072
Error sequence step latch
PLC communication check
A173UHCPU only
A173UHCPU only
A173UHCPU only
A173UHCPU only
A173UHCPU only
A173UHCPU only
A173UHCPU only
A173UHCPU only
A173UHCPU only
A173UHCPU only
-
-
D9085
D9090
Detailed error number
- D9092
- D9094 Exchange I/O start I/O number
(Continued)
Setting register of time check value A173UHCPU only
Number of boards in special function module over A173UHCPU only
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
Device number
Q17nCPUN
A17nSHCPUN/
A173UHCPU
- D9100
- D9101
- D9102
- D9103
Name Remarks
Fuse blown module
A173UHCPU only
- D9105
- D9106
- D9107
- D9116
- D9117
- D9118
- D9121
- D9122
- D9123
- D9124 Number of annunciator detection
- D9125
- D9126
- D9127
A173UHCPU only
- D9130
- D9131
- D9132
A17nSHCPUN:
Limit switch output status storage area information
D9184 D9184 PCPU WDT error cause
D9185 D9185 A17nSHCPUN:
Servo amplifier classification
Manual pulse axis setting error
A17nSHCPUN:
Manual pulse axis setting error information
A17nSHCPUN:
Test mode requirement error information
A173UHCPU: Unusable
D9189
D9190
D9189
D9190
Error program No.
Error item information
D9191 D9191
Q17nCPUN, A173UHCPU:
Servo amplifier installation
A17nSHCPUN:
Servo amplifier installation information
D9193-D9195 D9193-D9195
D9196 D9196
Q17nCPUN:
Real/virtual mode switching error
A17nSHCPUN:
Area for manual pulse 1
(P1) smoothing magnification setting
A173UHCPU,
A17nSHCPU:
REAL/VIRTUAL mode switching error information
Personal computer link communication error code
A173UHCPU only
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
(Continued)
Device number
Q17nCPUN
A17nSHCPUN/
A173UHCPU
Q17nCPUN, A173UHCPU: smoothing magnification setting
Q17nCPUN, A173UHCPU: smoothing magnification setting
Q17nCPUN, A173UHCPU: smoothing magnification setting
- D760
- D761
- D762
- D763
- D764
- D765
- D766
A173UHCPU: area for Axis 1 to 32
- D769
- D770
- D771
- D772
- D773
- D774
- D775
- D776
- D777
- D778
- D779
- D780
- D781
- D782
A173UHCPU: area for Axis 1 to 32
- D785
- D786
- D787
- D788
- D789
- D790
- D791
D792 D792
D793 D793
D794 D794
Name Remarks
A17nSHCPUN:
Unusable
A17nSHCPUN:
Cam axis monitor device
• A172SHCPUN:
5 points x 8 axes
• A171SHCPUN:
5 points x 4 axes
D797 D797
D798 D798
D799 D799
For the special registers on the PLC CPU side, refer to the manual of the PLC CPU.
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
Item
Personal computer link communication error flag
PCPU preparation completion flag
Home position return re-travel value
Travel value change register
Indirectly designated device
(word device)
M2034 M2034
M9074 M9074
D9 + 20n (Note-1)
D16 + 20n, D17 + 20n (Note-1)
D0 to D8191
W0 to W1FFF
#0 to #7999
D9 + 20n (Note-1)
D16 + 20n (Note-1) , D17 + 20n (Note-1)
D800 to D8191
W0 to W1FFF
#0 to #7999
(Motion SFC (real mode) only)
Indirectly designated device
(bit device)
X0 to X1FFF
Y0 to Y1FFF
M/L0 to M/L8191
M9000 to M9255
B0 to B1FFF
F0 to F2047
X0 to X1FFF
Y0 to Y1FFF
M/L0 to M/L8191
M9000 to M9255
B0 to B1FFF
F0 to F2047
Enable specified device in D800 to D3069, D3080 to D8191 D800 to D3069, D3080 to D8191 high speed reading function W0 to W1FFF W0 to W1FFF
(Note-1): n indicates a value corresponding to an axis No. (Axis No.1 to 32: n = 0 to 31)
D815 (Note-1) + 20n
D0 to D799
W0 to W3FF
#0 to #7999
(Motion SFC of A172SH (real mode) only)
X0 to X7FF
Y0 to Y7FF
M/L0 to M/L2047
M9000 to M9255
B0 to B3FF
F0 to F255
D0 to D799
W0 to W3FF
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
(Continued)
Item
Output device
Watch data
ON section setting
Output enable/disable bit
Forced output bit
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 address
(H0 to HFFFFFFFF)
D0 to D8191
W0 to W1FFF
#0 to #8191
Constant (Hn/Kn) (Note-3)
X0 to X1FFF
Y0 to Y1FFF
M0 to M8191
L0 to L8191
B0 to B1FFF
F0 to F2047
M9000 to M9255
-
-
-
-
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 address
(H0 to HFFFFFFFF)
D0 to D8191
W0 to W1FFF
#0 to #8191
X0 to X1FFF
Y0 to Y1FFF
M0 to M8191
L0 to L8191
B0 to B1FFF
F0 to F2047
M9000 to M9255
TT0 to TT2047
TC0 to TC2047
CT0 to CT1023
CC0 to CC1023
Clutch status
M2160 to M2223
(Setting in mechanical system program is not required)
M2160 to M2223
(Setting in mechanical system program is not required)
A171SHCPUN: M1984 to
M1991
A172SHCPUN: M1984 to
M1999
(Setting in mechanical system program is not required)
Cam axis command signal
(cam/ball screw switch command)
M5488 to M5519 -
Smoothing clutch
M5520 to M5583 completion signal
(Note-1): n indicates a value corresponding to an axis No. (Axis No.1 to 32: n = 0 to 31)
Confirm the usage conditions using "Cross reference" or others in MT Works2, and change the device numbers to the ones of Q173CPUN/Q172CPUN.
-
(Note-2): p indicates the number of the user free area points in the multiple CPU high speed transmission area of each CPU.
□: Start I/O number of CPU module
(Note-3): The setting range differs depending on the setting unit.
(Note-4): Setting is available only for the devices of the own CPU.
X0 to X7FF
Y0 to Y7FF
M0 to M2047
L0 to L2047
B0 to B3FF
D0 to D1023
W0 to W3FF
#0 to #8191
Absolute address
(H0 to HFFFFFFFF)
D0 to D1023
W0 to W3FF
#0 to #8191
(Note-3)
X0 to X7FF
Y0 to Y7FF
M0 to M2047
L0 to L2047
B0 to B3FF
F0 to F255
M9000 to M9255
TT0 to TT255
TC0 to TC255
CT0 to CT255
CC0 to CC255
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
4. DIVERSION OF PROJECT CREATED WITH A173CPUN/A172CPUN
4.1 List of Available Data for Diversion (SV13/SV22)
Motion SFC not compatible Motion SFC compatible
A17nSHCPUN A173UHCPU A172SHCPUN A173UHCPU
SV13 SV22 SV13 SV22 SV13 SV22 SV13 SV22
System setting
System setting data
High speed reading data
Basic setting data
Fixed parameter
Home position return data
Servo data setting
JOG operation data
Servo parameter
Parameter block
Limit output data
Servo program
Motion
Operation control program Motion
SFC program
Remarks
Note-1
Note-2
Note-3
Note-4, Note-5
Note-4
Note-4
Note-4
Note-6
Mechanical system program
Automatic numbering setting
Mechanical edit data
Mechanical conversion data
Cam conversion data
Real mode axis information
Cam data
Device memory
Backup data
Communication setting
: Can be diverted
: Data must be revised
: Must be set again
(SW3RNC-GSVE only)
Note-4
Note-6
Note-6
Note-6
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
(Note-1) System setting data
• Pulse generator/synchronous encoder I/F module, A172SENCA172SENC module is converted to Q172LX.
Manual pulse generator/synchronous encoder setting is deleted.
Set Q172EX-S2 or Q173PX modules if necessary.
• Limit output module A1SY42 (when a motion SFC non-compatible OS is used)
The limit output module A1SY42 is not diverted.
• Amplifier setting other than the one for servo amplifiers
Any items other than MR-J-B and servo amplifiers (including inverters) are deleted.
(Note-2) Basic setting data
Q-Motion requires the multiple CPU setting. Configure the setting according to the system.
(Note-3) Limit output data (when a motion SFC non-compatible OS is used)
This data is deleted because of its incompatibility. Revise the data.
(Note-4) Servo program, Motion SFC program, mechanical system program
• Motion-dedicated devices
Assignment of motion-dedicated devices is different between A17nSHCPUN/A173UHCPU and Q-Motion.
Change the motion-dedicated devices.
(Note-5) Servo program
• Number of words in indirect device
There are some areas where the number of words has changed between A17nSHCPUN/A173UHCPU and
Q-Motion.
Execute a conversion check and revise the program if necessary.
(Note-6) Conversion data, setting data
These data cannot be diverted because CPUs are different. Convert and set the data again.
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
4.2 Program Diversion Procedure in Motion CPU Side procedure using MT Developer2
The following shows an example of procedures for replacing an A-Motion CPU side project with a
QDS-Motion CPU project using MT Developer2. Always backup the project before the program replacement.
1) Start MT Developer2, and select "Divert File" from the "Project" tab.
2) Specify the CPU type and OS type after the replacement in the "Diversion of the MT Developer2
Format Project" dialog box, and select "Browse".
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
3) Select "Browse" in Save Folder Path and the source project from "Folder List", and click "Open".
4) Select data to be converted in "File Selection".
5) Select "Divert".
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
6) The conversion of the project is completed. Select "OK".
After the project conversion, make the cross comparison or check the data on each screen.
7) Select "Save As" from the "Project" tab to save the project after the conversion.
8) Input "Workspace Name", "Project Name", and "Title", and select "Save".
9) The new project creation dialog box appears. Select "Yes".
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
4.2.2 When SFC is not used
When no SFC program is used in the A-Motion CPU side program (Diversion source) and servo parameters and others are diverted, perform the following procedure after the operation of 9).
1) Select "Motion SFC Program Manager".
2) Select "Unused" for "Motion SFC Program", and select "OK".
For the file converted using MT Works2, refer to "4.1 List of Available Data for Diversion (SV13/SV22)", and set the data that cannot be diverted if necessary. For the multiple CPU parameter setting, refer to
"3.Differences between Q173CPUN/Q172CPUN and A173UHCPU/A172SHCPUN/A171SHCPUN",
"QCPU User's Manual (Multiple CPU System) Model code: SH-080485ENG", and
"Q173CPU(N)/Q172CPU(N) User's Manual Model code: 1XB780".
4.2.3 Precautions for diverting cam data
To edit cam data, read the data directly using "Read Other Type Cam Data".
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
4.3 Program Diversion Procedure in PLC CPU Side
4.3.1 Conversion procedure of sequence program for Qn(H)CPU using GX Works2/
GX Developer
The following describes an example of the procedure for replacing a sequence project using
GX Developer.
Always backup the project before the replacement.
(1) Conversion of a sequence program created by SW3RNC-GSV/SW2□-GSV
1) After starting GX Works2, select "Start GX Developer" from the "Project" tab.
2) The following shows the conversion of a sequence program created by SW3RNC-GSV/
SW2□-GSV (GPPA file format).
After GX Developer is started, select "Import file" --> "Import from GPPA format file" from the
"Project" tab.
Caution 1: Storage location of an execution file
The execution file in the GPPA format is usually stored in the following folder.
• Folder structure
"C drive (route drive)" --> "GPP" --> "USR" --> "System name" --> "Machine name (folder which includes the gppa.cnf file)"
Caution 2: Name of diversion source project
When the diversion source project name is 9 characters or more, the project cannot be read.
Change the name so that the number of characters is within the limit and execute the conversion operation.
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
3) Select "Browse".
4) Select the conversion target file and select "OK".
5) Check the conversion targets (Program/Device comment/Parameter), and select "Execute".
Note) Only one of "Comment1" and "Comment2" can be selected for Device comment.
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
6) The conversion completion dialog box appears. Select "OK".
7) Select "Close".
8) Select "Change PLC type" from the "Project" tab in GX Developer.
9) Specify the PLC series (QCPU(Qmode)) and PLC type (QnUD(E)(H)CPU) after the replacement in the "Change PLC type" dialog box, and select "OK".
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
10) The "Change PLC type" dialog box appears. Select "Yes".
Note) In this replacement handbook, "Yes" is selected because the changes will be checked later by using a support tool.
When the supporting tool is not used, select "Confirm change".
11) The following dialog box appears. Select "OK".
Some devices cannot be replaced properly and are forcibly converted to
"SM1255" or "SD1255".
Refer to the explanation about the usage of the A/QnA->Q conversion support tool described later and replace those devices with appropriate ones.
12) When "Save as" is selected from the "Project" tab, the following dialog box appears. Input "Project name" and "Title", and select "Save".
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
13) The new project creation dialog box appears. Select "Yes".
Although the sequence program has been converted by following this procedure, it may not be performed correctly. For the program modifications, refer to Section 5 and later.
(2) Conversion of a sequence program for A-Motion created by GX Developer
The following describes an example of the procedure for replacing a sequence project using GX
Developer. Always backup the project before the replacement.
1) After starting GX Works2, select "Start GX Developer" from the "Project" tab.
2) The following shows the conversion of a sequence program for A-Motion that created by GX
Developer (GPPW file format).
3) After GX Developer is started, select "Open project" from the "Project" tab.
4) Select the file to be converted, and select "Open".
For the following conversion operations, refer to Step 8) and later of (1) Conversion of a sequence
program created by SW3RNC-GSV/SW2□-GSV.
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
5. USING A/QnA->Q CONVERSION SUPPORT TOOL FOR SEQUENCE PROGRAMS
To confirm the converted content of the sequence program, use "A/QnA->Q conversion support tool".
Please download and install the A/QnA->Q conversion support tool from Mitsubishi Electric FA Site.
For details, refer to A/QnA->Q Conversion Support Tool Operation Guide on the same page.
To download the tool, access the Mitsubishi Electric FA Site
(http://www.mitsubishielectric.co.jp/fa/index.html) and as follows. http://www.mitsubishielectric.co.jp/fa/download/software/search.do?mode=software&kisyu=%2Fplca&lan g=2&select=0&softid=0
5.1 Preparation for Using Support Tool
To use the support tool, prepare the following.
1) Diversion source sequence program (for comparison)
2) Target sequence program (program converted for Qn(H)CPU)
3) A/QnA->Q conversion support tool (Obtain this tool from Mitsubishi Electric FA Site.)
4) A/QnA->Q Conversion Support Tool Operation Guide (Obtain this guidebook from Mitsubishi
Electric FA Site.)
5) GX Developer (GX Works2)
Caution
Convert 1) into a project whose CPU type is changed to A2SH or A3U and save the project using GX
Developer as follows. The conversion method is the same as the one described in "2.4.3 Program
Diversion Procedure in PLC CPU Side".
• For A171SHCPUN and A172SHCPUN
Select "ACPU" for PLC series and "A2SH" for PLC type in the "Change PLC type" dialog box, and select "OK".
• For A173UHCPU
Select "ACPU" for PLC series and "A3U" for PLC type in the "Change PLC type" dialog box, and select "OK".
* This operation is necessary to use the A/QnA->Q program conversion support tool.
File before conversion File after conversion
A/QnA->Q conversion support tool
Analysis result Index file
File for GX Developer
Statements are added in the file after conversion.
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
5.2 Using Procedure of Support Tool
1) Click "Start" --> "MELSOFT Application" --> "AQCnvSupport" to start the support tool.
Then select "A/QnA->Q program conversion support tool execute".
2) The "A/QnA->Q program conversion support tool" dialog box appears. Specify a source file in the
GPPA format, A2SH file, or A3U file for "Project for A/QnA series before PLC type changing".
Specify the file converted to the QnUD(E)(H)CPU type file for "Project for Q series after PLC type changed", and select "Next".
Above: File for comparison (A2SH)
Below: File converted to the one for
Q26HCPU
After this procedure, follow the description in A/QnA->Q Conversion Support Tool Operation
Guide.
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3) Created file
Once the operation is completed by following the description in A/QnA->Q Conversion Support
Tool Operation Guide, an analysis result Index file (HTML document) and a GX Developer file in which statements of the modifications are embedded are created in the specified folder.
4) Display
• Analysis result index file
The following shows an example of the execution results of the analysis result index file.
• GX Developer file in which statements are embedded
The following shows an example of the execution results of the GX Developer file in which statements are embedded.
"Statement display" or "Ctrl + F7" displays the contents that need to be modified.
* In the case described above, the device M9074 has been replaced with the device SM1255. Correct the device to an appropriate one.
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
5.3 Correction of the Sequence Program in Created Embedded File
5.3.1 Correction of special relay/special register
The special relay that cannot be converted from A-Motion is converted to "SM1255", and the special register that cannot be converted from A-Motion is converted to "SD1255". Modify the devices according to a between-the-lines statement.
5.3.2 Correction of motion-dedicated instructions
A-Motion-dedicated instructions (SVST, CHGA, CHGV, CHGT, SFCS, ITP) are converted to "SM1255".
Modify the devices according to a between-the-lines statement.
5.3.3 Others
Confirm the details of user's manual and programming manual for each CPU module and correct required items. For the usage of GX Developer and others, refer to manuals of each product.
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. REPLACEMENT FROM A-MOTION TO QN-MOTION
6. POINTS AND PRECAUTIONS OF REPLACEMENT
6.1 Difference of Motion CPU Configuration configuration
The following figure shows the differences between the basic system of A-Motion and basic system of
QDS-Motion.
• The PLC function and the motion function are integrated in one A-motion CPU. However, in
QDS-motion, they are in different CPUs.
• A-Motion is compatible with SSCNET as a servo system network, but QDS-Motion is compatible with
SSCNET III or SSCNET III/H. Servo amplifiers connectable to each motion are also different.
• A motion module A172SENC (Pulse generator/synchronous encoder interface module) is replaced with a motion module Q172DLX (Servo external signal interface module), Q172DEX (Synchronous encoder interface module), or Q173DPX (Manual pulse generator interface module).
• A base unit is changed to a Q series multiple CPU high speed base unit. As a result, motion modules
(Q172DLX, Q173DEX, and Q172DPX) cannot be installed in the CPU slot and Slot 0 to 2.
(Servo external signals input)
Motion controller
A171SHCPUN
A172SHCPUN
A173UHCPU
A173UHCPU-S1
Main base unit
A17□B
Motion I/O module
A172SENC
Manual pulse generator
MR-HDP01
Serial ABS synchronous encoder
MR-HENC
(Servo external signals input)
Input module
Q172LX
Encoder input module
Q172EX-S2
Power supply module Main base unit
Q6□P
+
Q3□B
PLC CPU
Qn(H)CPU
+
Motion controller
Q172CPUN
Q173CPUN
Pulse input module
Q173PX
Serial ABS synchronous encoder
Q170ENC, MR-HENC
4
- 41
4
. REPLACEMENT FROM A-MOTION TO QN-MOTION
In A-motion, the PLC and Motion functions are integrated in an A-motion CPU. Thus, the both function shares the memory. In QDS-Motion, a PLC CPU and a Motion CPU are divided as different modules. Thus, configuring various settings (Assignment to the multiple CPU shared devices/automatic refresh setting) is required to share the memory.
For details, refer to "QCPU User's Manual (Multiple CPU System) Model code: SH-080485ENG",
"Programming Manual (COMMON) [type Q173D(S)/Q172D(S)] Model Code: 1XB928".
A-Motion QDS-Motion
After diverting the project, execute the automatic refresh setting to share the device memory. It is necessary to assign the devices being used by the PLC CPU to the devices of the Motion CPU.
4
- 42
4
. REPLACEMENT FROM A-MOTION TO QN-MOTION
6.2 Precautions on Replacement
6.2.1 Slot position (system setting)
When a motion module used in A-Motion is replaced with a Q-Motion module, the slot position will change.
Example) When A172SENC is arranged in Slot 0 in A-Motion
A172SENC is arranged in Slot 0.
↓ A172SHCPU is converted to Q172CPUN.
The conversion is executed as follows.
A172SHCPU → Q172CPUN (Slot 0)
A172SENC → Q172LX (Slot 1)
Q172LX is arranged in Slot 1.
4
- 43
4
. REPLACEMENT FROM A-MOTION TO QN-MOTION
6.2.2 Restrictions on the number of blocks and total points in the refresh setting
In Q-Motion, an automatic refresh function is one of the specifications added from A-Motion.
The number of blocks for the automatic refresh is limited to 4 blocks in Q173CPUN/Q172CPUN.
PCPU
Device
memory
(D, M)
Shared
memory
No.1
No.2
* The number of blocks for automatic refresh is 32.
T (Timer device) and C (Counter device) can be used in A-Motion, but they cannot be used in Q-Motion.
When T and C are used on the motion SFC side, use the TIME instruction as an alternative method.
Since the error check function is improved in Q-Motion, errors and warnings will be displayed in the parameter in which errors and warnings were not displayed in A-Motion after the replacement. Correct the errors according to the content of the errors and warnings.
Example) A-Motion
• CPU module is changed from A-Motion to Q-Motion using MT2
• Error contents and measures
In the above case, set the sudden stop deceleration time to be equal to the deceleration time setting value (500ms or shorter).
Note that the error check becomes stricter than before the replacement as the above case.
4
- 44
5. APPENDIX
5. APPENDIX
5. APPENDIX ............................................................................................................................................................ 1
1.
OUTLINE DIMENSIONS ................................................................................................................................... 2
1.1
Outline Dimensions of A Series (small type) ............................................................................................ 2
1.1.1
A17nSHCPUN .................................................................................................................................... 2
1.1.2
A173UHCPU(-S1) .............................................................................................................................. 2
1.1.3
A172SENC ......................................................................................................................................... 3
1.1.4
A172B ................................................................................................................................................. 3
1.1.5
A175B ................................................................................................................................................. 4
1.1.6
A178B(-S□) ......................................................................................................................................... 4
1.1.7
A168B ................................................................................................................................................. 4
1.1.8
A1S65B ............................................................................................................................................... 5
1.1.9
A1S68B ............................................................................................................................................... 5
1.2
Outline Dimensions of QD(S) Series ......................................................................................................... 6
1.2.1
Q17nDSCPU ...................................................................................................................................... 6
1.2.2
Q17nDCPU ......................................................................................................................................... 6
1.2.3
Q17nDCPU-S1 ................................................................................................................................... 7
1.2.4
Q170DBATC ....................................................................................................................................... 7
1.2.5
Q172DLX ............................................................................................................................................ 8
1.2.6
Q172DEX............................................................................................................................................ 8
1.2.7
Q173DPX............................................................................................................................................ 9
1.2.8
Q61P/Q62P/Q63P .............................................................................................................................. 9
1.2.9
QnHCPU ........................................................................................................................................... 10
1.2.10
QnUDE(H)CPU ................................................................................................................................ 10
1.2.11
Q38DB .............................................................................................................................................. 11
1.2.12
Q312DB ............................................................................................................................................ 11
1.2.13
Q55B ................................................................................................................................................. 11
1.2.14
Q63B ................................................................................................................................................. 12
1.2.15
Q65B ................................................................................................................................................. 12
1.2.16
Q68B [Base unit mounting hole: 5 holes] ........................................................................................ 12
1.2.17
Q68B [Base unit mounting hole: 4 holes] ........................................................................................ 13
1.2.18
Q612B [Base unit mounting hole: 5 holes] ...................................................................................... 13
1.2.19
Q612B [Base unit mounting hole: 4 holes] .................................................................................... 13
1.3
Outline Dimensions of Stand-alone Motion ............................................................................................ 14
1.3.1
Q170MSCPU(-S1) ........................................................................................................................... 14
1.3.2
Q170MCPU ...................................................................................................................................... 14
5
- 1
5. APPENDIX
DIMENSIONS
1.1 Outline Dimensions of A Series (small type)
1.1.1 A17nSHCPUN
1.1.2 A173UHCPU(-S1)
5
- 2
5. APPENDIX
1.1.3 A172SENC
1.1.4 A172B
5
- 3
4 mounting screws
5. APPENDIX
1.1.5 A175B
1.1.6 A178B(-S□)
1.1.7 A168B
5
- 4
4 mounting screws
4 mounting screws
4 mounting screws
5. APPENDIX
1.1.8 A1S65B
1.1.9 A1S68B
4 mounting screws
4 mounting screws
5
- 5
5. APPENDIX
1.2 Outline Dimensions of QD(S) Series
1.2.1 Q17nDSCPU
1.2.2 Q17nDCPU
[Unit: mm]
[Unit: mm]
5
- 6
5. APPENDIX
1.2.3 Q17nDCPU-S1
1.2.4 Q170DBATC
2-φ5.3 (Mounting screw M5×14)
5
- 7
[Unit: mm]
5. APPENDIX
1.2.5 Q172DLX
1.2.6 Q172DEX
5
- 8
[Unit: mm]
[Unit: mm]
5. APPENDIX
1.2.7 Q173DPX
1.2.8 Q61P/Q62P/Q63P
5
- 9
[Unit: mm]
[Unit: mm]
5. APPENDIX
1.2.9 QnHCPU
1.2.10 QnUDE(H)CPU
5
- 10
5. APPENDIX
1.2.11 Q38DB
5 mounting screws
1.2.12 Q312DB
5 mounting screws
1.2.13 Q55B
4 mounting screws (M4×14)
5
- 11
5. APPENDIX
1.2.14 Q63B
4 mounting screws (M4×14)
1.2.15 Q65B
4 mounting screws (M4×14)
1.2.16 Q68B [Base unit mounting hole: 5 holes]
5 mounting screws
5
- 12
5. APPENDIX
1.2.17 Q68B [Base unit mounting hole: 4 holes]
4 mounting screws (M4×14)
1.2.18 Q612B [Base unit mounting hole: 5 holes]
5 mounting screws
1.2.19 Q612B [Base unit mounting hole: 4 holes]
4 mounting screws (M4×14)
5
- 13
5. APPENDIX
1.3 Outline Dimensions of Stand-alone Motion
1.3.1 Q170MSCPU(-S1)
1.3.2 Q170MCPU
With the battery holder removed
5
- 14
With the battery holder removed
WARRANTY
Please confirm the following product warranty details before using this product.
1. Gratis Warranty Term and Gratis Warranty Range
We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced.
[ Gratis Warranty Term]
The term of warranty for Product is thirty six (36) months after your purchase or delivery of the Product to a place designated by you or forty two (42) months from the date of manufacture whichever comes first "Warranty Period".
Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work.
[ Gratis Warranty Range]
(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.
It can also be carried out by us or our service company upon your request and the actual cost will be charged.
However, it will not be charged if we are responsible for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the
Product and the caution label affixed to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;
1) A failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware or software problem
2) A failure caused by any alteration, etc. to the Product made on your side without our approval
3) A failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry
4) A failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and replaced
5) Any replacement of consumable parts (battery, fan, etc.)
6) A failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of voltage, and acts of God, including without limitation earthquake, lightning and natural disasters
7) A failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company
8) Any other failures which we are not responsible for or which you acknowledge we are not responsible for
2. Onerous Repair Term after Discontinuation of Production
(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued.
The announcement of the stop of production for each model can be seen in our Sales and Service, etc.
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.
3. Service in overseas countries
Our regional FA Center in overseas countries will accept the repair work of the Product; However, the terms and conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.
4. Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability
Whether under or after the term of warranty, we assume no responsibility for any damages arisen from causes for which we are not responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product, any damages, secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company, any damages to products other than the Product, and also compensation for any replacement work, readjustment, start-up test run of local machines and the Product and any other operations conducted by you.
5. Change of Product specifications
Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Precautions for Choosing the Products
(1) For the use of our Motion controller, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in Motion controller, and a backup or fail-safe function should operate on an external system to Motion controller when any failure or malfunction occurs.
(2) Our Motion controller is designed and manufactured as a general purpose product for use at general industries.
Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used.
In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used.
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation.
Transition from A17nSHCPUN/A173UHCPU Series to Q Series Handbook
Safety Warning
To ensure proper use of the products list ed in thi s catalog, please be sure to read the in struction manual prior to use.
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L(NA)03104ENG-C
New publication, effective October 2014.
Specifications are subject to change without notice.
Transition from A17nSHCPUN/A173UHCPU
Series to Q Series Handbook
C
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Table of contents
- 2 SAFETY PRECAUTIONS
- 12 REVISIONS
- 13 GUIDEBOOK CONFIGURATION
- 14 CONTENTS
- 20 1. OVERVIEW OF A-MOTION REPLACEMENT
- 21 1. OVERVIEW OF A-MOTION REPLACEMENT HANDBOOK
- 21 2. MAIN REPLACEMENT TARGET MODEL
- 22 3. MERITS OF REPLACEMENT
- 22 3.1 Multiple CPU System (QDS-Motion) with Q Series PLC Module
- 22 3.2 High-speed and High Performance of Motion CPU
- 22 3.3 High-speed, Noise Free Communication by SSCNET III(/H)
- 22 3.4 MR-J4 Amplifier + HG Servo Motor (QDS-Motion)
- 22 3.5 Space Economization (Stand-alone Motion)
- 23 3.6 Decrease of Maintenance Cost
- 24 4. CASE AND STUDY OF A-MOTION REPLACEMENT
- 25 4.1 1): Update at once to QDS-Motion/Stand-alone Motion + MR-J4-B
- 26 4.2 2): When only Controllers and Servo Amplifiers are Changed
- 27 4.3 3): Partial Update from MR-J2S-B to MR-J4-B
- 28 4.4 4): Individual Replacement Support
- 29 4.5 Others
- 29 4.5.1 Combination before/after controller replacement
- 30 4.5.2 Combination of controller and servo amplifier
- 31 5. SYSTEM TRANSITION
- 31 5.1 Configuration of the System Using A-Motion (before transition)
- 32 5.2 Configuration of the System Using QDS-Motion (after transition)
- 33 5.3 Replace to Stand-alone Motion
- 34 5.4 Transition of Other Configurations
- 34 5.4.1 Combination of servo amplifier and servo motor
- 34 5.4.2 Specification comparison of servo system network
- 35 5.4.3 Support of operating system software
- 35 5.4.4 Correspondence of peripheral software
- 36 5.4.5 Outline of the motion data replacement flow
- 36 5.4.6 Precautions for replacing motion data saved with DOS-version peripheral software
- 36 5.4.7 Dimensions
- 37 6. TRANSITION OF THE PROGRAM
- 38 6.1 Motion Project Diversion Function in MT Works2
- 38 6.1.1 Data list available for diversion or not
- 39 6.1.2 Motion program diversion procedure in MT Works2
- 41 6.2 Ladder Program Diversion Function in GX Works2
- 41 6.2.1 Ladder program diversion procedure in GX Works2
- 43 6.2.2 The process after diverting the ladder program in GX Works2
- 44 6.3 Precautions of Program Transition
- 44 6.3.1 Precautions of shared device memory transition between SCPU (PLC) and PCPU (Motion CPU)
- 45 7. RELEVANT DOCUMENTS
- 45 7.1 Relevant Catalogs
- 46 7.2 Relevant Manuals
- 48 2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION
- 50 1. OVERVIEW
- 50 2. EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE
- 50 2.1 Equipment Correspondence
- 51 2.2 Servo Amplifier Correspondence
- 52 2.3 Operating System Software Correspondence
- 52 2.4 Engineering Environment
- 53 3. DIFFERENCES BETWEEN Q173DSCPU/Q172DSCPU AND A173UHCPU/A172SHCPUN/A171SHCPUN
- 53 3.1 Differences between Q173DSCPU/Q172DSCPU and A173UHCPU/A172SHCPUN/A171SHCPUN
- 53 3.1.1 Differences list
- 56 3.1.2 Difference between self diagnosis error and Motion (SFC) error history
- 57 3.1.3 Item that is necessary to change/revise with the change of servo system network
- 58 3.2 Device Comparison
- 58 3.2.1 I/O device
- 58 3.2.2 Internal relay
- 61 3.2.3 Data register
- 64 3.2.4 Motion register
- 65 3.2.5 Special relay
- 67 3.2.6 Special register
- 70 3.2.7 Other devices
- 72 4. DIVERSION OF PROJECT CREATED BY A173CPUN/A172CPUN
- 72 4.1 Data List Available for Diversion or Not (SV13/SV22)
- 74 4.2 Program Diversion Procedure in Motion CPU Side
- 74 4.2.1 Diversion procedure using MT Developer2
- 77 4.2.2 Without using SFC
- 78 4.2.3 Precautions for diverting cam data
- 79 4.3 Program Diversion Procedure in PLC CPU Side
- 79 4.3.1 Conversion procedure of a sequence project for QnUD(E)(H)CPU using GX Works2/GX Developer
- 84 5. USING A/QnA->Q CONVERSION SUPPORT TOOL IN SEQUENCE PROGRAM
- 84 5.1 Preparation for Using Support Tool
- 85 5.2 Using Procedure of Support Tool
- 87 5.3 Sequence Program Correction in Created Embedding File
- 87 5.3.1 Correction of special relay/special register
- 87 5.3.2 Correction of motion dedicated instructions
- 87 5.3.3 Others
- 88 6. POINTS AND PRECAUTIONS OF REPLACEMENT
- 88 6.1 Difference of Motion CPU Configuration
- 88 6.1.1 System configuration
- 89 6.1.2 Shared device
- 90 6.2 Precautions about Replacement
- 90 6.2.1 Slot position (system setting)
- 91 6.2.2 Communication data device between PLC CPU and Motion CPU
- 93 6.2.3 Block number of refresh setting and total points number restriction
- 97 6.2.4 Timer devices and counter devices
- 97 6.2.5 Indirect designation of servo program
- 98 6.2.6 Parameter block
- 100 3. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION
- 102 1. OVERVIEW
- 102 2. EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE
- 102 2.1 Equipment Correspondence
- 103 2.2 Servo Amplifier Correspondence
- 104 2.3 Operating System Software Correspondence
- 104 2.4 Engineering Environment
- 105 3. DIFFERENCES BETWEEN Q170MSCPU(-S1) AND A173UHCPU/A172SHCPUN/A171SHCPUN
- 105 3.1 Differences between Q170MSCPU(-S1) and A173UHCPU/A172SHCPUN/A171SHCPUN
- 105 Differences list
- 109 Difference between self diagnosis error and Motion (SFC) error history
- 110 Item that is necessary to change/revise with the change of servo system network
- 111 3.2 Device Comparison
- 111 3.2.1 I/O device
- 111 3.2.2 Internal relay
- 115 3.2.3 Data register
- 118 3.2.4 Motion register
- 119 3.2.5 Special relay
- 121 3.2.6 Special register
- 124 3.2.7 Other devices
- 126 4. DIVERSION OF PROJECT CREATED BY A173UHCPU/A172SHCPUN/A171SHCPUN
- 126 4.1 Data List Available for Diversion or Not (SV13/SV22)
- 128 4.2 Program Diversion Procedure in Motion CPU Side
- 128 4.2.1 Diversion procedure using MT Developer2
- 131 4.2.2 Without using SFC
- 132 4.2.3 Precautions for diverting cam data
- 133 4.3 Program Diversion Procedure in PLC CPU Side
- 133 4.3.1 Conversion procedure of ladder program for QnUD(H)CPU using GX Works2/GX Developer
- 138 5. USING A/QnA->Q CONVERSION SUPPORT TOOL IN LADDER PROGRAM
- 138 6. POINTS AND PRECAUTIONS OF REPLACEMENT
- 138 6.1 Difference of Motion CPU Configuration
- 138 6.1.1 System configuration
- 139 6.2 Precautions about Replacement
- 139 6.2.1 Slot position (system configuration)
- 141 7. DIFFERENCE BETWEEN Q170MSCPU AND Q170MSCPU-S1
- 141 7.1 Difference between Q170MSCPU and Q170MSCPU-S1
- 141 7.1.1 (1) Motion control specification
- 141 7.1.2 (2) Motion SFC performance specification
- 141 7.1.3 (3) PLC CPU part control specification
- 141 7.1.4 (4) Power supply specification
- 141 7.1.5 (5) Battery life specification
- 142 4. REPLACEMENT FROM A-MOTION TO QN-MOTION
- 143 1. OVERVIEW
- 143 2. EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE
- 143 2.1 Equipment Correspondence
- 145 2.2 Equipment Configuration of Q173CPUN/Q172CPUN Motion
- 147 2.3 Operating System Software Correspondence
- 147 2.4 Engineering Environment
- 148 3. DIFFERENCES BETWEEN Q173CPUN/Q172CPUN AND A173UHCPU/A172SHCPUN/A171SHCPUN
- 148 3.1 Differences between Q173CPUN/Q172CPUN and A173UHCPU/A172SHCPUN/A171SHCPUN
- 148 3.1.1 Differences list
- 151 3.1.2 Differences between self diagnosis error and Motion (SFC) error history
- 152 3.1.3 Items required to be changed/revised with the servo system network change
- 153 3.2 Device Comparison
- 153 3.2.1 I/O device
- 153 3.2.2 Internal relay
- 156 3.2.3 Data register
- 159 3.2.4 Motion register
- 160 3.2.5 Special relay
- 162 3.2.6 Special register
- 165 3.2.7 Other devices
- 167 4. DIVERSION OF PROJECT CREATED WITH A173CPUN/A172CPUN
- 167 4.1 List of Available Data for Diversion (SV13/SV22)
- 169 4.2 Program Diversion Procedure in Motion CPU Side
- 169 4.2.1 Diversion procedure using MT Developer2
- 172 4.2.2 When SFC is not used
- 172 4.2.3 Precautions for diverting cam data
- 173 4.3 Program Diversion Procedure in PLC CPU Side
- 173 4.3.1 Conversion procedure of sequence program for Qn(H)CPU using GX Works2/ GX Developer
- 178 5. USING A/QnA->Q CONVERSION SUPPORT TOOL FOR SEQUENCE PROGRAMS
- 178 5.1 Preparation for Using Support Tool
- 179 5.2 Using Procedure of Support Tool
- 181 5.3 Correction of the Sequence Program in Created Embedded File
- 181 5.3.1 Correction of special relay/special register
- 181 5.3.2 Correction of motion-dedicated instructions
- 181 5.3.3 Others
- 182 6. POINTS AND PRECAUTIONS OF REPLACEMENT
- 182 6.1 Difference of Motion CPU Configuration
- 182 6.1.1 System configuration
- 183 6.1.2 Shared device
- 184 6.2 Precautions on Replacement
- 184 6.2.1 Slot position (system setting)
- 185 6.2.2 Restrictions on the number of blocks and total points in the refresh setting
- 185 6.2.3 Timer counter
- 185 6.2.4 Parameter block
- 186 5. APPENDIX
- 187 1. OUTLINE DIMENSIONS
- 187 1.1 Outline Dimensions of A Series (small type)
- 187 1.1.1 A17nSHCPUN
- 187 1.1.2 A173UHCPU(-S1)
- 188 1.1.3 A172SENC
- 188 1.1.4 A172B
- 189 1.1.5 A175B
- 189 1.1.6 A178B(-S□)
- 189 1.1.7 A168B
- 190 1.1.8 A1S65B
- 190 1.1.9 A1S68B
- 191 1.2 Outline Dimensions of QD(S) Series
- 191 1.2.1 Q17nDSCPU
- 191 1.2.2 Q17nDCPU
- 192 1.2.3 Q17nDCPU-S1
- 192 1.2.4 Q170DBATC
- 193 1.2.5 Q172DLX
- 193 1.2.6 Q172DEX
- 194 1.2.7 Q173DPX
- 194 1.2.8 Q61P/Q62P/Q63P
- 195 1.2.9 QnHCPU
- 195 1.2.10 QnUDE(H)CPU
- 196 1.2.11 Q38DB
- 196 1.2.12 Q312DB
- 196 1.2.13 Q55B
- 197 1.2.14 Q63B
- 197 1.2.15 Q65B
- 197 1.2.16 Q68B [Base unit mounting hole: 5 holes]
- 198 1.2.17 Q68B [Base unit mounting hole: 4 holes]
- 198 1.2.18 Q612B [Base unit mounting hole: 5 holes]
- 198 1.2.19 Q612B [Base unit mounting hole: 4 holes]
- 199 1.3 Outline Dimensions of Stand-alone Motion
- 199 1.3.1 Q170MSCPU(-S1)
- 199 1.3.2 Q170MCPU
- 200 WARRANTY