Mitsubishi Electric Q Series, Q173DCPU Programming Manual

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 Q173D(S)CPU/Q172D(S)CPU Users manual for a description of the Motion controller safety precautions.

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

Indicates that incorrect handling may cause hazardous

DANGER

conditions, resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous

CAUTION

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

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

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

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

A - 1

For Safe Operations

1. Prevention of electric shocks

DANGER

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

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

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

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

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

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

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

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

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

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

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

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

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

2. For fire prevention

CAUTION

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

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

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

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

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

A - 2

3. For injury prevention

CAUTION

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

Doing so may lead to destruction or damage.

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

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

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

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

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

Doing so may lead to injuries.

4. Various precautions

Strictly observe the following precautions.

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

(1) System structure

CAUTION

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

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

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

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

Use the 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.

A - 3

CAUTION

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

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

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

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

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

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

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

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

(2) Parameter settings and programming

CAUTION

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

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

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

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

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

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

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

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

A - 4

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.

A - 5

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.

Ambient temperature

Ambient humidity

Storage temperature

Atmosphere

Motion controller/Servo amplifier Servomotor

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)

Indoors (where not subject to direct sunlight).

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

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

According to each instruction manual

Altitude

Vibration

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.

When you disinfect or protect wooden packing from insects, take measures except by fumigation.

Fumigating the Motion controller and servo amplifier or packing the Motion controller and servo amplifier with fumigated wooden packing can cause a malfunction of the Motion controller and servo amplifier due to halogen materials (such as fluorine, chlorine, bromine, and iodine) which are contained in fumigant.

The Motion controller and servo amplifier must not be used with parts which contain halogenseries flame retardant materials (such as bromine) under coexisting conditions.

A - 6

(4) Wiring

CAUTION

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

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

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

Correctly connect the output side (terminal U, V, W) 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 the User's 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




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).

Servo motor

EMG

RA1

Electromagnetic brakes

B 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.

A - 10

REVISIONS

Print Date Manual Number

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

Revision

Sep., 2007 IB(NA)-0300137-A First edition

Nov., 2009 IB(NA)-0300137-B [Additional model]

MR-J3W- B, MR-J3- B-RJ080W, MR-J3- BS

[Additional correction/partial correction]

Safety precautions, About Manuals, Restrictions by the software's version or serial number, Servo amplifier display servo error code

(#8008+20), Amplifier-less operation status flag (SM508), SSCNET control (Status_SD508), SSCNET control (Command_SD803),

Advanced S-curve acceleration/deceleration, Error code list, Warranty

Sep., 2011 IB(NA)-0300137-C [Additional model]

Q173DCPU-S1, Q172DCPU-S1, GX Works2, MR Configurator2


Safety precautions, About Manuals, Restrictions by the software's version, Error code list

Mar., 2012 IB(NA)-0300137-D [Additional model]

Q173DSCPU, Q172DSCPU, Q171ENC-W8, MR-J4- B, MR-J4W- B

[Additional function]

Speed-torque control


About Manuals, Manual page organization, Restrictions by the software's version, Programming software version, PI-PID switching command (M3217+20n), Parameter error number (#8009+20n), Servo status 1 (#8010+20n), Servo status 2 (#8011+20n), Servo status 3

(#8012+20n), Maximum motion operation cycle (SD524), System setting error information (SD550, SD551), Error code list, Processing time of the Motion CPU

Sep., 2012 IB(NA)-0300137-E [Additional correction/partial correction]

About Manuals, Restrictions by the software's version, Programming software version, External forced stop input ON latch flag (SM506),

Operation method (SD560), Error code list, Processing time of the

Motion CPU

Apr., 2013 IB(NA)-0300137-F [Additional correction/partial correction]

About Manuals, Restrictions by the software's version, Error code list

Japanese Manual Number IB(NA)-0300129

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.

© 2007 MITSUBISHI ELECTRIC CORPORATION

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INTRODUCTION

Thank you for choosing the Mitsubishi Motion controller Q173D(S)CPU/Q172D(S)CPU.

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

CONTENTS

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

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

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

About Manuals ...............................................................................................................................................A-15

Manual Page Organization ............................................................................................................................A-17

1. OVERVIEW 1- 1 to 1-10

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

1.2 Motion Control in SV13/SV22 Real Mode............................................................................................... 1- 4

1.3 Motion Control in SV22 Virtual Mode ...................................................................................................... 1- 5

1.4 Restrictions by the Software's Version.................................................................................................... 1- 6

1.5 Programming Software Version .............................................................................................................. 1-10

2. STARTING UP THE SYSTEM 2- 1 to 2- 8

2.1 Starting Up the Virtual Mode System ...................................................................................................... 2- 1

2.2 Starting Up the Incremental System and Absolute System ................................................................... 2- 3

2.2.1 Operation for incremental system..................................................................................................... 2- 3

2.2.2 Operation for absolute (absolute position) system........................................................................... 2- 4

2.3 Differences Between Real Mode and Virtual Mode................................................................................ 2- 5

2.3.1 Positioning data................................................................................................................................. 2- 5

2.3.2 Positioning devices............................................................................................................................ 2- 5

2.3.3 Servo programs................................................................................................................................. 2- 6

2.3.4 Control change (Current value change/speed change/target position change) ............................. 2- 7

2.3.5 Switching of control mode (Speed-torque control)........................................................................... 2- 8

3. PERFORMANCE SPECIFICATIONS 3- 1 to 3- 2

4. POSITIONING DEDICATED SIGNALS 4- 1 to 4-90

4.1 Internal Relays ......................................................................................................................................... 4- 3

4.1.1 Axis statuses ..................................................................................................................................... 4-14

4.1.2 Axis command signals ...................................................................................................................... 4-22

4.1.3 Virtual servomotor axis statuses....................................................................................................... 4-27

4.1.4 Virtual servomotor axis command signals ...................................................................................... 4-31

4.1.5 Synchronous encoder axis statuses ............................................................................................... 4-36

4.1.6 Synchronous encoder axis command signals.................................................................................. 4-37

4.1.7 Common devices .............................................................................................................................. 4-38

4.2 Data Registers.......................................................................................................................................... 4-53

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4.2.1 Axis monitor devices ......................................................................................................................... 4-61

4.2.2 Control change registers................................................................................................................... 4-63

4.2.3 Virtual servomotor axis monitor devices........................................................................................... 4-64

4.2.4 Current value after virtual servomotor axis main shaft's differential gear ....................................... 4-66

4.2.5 Synchronous encoder axis monitor devices..................................................................................... 4-68

4.2.6 Current value after synchronous encoder axis main shaft's differential gear ................................. 4-69

4.2.7 Cam axis monitor devices................................................................................................................. 4-71

4.2.8 Common devices .............................................................................................................................. 4-72

4.3 Motion Registers(#).................................................................................................................................. 4-75

4.4 Special Relays (SM) ................................................................................................................................ 4-80

4.5 Special Registers (SD)............................................................................................................................. 4-83

5. MECHANICAL SYSTEM PROGRAM 5- 1 to 5-10

5.1 Mechanical Module Connection Diagram ............................................................................................... 5- 2

5.2 Mechanical Module List ........................................................................................................................... 5- 6

6. DRIVE MODULE 6- 1 to 6-24

6.1 Virtual Servomotor ................................................................................................................................... 6- 2

6.1.1 Operation description ........................................................................................................................ 6- 2

6.1.2 Parameter list .................................................................................................................................... 6- 8

6.1.3 Virtual servomotor axis devices (Internal relays, data registers)..................................................... 6-13

6.2 Synchronous Encoder.............................................................................................................................. 6-14

6.2.1 Operation description ........................................................................................................................ 6-14

6.2.2 Parameter list .................................................................................................................................... 6-19

6.2.3 Synchronous encoder axis devices (Internal relays, data registers)............................................... 6-20

6.3 Virtual Servomotor/Synchronous Encoder Control Change................................................................... 6-21

6.3.1 Virtual servomotor control change.................................................................................................... 6-21

6.3.2 Synchronous encoder control change.............................................................................................. 6-23

7. TRANSMISSION MODULE 7- 1 to 7-38

7.1 Gear.......................................................................................................................................................... 7- 3

7.1.1 Operation........................................................................................................................................... 7- 3

7.1.2 Parameters ........................................................................................................................................ 7- 3

7.2 Clutch........................................................................................................................................................ 7- 5

7.2.1 Operation........................................................................................................................................... 7-11

7.2.2 Parameters ........................................................................................................................................ 7-25

7.3 Speed Change Gear ................................................................................................................................ 7-34

7.3.1 Operation........................................................................................................................................... 7-34

7.3.2 Parameters ........................................................................................................................................ 7-35

7.4 Differential Gear ....................................................................................................................................... 7-37

7.4.1 Operation........................................................................................................................................... 7-37

7.4.2 Parameters ....................................................................................................................................... 7-37

8. OUTPUT MODULE 8- 1 to 8-44

8.1 Rollers....................................................................................................................................................... 8- 5

8.1.1 Operation........................................................................................................................................... 8- 5

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8.1.2 Parameter list .................................................................................................................................... 8- 6

8.2 Ball Screw................................................................................................................................................. 8- 9

8.2.1 Operation........................................................................................................................................... 8- 9

8.2.2 Parameter list .................................................................................................................................... 8-10

8.3 Rotary Tables ........................................................................................................................................... 8-13

8.3.1 Operation........................................................................................................................................... 8-13

8.3.2 Parameter list .................................................................................................................................... 8-14

8.4 Cam .......................................................................................................................................................... 8-21

8.4.1 Operation........................................................................................................................................... 8-22

8.4.2 Settings items at cam data creating ................................................................................................. 8-25

8.4.3 Parameter list .................................................................................................................................... 8-29

8.4.4 Cam curve list.................................................................................................................................... 8-41

8.5 Phase Compensation Function ............................................................................................................... 8-42

9. REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START 9- 1 to 9-12

9.1 Switching from the Real Mode to Virtual Mode....................................................................................... 9- 1

9.2 Switching from the Virtual Mode to Real Mode....................................................................................... 9- 5

9.2.1 Switching by user .............................................................................................................................. 9- 5

9.2.2 Switching by the operating system software .................................................................................... 9- 5

9.2.3 Continuous operation on servo error in virtual mode....................................................................... 9- 6

9.3 Precautions at Real Mode/Virtual Mode Switching................................................................................. 9- 7

9.4 Stop and Re-start ..................................................................................................................................... 9- 9

9.4.1 Stop operation/stop causes during operation and re-starting operation list.................................... 9-10

10. AUXILIARY AND APPLIED FUNCTIONS 10- 1 to 10-10

10.1 Mixed Function of Virtual Mode/Real Mode ........................................................................................ 10- 1

10.2 Speed-Torque Control ......................................................................................................................... 10- 7

APPENDICES APP- 1 to APP-82

APPENDIX 1 Error Codes Stored Using the Motion CPU.....................................................................APP- 1

APPENDIX 1.1 Expression method for word data axis No..................................................................APP- 4

APPENDIX 1.2 Related systems and error processing .......................................................................APP- 5

APPENDIX 1.3 Servo program setting errors (Stored in SD517)........................................................APP- 6

APPENDIX 1.4 Drive module errors.....................................................................................................APP-11

APPENDIX 1.5 Servo errors.................................................................................................................APP-17

APPENDIX 1.6 Output module errors ..................................................................................................APP-51

APPENDIX 1.7 Errors at real mode/virtual mode switching ................................................................APP-60

APPENDIX 2 Setting Range for Indirect Setting Devices........................................................................APP-62

APPENDIX 3 Processing Times of the Motion CPU ...............................................................................APP-64

APPENDIX 4 Device List ..........................................................................................................................APP-66

A - 14

About Manuals

The following manuals are also related to this product.

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

Related Manuals

(1) Motion controller

Manual Name

Q173D(S)CPU/Q172D(S)CPU Motion controller User's Manual

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

Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)

This manual explains the Multiple CPU system configuration, performance specifications, common parameters, auxiliary/applied functions, error lists and others.

Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual

(Motion SFC)

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

Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual

(REAL MODE)

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

Q173D(S)CPU/Q172D(S)CPU Motion controller (SV22) Programming Manual

(VIRTUAL MODE)

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

Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual

(Advanced Synchronous Control)

This manual explains the dedicated instructions to use the synchronous control by synchronous control parameters, device lists, error lists and others.

Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (Safety Observation)

This manual explains the details, safety parameters, safety sequence program instructions, device lists and error lists and others for safety observation function by Motion controller.

Motion controller Setup Guidance (MT Developer2 Version1)

This manual explains the items related to the setup of the Motion controller programming software

MT Developer2.

Manual Number

(Model Code)

IB-0300133

(1XB927)

IB-0300134

(1XB928)

IB-0300135

(1XB929)

IB-0300136

(1XB930)

IB-0300137

(1XB931)

IB-0300198

(1XB953)

IB-0300183

(1XB945)

IB-0300142

( — )

A - 15

(2) PLC

Manual Name

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

This manual explains the specifications of the QCPU modules, power supply modules, base units, extension cables, memory card battery, and the maintenance/inspection for the system, trouble shooting, error codes and others.

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

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

QCPU User's Manual (Multiple CPU System)

This manual explains the Multiple CPU system overview, system configuration, I/O modules, communication between CPU modules and communication with the I/O modules or intelligent function modules.

QnUCPU User's Manual (Communication via Built-in Ethernet Port)

This manual explains functions for the communication via built-in Ethernet port of the CPU module.

MELSEC-Q/L Programming Manual (Common Instruction)

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

MELSEC-Q/L/QnA Programming Manual (PID Control Instructions)

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

MELSEC-Q/L/QnA Programming Manual (SFC)

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

I/O Module Type Building Block User's Manual

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

MELSEC-L SSCNET /H Head Module User's Manual

This manual explains specifications of the head module, procedures before operation, system configuration, installation, wiring, settings, and troubleshooting.

Manual Number

(Model Code)

SH-080483ENG

(13JR73)

SH-080807ENG

(13JZ27)

SH-080485ENG

(13JR75)

SH-080811ENG

(13JZ29)

SH-080809ENG

(13JW10)

SH-080040

(13JF59)

SH-080041

(13JF60)

SH-080042

(13JL99)

SH-081152ENG

(13JZ78)

A - 16

(3) Servo amplifier

Manual Name

SSCNET /H interface MR-J4- B Servo amplifier Instruction Manual

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

MR-J4- B Servo amplifier.

SSCNET /H interface Multi-axis AC Servo MR-J4W- B Servo amplifier Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Multiaxis AC Servo MR-J4W - B Servo amplifier.

SSCNET interface MR-J3- B Servo amplifier Instruction Manual

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

MR-J3- B Servo amplifier.

SSCNET interface 2-axis AC Servo Amplifier MR-J3W- B Servo amplifier Instruction

Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for 2-axis

AC Servo Amplifier MR-J3W- B Servo amplifier.

SSCNET Compatible Linear Servo MR-J3- B-RJ004 Instruction Manual

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

Servo MR-J3- B-RJ004 Servo amplifier.

SSCNET Compatible Fully Closed Loop Control MR-J3- B-RJ006 Servo amplifier

Instruction Manual

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

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

SSCNET Interface Direct Drive Servo MR-J3- B-RJ080W Servo amplifier Instruction

Manual

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

Drive Servo MR-J3- B-RJ080W Servo amplifier.

SSCNET interface Drive Safety integrated MR-J3- B Safety Servo amplifier Instruction

Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for safety integrated MR-J3- B Safety Servo amplifier.

Manual Page Organization

Manual Number

(Model Code)

SH-030106

(1CW805)

SH-030105

(1CW806)

SH-030051

(1CW202)

SH-030073

(1CW604)

SH-030054

(1CW943)

SH-030056

(1CW304)

SH-030079

(1CW601)

SH-030084

(1CW205)

The symbols used in this manual are shown below.

Symbol Description

QDS Symbol that indicates correspondence to only Q173DSCPU/Q172DSCPU.

QD Symbol that indicates correspondence to only Q173DCPU(-S1)/Q172DCPU(-S1).

A - 17

MEMO

A - 18

1 OVERVIEW

1. OVERVIEW

1.1 Overview

This programming manual describes the dedicated instructions, positioning control parameters and positioning dedicated devices for mechanical system program comprised of a virtual main shaft or mechanical module required to execute the synchronous control in the Motion controller (SV22 virtual mode).

The following positioning control is possible in the Motion controller (SV22 virtual mode).

Applicable CPU

Q173DSCPU

Q173DCPU (-S1)

Q172DSCPU

Number of positioning control axes

Up to 32 axes

Up to 16 axes

Q172DCPU (-S1) Up to 8 axes

In this manual, the following abbreviations are used.

Generic term/Abbreviation Description

Q173D(S)CPU/Q172D(S)CPU or

Motion CPU (module)

Q172DLX/Q172DEX/Q173DPX/

Q173DSXY or Motion module

Q173DSCPU/Q172DSCPU/Q173DCPU/Q172DCPU/Q173DCPU-S1/

Q172DCPU-S1 Motion CPU module

Q172DLX Servo external signals interface module/

Q172DEX Synchronous encoder interface module

(Note-1)

/

Q173DPX Manual pulse generator interface module/

Q173DSXY Safety signal module

MR-J4(W)- B Servo amplifier model MR-J4- B/MR-J4W- B

MR-J3(W)- B Servo amplifier model MR-J3- B/MR-J3W- B

General name for "Servo amplifier model MR-J4- B/MR-J4W- B/MR-J3- B/

AMP or Servo amplifier

MR-J3W- B"

QCPU, PLC CPU or PLC CPU module QnUD(E)(H)CPU/QnUDVCPU

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

CPUn

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

Operating system software

SV13

SV22

Programming software package

MELSOFT MT Works2

MT Developer2

GX Works2

(Note-2)

General name for "SW7DNC-SV Q /SW8DNC-SV Q "

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

SW8DNC-SV13Q

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

SW8DNC-SV22Q

General name for MT Developer2/GX Works2/GX Developer/MR Configurator

Abbreviation for "Motion controller engineering environment MELSOFT

MT Works2"

Abbreviation for "Motion controller programming software MT Developer2

(Version 1.00A or later)"

Abbreviation for "Programmable controller engineering software

MELSOFT GX Works2 (Version 1.15R or later)"

GX Developer

MR Configurator

(Note-2)

Abbreviation for "MELSEC PLC programming software package

GX Developer (Version 8.48A or later)"

General name for "MR Configurator/MR Configurator2"

1

1 - 1

1 OVERVIEW

Generic term/Abbreviation Description

MR Configurator

MR Configurator2

Abbreviation for "Servo setup software package

MR Configurator (Version C0 or later)"

Abbreviation for "Servo setup software package

MR Configurator2 (Version 1.01B or later)"

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

Serial absolute synchronous encoder or Q171ENC-W8/Q170ENC

SSCNET /H

(Note-3)

SSCNET

(Note-3)

SSCNET (/H)

(Note-3)

Abbreviation for "Serial absolute synchronous encoder (Q171ENC-W8/

Q170ENC)"

High speed synchronous network between Motion controller and servo amplifier

Absolute position system

Battery holder unit

General name for SSCNET /H, SSCNET

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

Battery holder unit (Q170DBATC)

Intelligent function module

SSCNET /H head module

(Note-3)

General name for module that has a function other than input or output such as

A/D converter module and D/A converter module.

Abbreviation for "MELSEC-L series SSCNET /H head module (LJ72MS15)"

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

(Note-2): This software is included in Motion controller engineering environment "MELSOFT MT Works2".

(Note-3): SSCNET: Servo System Controller NETwork

1 - 2

1 OVERVIEW

REMARK

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

Motion CPU module/Motion unit

Q173D(S)CPU/Q172D(S)CPU Motion controller User’s

Manual

PLC CPU, peripheral devices for sequence program design,

I/O modules and intelligent function module

Operation method for MT Developer2

SV13/SV22

• Multiple CPU system configuration

• Performance specification

• Design method for common parameter

• Auxiliary and applied functions (common)

• Design method for Motion SFC program

• Design method for Motion SFC parameter

• Motion dedicated PLC instruction

• Design method for positioning control program in the real mode

• Design method for positioning control parameter

• Design method for safety observation parameter

• Design method for user made safety sequence program

SV22

(Advanced synchronous control)

• Design method for synchronous control parameter

Manual relevant to each module

Help of each software

Q173D(S)CPU/Q172D(S)CPU Motion controller

Programming Manual (COMMON)


(SV13/SV22) Programming Manual (Motion SFC)


(SV13/SV22) Programming Manual (REAL MODE)


Programming Manual (Safety Observation)

Q173DSCPU/Q172DSCPU Motion controller (SV22)

Programming Manual (Advanced Synchronous Control)

CAUTION

When designing the system, provide external protective and safety circuits to ensure safety in the event of trouble with the Motion controller.

There are electronic components which are susceptible to the effects of static electricity mounted on the printed circuit board. When handling printed circuit boards with bare hands you must ground your body or the work bench.

Do not touch current-carrying or electric parts of the equipment with bare hands.

Make parameter settings within the ranges stated in this manual.

Use the program instructions that are used in programs in accordance with the conditions stipulated in this manual.

Some devices for use in programs have fixed applications: they must be used in accordance with the conditions stipulated in this manual.

1 - 3

1 OVERVIEW

1.2 Motion Control in SV13/SV22 Real Mode

(1) System with servomotor is controlled directly using the servo program in

(SV13/SV22) real mode.

(2) Setting of the positioning parameter and creation of the servo program/Motion SFC program are required.

(3) The procedure of positioning control is shown below:

1) Motion SFC program is requested to start using the D(P). SFCS instruction of the sequence program.

(Motion SFC program can also be started automatically by parameter setting.)

2) Execute the positioning control using the specified Motion SFC program.

(Output to the servo amplifier)

3) The servomotor is controlled.

<PLC CPU>

Sequence program

DP.SFCS

•••• K0 •••• ••••

Motion SFC program start request instruction

Specification of starting program No.

(Note) : Motion SFC program can also be started automatically

by parameter setting.

Program structure in SV13/SV22 real mode

1)

<Motion CPU>

Motion SFC program

Transfer

[G100]

M2049//servo ON accept ?

Servo program

[K10: real]

1 INC-2

Axis 1, 10000 PLS

Axis 2, 20000 PLS

Vector speed 30000 PLS/s

END

Positioning control parameters

System settings

Fixed parameters

Servo parameters

Parameter blocks

Home position return data

JOG operation data

Limit switch output data

2)

Servo amplifier

3) Servomotor

1 - 4

1 OVERVIEW

1.3 Motion Control in SV22 Virtual Mode

(1) Synchronous control with software is performed using the mechanical system program comprised by virtual main shaft and mechanical module in

(SV22) virtual mode.

(2) Mechanical system programs is required in addition to the positioning parameter, servo program/Motion SFC program used in real mode.

(3) The procedure of positioning control in virtual mode is shown below:

1) Motion SFC program for virtual mode is requested to start using the

D(P). SFCS instruction of the sequence program.

(Motion SFC program can also be started automatically by parameter setting.)

2) The virtual servomotor of the mechanical system program is started.

3) Output the operation result obtained through the transmission module to the servo amplifier set as the output module.

4) The servomotor is controlled.

Program structure in SV22 virtual mode

<PLC CPU>

Sequence program

DP.SFCS

•••• K0 •••• ••••

Motion SFC program start request instruction

Specification of starting program No.

(Note) : Motion SFC program can also be started automatically


1)

<Motion CPU>

Motion SFC program

Transfer

[G200]

M2044//on virtual mode?

Servo program

[K100: virtual]

1 VF

Axis 1

Speed # 0 PLS/s

END

2)

Mechanical system program

Drive module

(Virtual servomotor)

Transmission module

(Axis 1)

Output module

Positioning control parameters

System settings

Fixed parameters

Servo parameters

Parameter blocks


• Home position return data is not used, since home position return cannot be executed in virtual mode.

(Home position return is executed in real mode.)

• JOG operation in virtual mode is controlled using the JOG operation data set by drive module parameters.

3)

Servo amplifier

4)

Servomotor

1 - 5

3)

Servo amplifier

4)

Servomotor

1 OVERVIEW

1.4 Restrictions by the Software's Version

There are restrictions in the function that can be used by the version of the operating system software and programming software.

The combination of each version and a function is shown in Table1.1.

Table 1.1 Restrictions by the Software's Version

Function

Checking Motion controller's serial number and operating system software version in GX Developer

Advanced S-curve acceleration/deceleration

(Except constant-speed control (CPSTART) of servo program.)

Direct drive servo

MR-J3- B-RJ080W

Servo amplifier display servo error code (#8008+20n)

0.44ms fixed-cycle event task

444 μ s coasting timer (SD720, SD721)

Synchronous encoder current value monitor in real mode

Display of the past ten times history in current value history monitor

Amplifier-less operation

Servo instruction (Home position return (ZERO), high speed oscillation (OSC)) and manual pulse generator operation in mixed function of virtual mode/real mode

Advanced S-curve acceleration/deceleration in constantspeed control (CPSTART) of servo program.

External input signal (DOG) of servo amplifier in home position return of count type and speed/position switching control

Communication via PERIPHERAL I/F

Motion SFC operation control instruction

Type conversion (DFLT, SFLT)

Vision system dedicated function (MVOPEN, MVLOAD,

MVTRG, MVPST, MVIN, MVFIN, MVCLOSE, MVCOM)

Home position return of scale home position signal detection type

Real time display function in digital oscilloscope function

Operating system software version

(Note-1), (Note-2)

Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1)

— 00D

— 00H

— 00H

—

—

—

—

00H

00H

00H

00H

— 00H

— 00H

— 00H

— 00K

— 00G

— 00H

— 00L

— 00L

— 00L

— 00N

1 - 6

1 OVERVIEW

Programming software version

MELSOFT MT Works2 (MT Developer2)

MR Configurator2 MR Configurator

Q173DCPU(-S1)/Q172DCPU(-S1)

—

1.39R

—

—

1.39R

1.39R

Section of reference

—

Section 6.2

—

Section 6.3

—: There is no restriction by the version.

(Note-1): SV13/SV22 is the completely same version.

(Note-2): The operating system software version can be confirmed in the operating system software (CD-ROM), MT Developer2 or

GX Works2/GX Developer. (Refer to "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON) Section

1.3, 1.4".)

(Note-3): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)

(Note-4): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)

(Note-5): Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)

(Note-6): Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (Safety Observation)

(Note-7): Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual (Advanced Synchronous Control)

1 - 7

1 OVERVIEW

Table 1.1 Restrictions by the Software's Version (continued)

Function

Rapid stop deceleration time setting error invalid function

Vision system dedicated function (MVOUT)

Motion SFC operation control instruction

Program control (IF - ELSE - IEND, SELECT -CASE -

SEND, FOR -NEXT, BREAK)

Display format depending on the error setting data information of motion error history device (#8640 to #8735)

Product information list device (#8736 to #8751)

Safety observation function

Feed current value update command (M3212+20n) valid in speed control ( )

External forced stop input ON latch (SM506)

Operation method (SD560)

Advanced synchronous control

Limit switch output function expansion

Driver communication function

Intelligent function module support

SSCNET /H head module connection

Cam auto-generation (CAMMK) easy stroke ratio cam

Acceleration/deceleration time change function

Home position return of dogless home position signal reference type

Setting range expansion of backlash compensation amount

Multiple CPU synchronous control

Cam axis length per cycle change during synchronous control


(Note-1), (Note-2)

Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1)

— 00S

— 00S

— 00R

— 00S

—

—

00S

00S support

00B

00B

00B

00B

00S

Not support

Not support

Not support

00C

00C

00C

00C

Not support

Not support

Not support

Not support

00C Not support support support

00C Not support support

1 - 8

1 OVERVIEW

Programming software version


MR Configurator2 MR Configurator


—

1.39R

Section of reference

—

1.39R

— Not —

—

—

1.47Z

1.47Z

—

1.56J Not

1.56J Not

1.56J Not

1.56J Not

1.56J Not

—: There is no restriction by the version.

(Note-1): SV13/SV22 is the completely same version.

(Note-2): The operating system software version can be confirmed in the operating system software (CD-ROM), MT Developer2 or

GX Works2/GX Developer. (Refer to "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON) Section

1.3, 1.4".)

(Note-3): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)

(Note-4): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)

(Note-5): Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)

(Note-6): Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (Safety Observation)

(Note-7): Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual (Advanced Synchronous Control)

1 - 9

1 OVERVIEW

1.5 Programming Software Version

Motion CPU

Q173DSCPU

Q172DSCPU

Q173DCPU-S1

Q172DCPU-S1

The programming software versions that support Motion CPU are shown below.


MR Configurator2

SV13/SV22 SV43

1.39R

(Note-1)

1.39R

(Note-1)

1.00A

(Note-2)

1.00A

(Note-2)

1.00A

1.00A

MR Configurator

C0

(Note-4)

C0

C0

C0

(Note-4)

(Note-4)

(Note-4)

(Note-1): Use version 1.47Z or later to use advanced synchronous control method.

(Note-2): Use version 1.12N or later to communicate via PERIPHERAL I/F.

(Note-3): Use version 1.23Z or later to communicate via PERIPHERAL I/F.

(Note-4): Use version C1 or later to use MR Configurator combination with MT Developer2.

1 - 10

2 STARTING UP THE SYSTEM

2. STARTING UP THE SYSTEM

The procedure for virtual mode positioning control is shown below.

2.1 Starting Up the Virtual Mode System

The procedure to start up for virtual mode system is shown below.

START

Install the MT Developer2

Start the MT Developer2

System setting/Multiple CPU settings/Automatic refresh setting

Set the following positioning parameters

Fixed parameters

Servo parameters

Parameter blocks


Execute the relative check, and correct the errors

Refer to the "Q173D(S)CPU/Q172D(S)CPU

Motion controller Programming Manual (COMMON)".


Motion controller (SV13/SV22) Programming

Manual (REAL MODE)".


Motion controller Programming Manual (COMMON)".

NO

Will cam be used ?

YES

Set the cam data

Create the mechanical system program

Refer to Chapter "5 MECHANICAL SYSTEM

PROGRAM".

Check the mechanical system program, and correct the errors

1)

2

2 - 1


1)

Create the Motion SFC program and servo program

Turn the power supply of

Multiple CPU system ON

Write the following data to the

Motion CPU using

MT Developer2

System setting data

Servo setting data

Motion SFC parameter

Motion SFC program

Servo program


Cam data (Cam use)

Starting up the servo amplifier using MT Developer2

Execute the JOG operation, manual pulse generator operation and home position return test

Adjust cam setting axis

(Cam use)

(Bottom dead point, stroke value,

etc.)

Align the virtual mode operation start position

Set data in the parameter setting device

Switch from real mode to virtual mode

Start drive module operation

Check operation state with the servo monitor or mechanical system monitor

END

Real mode

Virtual mode

2 - 2


2.2 Starting Up the Incremental System and Absolute System

When incremental system or absolute system is used, the procedure for virtual mode operation is shown below.

2.2.1 Operation for incremental system

The operation procedure for incremental system is shown below.

START



Execute the all axes servo start request (Turn M2042 on)

Execute the home position return


Real mode



Set the operation start address by the current value change

Execute virtual mode operation

Virtual mode

2 - 3


2.2.2 Operation for absolute (absolute position) system

The operation procedure for absolute system is shown below.

START



Execute the all axes servo start request (Turn M2042 on)

Is the home position return request

signal ON ?

YES

Execute the home position return

NO

YES


Is the continuation disabled warning signal ON ?

NO

Real mode



Set the operation start address by the current value change

Execute virtual mode operation

Virtual mode

2 - 4


2.3 Differences Between Real Mode and Virtual Mode

Specifications of the positioning data, positioning devices and servo programs, etc. used in the real mode differ in part in the virtual mode.

When using them in the virtual mode, refer to the "Q173D(S)CPU/Q172D(S)CPU

Motion controller (SV13/SV22) Programming Manual (REAL MODE)" after checking about a different point in the real mode.

2.3.1 Positioning data

Positioning data used in the virtual mode are shown in Table 2.1 below.

Item

System settings

Fixed parameters

Servo parameters

Parameter blocks

Home position return data

JOG operation data


Table 2.1 Positioning Data List

Real mode Virtual mode Remark

Usable units differ according to the output module.

Only [PLS] usable.

: Used

: Used (Restrictions in part)

: Not used

(Note): Refer to Section 10.1 for the real mode axis at virtual mode.

2.3.2 Positioning devices

The operating ranges of positioning devices used in virtual mode are shown in Table

2.2 below.

Device name

Internal relays

Special relays

Data registers

Table 2.2 Operating Range of Positioning Devices

Motion registers

Special registers

Real mode Virtual mode

M2000 to M3839

M4640 to M4687

M5440 to M5487

#8000 to #8751

SD0 to SD2255

M2000 to M5487

D0 to D799

D1120 to D1239

SM0 to SM2255

D0 to D1559

2 - 5


2.3.3 Servo programs

(1) Servo program area

(a) The same servo program (Kn) No. cannot be used in both the real mode and virtual modes. The range of servo program (Kn) used in the virtual mode must be set using MT Developer2 in advance.

(2) Servo instructions

(a) The home position return, speed control ( ), speed/position switching control, high-speed oscillation control and speed control with fixed position stop among the controls which can be used in the real mode cannot be used in the virtual mode.

(b) Control units of the parameter block and the torque limit value among the positioning data which can be set using the servo program are not used.

(3) Differences of the servo instruction between real mode and virtual mode are shown in Table 2.3 below.

Table 2.3 Differences of Servo Instruction List

Item

Real mode

Virtual mode

Remark

Speed/position control

Speed control ( )

VPF

VPR

VPSTART

VVF

VVR

Servo instruction

Home position return

ZERO

Switch to virtual mode after home position return in the real mode.

High-speed oscillation

Speed control with fixed position stop

OSC

PVF

PVR

Positioning data

Parameter block

Control units

Torque limit value

Fixed as

"PLS"

The torque limit value is set with the "output module parameter".

: Used, : Unusable, : Not used

(Note-1): Instruction not listed in the table above are common instructions in real mode and virtual mode.

(Note-2): Refer to Section 10.1 for the real mode axis at virtual mode.

2 - 6


2.3.4 Control change (Current value change/speed change/target position change)

When a control change is executed in the virtual mode, the feed current value/speed of the drive module is changed.

Control changes are not possible for the output module (except for cam).

Differences between control changes in the real mode and virtual modes are shown in

Table 2.4 below.

Table 2.4 Differences List of Control Change

Item

Real mode

Servo motor

Synchronous encoder

Drive module

Virtual servo motor

Virtual mode

Synchronous encoder

Roller

Output module

Ball screw

Rotary table

Cam

Current value change

Speed change

Ver.!

(Note-1)

Target position change QDS

: Used, : Unusable

(Note-1): If the output module is a roller which uses a speed change gear, a speed change can be executed by changing the speed change gear ratio.

REMARK

Refer to the following Chapters for details of the drive and output modules.

• Drive module : Chapter 5 and 6

• Output module : Chapter 5 and 8

Ver.!

: Refer to Section 1.4 for the software version that supports this function.

2 - 7


2.3.5 Switching of control mode (Speed-torque control)

QDS

When a speed-torque control is executed in the virtual mode, the control mode of the output module (except for cam) and real mode axis is switched.

Differences between speed-torque control in the real mode and virtual modes are shown in Table 2.5 below.

Item


Table 2.5 Differences List of Control Mode Switching

Real mode

Servo motor

Synchronous encoder

Drive module

Virtual servo motor

Synchronous encoder

Virtual mode

Roller

Output module

Ball screw

Rotary table

Cam

Real mode axis

: Used, : Unusable

REMARK

Refer to the Section 10.2 for details of the speed-torque control in virtual mode.

2 - 8

3 PERFORMANCE SPECIFICATIONS

3. PERFORMANCE SPECIFICATIONS

Performance specifications of the Motion CPU are shown in Table 3.1 below.

Table 3.1 Motion CPU Performance Specifications (Virtual Mode)

Number of control axes

Control method

Control units

Drive module

Output module

Program language

Servo program

Drive module

Virtual axis

Transmission module

Up to 32 axes

(Simultaneous: 2 to 4/

Independent: 32 axes)

Up to 16 axes



Synchronous control,

PTP (Point to Point) control, speed control, fixed-pitch feed, constant-speed control, position follow-up control, speed-switching control, speed-torque control

Up to 32 axes



Up to 8 axes



Synchronous control,

PTP (Point to Point) control, speed control, fixed-pitch feed, constant-speed control, position follow-up control, speed-switching control

3

Virtual servo motor

Synchronous encoder

Roller

Ball screw

PLS mm, inch

Rotary table

Cam

Fixed as "degree" mm, inch, degree, PLS mm, inch, PLS

Dedicated instructions (Servo program + mechanical system program)

16k steps (16384 steps)

(Note-2)

Capacity

Number of positioning points

Total of 3200 points (It changes with programs, indirect specification is possible.)

Virtual servo motor

Synchronous encoder

32 axes

12 axes

16 axes

12 axes

32 axes

12 axes

8 axes

8 axes

Virtual main shaft

32 16 32 8

Virtual auxiliary input axis

32 16 32 8

Gear 64 32 64 16

Clutch

(Note-1)

64 32 64 16

Speed change gear

64 32 64 16

Differential gear to main shaft

Output module

Types

Cam 32

Resolution per cycle

32 16 32 8

Total 32 Total 16 Total 32 Total 8

16

Up to 256

32

(Note-3)

256 • 512 • 1024 • 2048

(Note-3)

8

Memory capacity

Storage memory for cam data

Stroke resolution

Control mode

132k bytes

CPU internal RAM memory

32767

Two-way cam/feed cam

32 16 32 8

3 - 1

3 PERFORMANCE SPECIFICATIONS

Table 3.1 Motion CPU Performance Specifications (Virtual Mode) (Continued)

Interpolation functions

Control methods

Positioning

Method

Position command

Speed command

Linear interpolation (2 to 4 axes), circular interpolation (2 axes)

PTP (Point to Point) control, speed control, fixed-pitch feed, constant-speed control, position follow-up control

PTP control

Fixed-pitch feed

: Selection of absolute or incremental data method

: Incremental data method

Constant-speed control : Both absolute and incremental data method can be used together

Position follow-up control : Absolute data method

Address setting range : –2147483648 to 2147483647 [PLS]

Speed setting range : 1 to 2147483647 [PLS/s]

Trapezoidal acceleration/ deceleration

Acceleration/ deceleration control

S-curve acceleration/ deceleration

Advanced S-curve acceleration/ deceleration

JOG operation function

M-code function

Acceleration-fixed acceleration/deceleration

Acceleration time : 1 to 65535 [ms]

Deceleration time : 1 to 65535 [ms]

Time-fixed acceleration/deceleration

Acceleration/deceleration time: 1 to 5000 [ms]

(Only constant-speed control is possible.)

S-curve ratio: 0 to 100[%]

Acceleration section ratio: 0.0 to 100.0[%]

Deceleration section ratio: 0.0 to 100.0[%]

Provided

M-code output function provided, M-code complete wait function provided

Up to 3 units can be connected.

Manual pulse generator operation function

Up to 3 axes can be operated simultaneously.

Setting of magnification : 1 to 10000

(Test mode only)

Setting of smoothing magnification provided.

(Note-1): When the TREN input signal is used as "external input mode clutch", the high speed reading function cannot be used.

(Note-2): Capacity matching the servo program for real mode.

(Note-3): Relation between a resolution per cycle of cam and type are shown below.

Resolution per cycle 256 512 1024 2048

3 - 2

4 POSITIONING DEDICATED SIGNALS

4. POSITIONING DEDICATED SIGNALS

The internal signals of the Motion CPU and the external signals to the Motion CPU are used as positioning signals.

(1) Internal signals

The following five devices of the Motion CPU are used as the internal signals of the Motion CPU.

• Internal relay (M) ........................... M2000 to M5487 (3488 points)

• Special relay (SM) ........................ SM0 to SM2255 (2256 points)

• Data register (D) ........................... D0 to D1599 (1600 points)

• Motion register (#) ......................... #8000 to #8751 (752 points)

• Special register (SD) .................... SD0 to SD2255 (2256 points)

(2) External signals

The external input signals to the Motion CPU are shown below.

• Upper/lower limit switch input .......... The upper/lower limit of the positioning range is controlled.

• Stop signal ....................................... This signal makes the starting axis stop.

• Proximity dog signal ........................ ON/OFF signal from the proximity dog.

• Speed/position switching signal ...... Signal for switching from speed to position.

• Manual pulse generator input .......... Signal from the manual pulse generator.

PLC control processor

Configuration between modules

PLC CPU

1)

Device memory

Motion CPU

2)

Device memory

Multiple CPU high speed transmission memory

Multiple CPU high speed bus

Multiple CPU high speed transmission memory

Motion control processor

SSCNET (/H)

Q series PLC system bus

Servo amplifier

4

PLC I/O module

(DI/O)

PLC intelligent function module

(A/D, D/A, etc.)

Motion module

(Proximity dog signal, manual pulse generator input)

M M Servo motor

Servo external input signals

(FLS, RLS, DOG)

Note) : Device memory data : 1) = 2)

Fig.4.1 Flow of the internal signals/external signals

4 - 1


The positioning dedicated devices are shown below.

It indicates the device refresh cycle of the Motion CPU for status signal with the positioning control, and the device fetch cycle of the Motion CPU for command signal with the positioning control.

The operation cycle and main cycle of the Motion CPU are shown below.

(a) Operation cycle

Number of control axes

Operation cycle

(Default)

SV22

Up to 32 axes

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 16 axes

1.77ms/ 17 to 32 axes

Up to 16 axes

0.44ms/ 1 to 6 axes


Up to 32 axes

0.44ms/ 1 to 4 axes


1.77ms/ 13 to 28 axes

3.55ms/ 29 to 32 axes

Up to 8 axes

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 8 axes

(b) Main cycle is not fixed-cycle as operation cycle. The cycle is dozens[ms] to hundreds[ms].

REMARK

(1) In the positioning dedicated signals, "n" in "M3200+20n", etc. indicates a value corresponding to axis No. such as the following tables.

Axis No. n Axis No. n Axis No. n Axis No. n

2 1 10 9 18 17 26 25

3 2 11 10 19 18 27 26

4 3 12 11 20 19 28 27

5 4 13 12 21 20 29 28

6 5 14 13 22 21 30 29

7 6 15 14 23 22 31 30

8 7 16 15 24 23 32 31

• Calculate as follows for the device No. corresponding to each axis.

(Example) For axis 32 M3200+20n (Stop command)=M3200+20 31=M3820

• The following range is valid.

M3215+20n (Servo OFF command)=M3215+20 31=M3835

• Q172DSCPU : Axis No.1 to 16 (n=0 to 16)

• Q172DCPU(-S1) : Axis No.1 to 8 (n=0 to 7)

(2) In the positioning dedicated signals, "n" in "M4640+4n", etc. of the "Synchronous encoder axis status", "Synchronous encoder axis command signal" and

"Synchronous encoder axis monitor device" indicates a value corresponding to synchronous encoder No. such as the following tables.

Synchronous encoder No.

n Synchronous encoder No.

n Synchronous encoder No.

n

P1 0 P5 4 P9 8

P2 1 P6 5 P10 9

P3 2 P7 6 P11 10

P4 3 P8 7 P12 11

• Calculate as follows for the device No. corresponding to each synchronous encoder.

(Example) For synchronous encoder No.12

M4640+4n (Error detection)= M4640+4 11=M4684

D1122+10n (Minor error code)= D1122+10 11= D1232

• The range (n=0 to 7) of synchronous encoder No. P1 to P8 is valid in the Q172DCPU(-S1).

4 - 2


4.1 Internal Relays

(1) Internal relay list

Device No.

M0 to

M2000 to

M2320 to

User device

(2000 points)

Common device

(320 points)

Unusable

(80 points)

SV22

Application Real Virtual

M2400 to

M3040 to

M3072 to

M3136 to

M3200 to

M3840 to

M4000

(Note-1)

Axis status

(20 points 32 axes)

Real mode : Each axis

Virtual mode : Output module

Unusable

(32 points)

Common device

(Command signal)

(64 points)

Unusable

(64 points)

Axis command signal

(20 points 32 axes)



Unusable

(160 points) to

Virtual servomotor axis status

(20 points 32 axes) (Note-2)

Backup

Real/virtual community

M4640 to to

(Note-1)

M4688

(Note-1) to

M4800

(Note-1)

Synchronous encoder axis status

(4 points 12 axes)

Unusable

(112 points)

Virtual servomotor axis command signal


M5440

(Note-1) to

Synchronous encoder axis command signal

(4 points 12 axes)

(Note-4)

Virtual

M5488

User device to

M8191

(Note-3)

(2704 points)

: Valid, : Invalid

It can be used as a user device.

4 - 3


POINT

(1) Total number of user device points

4704 points

(2) (Note-1): Do not set M4000 to M5487 as the latch range in virtual mode.

(3) (Note-2): This signal occupies only the area of the axis set in the mechanical system program. The unused axis areas in the mechanical system program can be used as a user device.

(4) (Note-3): The cam axis command signal and smoothing clutch complete signal can be set as the optional device at the parameter.

(5) (Note-4): It is valid for the version (Refer to Section 1.4) that supports

"synchronous encoder current value monitor in real mode".

(6) This manual describes only details for internal relays used in the virtual mode. If it is required, refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller

(SV13/SV22) Programming Manual (REAL MODE)".

4 - 4


Axis No. Device No.

1

2

3

4

5

M2400 to M2419

M2420 to M2439

M2440 to M2459

M2460 to M2479

M2480 to M2499

(2) Axis status list

Signal name

6

7

8

9

M2500 to M2519 0 Positioning start complete

M2520 to M2539 1 Positioning complete

M2540 to M2559

M2560 to M2579

2 In-position

10 M2580 to M2599 3 Command in-position

11 M2600 to M2619 4 Speed controlling

12 M2620 to M2639

13 M2640 to M2659

Speed / position switching

5 latch

14 M2660 to M2679 6 Zero pass

15 M2680 to M2699 7 Error detection

16 M2700 to M2719

17 M2720 to M2739

8 Servo error detection

18 M2740 to M2759

19 M2760 to M2779


9 request

20 M2780 to M2799

21 M2800 to M2819


10 complete

22 M2820 to M2839 11 FLS

23 M2840 to M2859 12 External RLS

24 M2860 to M2879 13 signals STOP

25 M2880 to M2899 14 DOG/CHANGE

26 M2900 to M2919 15 Servo ready

27 M2920 to M2939 16 Torque limiting

28 M2940 to M2959

29 M2960 to M2979 Virtual mode continuation

30 M2980 to M2999

31 M3000 to M3019 operation disable warning

(Note-1)

32 M3020 to M3039

19 M-code outputting

Real

Signal name

Roller

Virtual

Ball screw

Rotary table

Cam

Real

Mode axis

OFF

OFF

OFF

Refresh cycle

Operation cycle

Immediately

Operation cycle

Main cycle

Fetch cycle

Signal direction

Status signal

Operation cycle

Main cycle

Operation cycle

— —

At virtual mode transition

Operation cycle

Status signal

: Valid

(Note-1): It is unusable in the SV22 real mode.

POINT

(1) The following range is valid.

• Q172DSCPU : Axis No.1 to 16

• Q172DCPU(-S1) : Axis No.1 to 8

(2) The following device area can be used as a user device.

• Q172DSCPU : 17 axes or more

• Q172DCPU(-S1) : 9 axes or more

However, when the project of Q172DSCPU/Q172DCPU(-S1) is replaced with

Q173DSCPU/Q173DCPU(-S1), this area cannot be used as a user device.

4 - 5


Axis No. Device No.

1

2

3

4

5

M3200 to M3219

M3220 to M3239

M3240 to M3259

M3260 to M3279

M3280 to M3299

(3) Axis command signal list

Signal name Real

Roller

Signal name

Virtual

Ball screw

Rotary table

Cam

Real mode

Refresh cycle axis

Fetch cycle

Signal direction

6

7

8

9

M3300 to M3319 0 Stop command

M3320 to M3339 1 Rapid stop command

M3340 to M3359

M3360 to M3379

2

Forward rotation JOG start command

10 M3380 to M3399

11 M3400 to M3419

3

Reverse rotation JOG start command

12 M3420 to M3439

13 M3440 to M3459

14 M3460 to M3479

15 M3480 to M3499

4

Complete signal OFF command

5

Speed/position switching enable command

16 M3500 to M3519 6 Unusable —

17 M3520 to M3539 7 Error reset command

18 M3540 to M3559

19 M3560 to M3579

8

Servo error reset command

20 M3580 to M3599

9

External stop input disable

21 M3600 to M3619

22 M3620 to M3639 10 at start command

23 M3640 to M3659 11

24 M3660 to M3679

25 M3680 to M3699

12

Feed current value update command

26 M3700 to M3719

27 M3720 to M3739

13

Address clutch reference setting command

(Note-1)

28 M3740 to M3759

29 M3760 to M3779

14

Cam reference position setting command

(Note-1)

30 M3780 to M3799

31 M3800 to M3819

15 Servo OFF command

32 M3820 to M3839 16 Gain changing command

PI-PID switching command QDS

Control loop changing command

Operation cycle

Main cycle

Operation cycle

Command signal

— —

Main cycle

At start

At start


Operation cycle

Operation cycle

(Note-2)

Command signal

—

Command signal

—

Operation cycle

: Valid, : Invalid


(Note-2): Operation cycle 7.1[ms] or more: Every 3.5[ms]

POINT









4 - 6


Axis No. Device No.

1

2

3

4

5

M4000 to M4019

M4020 to M4039

M4040 to M4059

M4060 to M4079

M4080 to M4099

(4) Virtual servomotor axis status list

Signal name Real

Roller

Signal name

Virtual

Ball screw

Rotary table

Cam

6

7



Backup

8

9

M4140 to M4159 2 Unusable —

M4160 to M4179 3 Command in-position


Backup

11 M4200 to M4219 5

12 M4220 to M4239 6

13 M4240 to M4259

14 M4260 to M4279

15 M4280 to M4299 8

16 M4300 to M4319 9

17 M4320 to M4339 10

18 M4340 to M4359 11

19 M4360 to M4379 12

20 M4380 to M4399 13

Backup

21 M4400 to M4419 14

22 M4420 to M4439 15

23 M4440 to M4459 16

24 M4460 to M4479 17

25 M4480 to M4499 18

26 M4500 to M4519

27 M4520 to M4539

Backup

28 M4540 to M4559

29 M4560 to M4579

30 M4580 to M4599

31 M4600 to M4619

32 M4620 to M4639

Real mode axis

Refresh cycle

Operation cycle

Operation cycle

Immediately

Status signal

— —

Operation cycle

Fetch cycle

Signal direction

Status signal

Status signal

Status signal

: Valid, : Invalid

POINT




(2) The unused axis areas in the mechanical system program can be used as a user device.

4 - 7


Axis No. Device No.

1 M4800 to M4819

2 M4820 to M4839

3 M4840 to M4859

4 M4860 to M4879

5 M4880 to M4899

(5) Virtual servomotor axis command signal list

Signal name Real

Roller

Signal name

Virtual

Ball screw

Rotary table

Cam

Real mode

Refresh cycle axis

6 M4900 to M4919 0 Stop command

7 M4920 to M4939 1 Rapid stop command

8

9

M4940 to M4959

M4960 to M4979

Forward rotation JOG

2 start command

10 M4980 to M4999

11 M5000 to M5019

Reverse rotation JOG

3 start command

12 M5020 to M5039

13 M5040 to M5059

14 M5060 to M5079

15 M5080 to M5099

Complete signal OFF

4 command

5

6

16 M5100 to M5119

17 M5120 to M5139

7 Error reset command


19 M5160 to M5179 External stop input

20 M5180 to M5199

21 M5200 to M5219

22 M5220 to M5239 10

23 M5240 to M5259 11 command

24 M5260 to M5279 12

25 M5280 to M5299 13

26 M5300 to M5319 14

27 M5320 to M5339 15

28 M5340 to M5359 16

29 M5360 to M5379 17

30 M5380 to M5399 18

31 M5400 to M5419

32 M5420 to M5439

Fetch cycle

Operation cycle

Main cycle

Main cycle

At start

Signal direction

Command signal

Command signal

Command signal

— —

Operation cycle

Command signal

: Valid, : Invalid

POINT





4 - 8


Axis No. Device No.

(6) Synchronous encoder axis status list

Signal name

1 M4640 to M4643

2

3

M4644 to M4647

M4648 to M4651

Signal name


Real Virtual Refresh cycle

Immediately

Fetch cycle

Signal direction

5 M4656 to M4659 1 External signal TREN

6 M4660 to M4663

7 M4664 to M4667

Virtual mode continuation operation

2 disable warning

Main cycle

Status signal

8 M4668 to M4671 3 Unusable — —

9 M4672 to M4675

10 M4676 to M4679

11 M4680 to M4683

12 M4684 to M4687

: Valid

POINT

(1) The range of axis No.1 to 8 is valid in the Q172DCPU(-S1).

(2) The device area more than 9 axes as a user device in the Q172DCPU (-S1).

However, when the project of Q172DCPU(-S1) is replaced with Q173DSCPU/

Q172DSCPU/Q173DCPU(-S1), this area cannot be used.

Axis No. Device No.

1 M5440 to M5443

2 M5444 to M5447

3 M5448 to M5451

(7) Synchronous encoder axis command signal list

Signal name

Signal name


4 M5452 to M5455

5 M5456 to M5459

6 M5460 to M5463 1

7 M5464 to M5467

8 M5468 to M5471

2

3

(Note-1)

Fetch cycle

Main cycle

Signal direction

Status signal

—

9 M5472 to M5475

10 M5476 to M5479

11 M5480 to M5483

12 M5484 to M5487

(Note-1): It is valid for the version (Refer to Section 1.4) that supports "synchronous encoder current value monitor in real mode".

: Valid, : Invalid

POINT


(2) The device area more than 9 axes as a user device in the Q172DCPU (-S1).



4 - 9


Device

No.

M2001 Axis 1

M2002 Axis 2

M2003 Axis 3

M2004 Axis 4

M2005 Axis 5

M2006 Axis 6

M2007 Axis 7

M2008 Axis 8

M2009 Axis 9

M2010 Axis 10

M2011 Axis 11

M2012 Axis 12

M2013 Axis 13

M2014 Axis 14

M2015 Axis 15

M2016 Axis 16

M2017 Axis 17

Start accept flag

M2018 Axis 18

M2019 Axis 19

M2020 Axis 20

M2021 Axis 21

M2022 Axis 22

M2023 Axis 23

M2024 Axis 24

M2025 Axis 25

M2026 Axis 26

M2027 Axis 27

M2028 Axis 28

M2029 Axis 29

M2030 Axis 30

M2031 Axis 31

M2032 Axis 32

M2033 Unusable

M2034 (2 points)

M2035

M2036

M2037

Signal name

Motion error history clear request flag

Unusable

(2 points)

M2038 Motion SFC debugging flag

M2039 Motion error detection flag

M2040

Speed switching point specified flag

M2041 System setting error flag

M2042 All axes servo ON command

M2043

Real mode/virtual mode switching request (SV22)

M2044

Real mode/virtual mode switching status (SV22)

M2045

Real mode/virtual mode switching error detection signal (SV22)

M2046 Out-of-sync warning (SV22)

M2047 Motion slot fault detection flag

M2048

JOG operation simultaneous start command

M2049 All axes servo ON accept flag

M2051

Manual pulse generator 1 enable flag

M2052


M2053


(8) Common device list

Refresh cycle

Operation cycle

Fetch cycle

Main cycle

Signal direction

Command signal

Remark

(Note-6)

Device

No.

Command cycle signal

M3072 M2055

M2056

M2057

Status signal

(Note-1),

(Note-2),

(Note-3),

(Note-4)

M2058

M2059

M2060

Signal name

Unusable

(6 points)

— —

M2088 Axis

—

M2089 Axis


— —

M2091 Axis

—

M2092 Axis

At debugging mode transition

Status signal

Immediate

Command start signal

Operation cycle

Operation cycle


Status signal

Command signal

M2093

M2094

M3073 M2095

M2096

M3074 M2097

Unusable

(8 points)

M3075 M2098


Operation cycle

Status signal


Status

Operation cycle signal

M2099

M2100

Speed change accepting flag

Refresh cycle

Operation cycle

Synchronous

M2105 Axis encoder current

Operation cycle value changing flag

(Note-5)

M2054 Operation cycle over flag Operation cycle

Status signal

Fetch cycle

Signal direction

Remark

(Note-6)

Status signal

(Note-1),

(Note-2),

(Note-3),

(Note-4)

Status signal

(Note-2),

(Note-4)

4 - 10


M2160

M2161

M2162

M2163

M2164

M2165

M2166

M2167

M2168

M2169

M2170

Unusable

(19 points)

(Note-7)

M2171

M2172

M2173

M2174

M2175

M2176

M2177

M2178

Device

No.

Signal name

10 Synchronous encoder current value changing flag

(Note-5)

M2113

M2114

M2115

M2116

M2117

M2118

M2119

M2120

Unusable

(15 points)

M2121

M2122

M2123

M2124

M2125

M2126

M2127

Automatic decelerating flag

Common device list (Continued)

Refresh cycle

Operation cycle

Fetch cycle

Signal direction

Status signal

(Note-2),

(Note-4)

Remark

(Note-6)

Device

No.

M2179

M2180

M2181

M2182

M2183

M2184

M2185

M2186

M2187

M2188

— —

Operation cycle

Status signal

(Note-1),

(Note-2),

(Note-3),

(Note-4)

Signal name

M2210

M2211

M2212

M2213

M2214

M2215

M2216

M2217

M2218

M2219

M2220

M2221

M2222

M2223

M2224

M2225

M2190

M2191

M2192

M2193

M2194

M2195

M2196

M2197

M2198

M2199

M2200

M2201

Unusable

(45 points)

(Note-7)

M2202

M2203

M2204

M2205

M2206

M2207

M2208

M2209

M2226

M2227

M2228

M2229

M2230

M2231

M2232

Unusable

(16 points)

M2233

M2234

M2235

M2236

M2237

— —

M2239

Speed change "0" accepting flag

4 - 11

Refresh cycle

Operation cycle

Fetch cycle

Signal direction

Remark

(Note-6)

Status signal

(Note-1),

(Note-2),

(Note-3),

(Note-4)


Device

No.

M2248 Axis 9

Signal name

M2249 Axis 10

M2250 Axis 11

M2251 Axis 12

M2252 Axis 13

M2253 Axis 14

M2254 Axis 15

M2255 Axis 16

M2256 Axis 17

M2257 Axis 18

M2258 Axis 19

M2259 Axis 20 Speed change "0"

M2260 Axis 21 accepting flag

M2261 Axis 22

M2262 Axis 23

M2263 Axis 24

M2264 Axis 25

M2265 Axis 26

M2266 Axis 27

M2267 Axis 28

M2268 Axis 29

M2269 Axis 30

M2270 Axis 31

M2271 Axis 32

M2272 Axis 1

M2273 Axis 2

M2274 Axis 3

M2275 Axis 4

M2276 Axis 5

M2277 Axis 6 Control loop

M2278 Axis 7 monitor status

M2279 Axis 8

M2280 Axis 9

M2281 Axis 10

M2282 Axis 11

M2283 Axis 12


Refresh cycle Fetch cycle

Signal direction

Remark

(Note-6)

Device

No.

Signal name Refresh cycle

Control loop monitor status

Operation cycle

Fetch cycle

Signal direction

Remark

(Note-6)

Status signal

(Note-1),

(Note-2),

(Note-3),

(Note-4)

Operation cycle

Status signal

(Note-1),

(Note-2),

(Note-3),

(Note-4)

M2304

M2305

M2306

M2307

M2308

M2309

M2310

M2311

M2312

Unusable

(16 points)

M2313

M2314

M2315

M2316

M2317

M2318

M2319

(Note-1): The range of axis No.1 to 16 is valid in the Q172DSCPU.

(Note-2): The range of axis No.1 to 8 is valid in the Q172DCPU(-S1).

(Note-3): Device area of 17 axes or more is unusable in the Q172DSCPU.

(Note-4): Device area of 9 axes or more is unusable in the Q172DCPU(-S1).

(Note-5): It is unusable in the real mode.

(It can be used in the real mode for the version (Refer to Section 1.4) that supports "synchronous encoder current value monitor in real mode".)

(Note-6): It can also be ordered the device of a remark column.

(Note-7): These devices can be used as the clutch statuses.

The clutch status can also be set as the optional device at the clutch parameter.

Refer to Section 7.2.2.

4 - 12


(9) Common device list (Command signal)

Device No. Signal name Refresh cycle Fetch cycle Signal direction

Remark

(Note-1), (Note-2)

M3072

M3073

M3074

M3075

M3076

M3077

M3078

M3079

M3080

M3081 to

M3135

PLC ready flag


All axes servo ON command

Real mode/virtual mode switching request

(SV22)






Unusable

(Note-3)

(55 points)

Main cycle

At start

Operation cycle


Main cycle

Command signal

M2000

M2040

M2042

M2043

M2048

M2051

M2052

M2053

M2035

— — — —

(Note-1): The state of a device is not in agreement when the device of a remark column is turned ON/OFF directly. In addition, when the request from a data register and the request from the above device are performed simultaneously, the request from the above device becomes effective.


(Note-3): Do not use it as a user device. It can be used as a device that performs automatic refresh because of area for the reserve of command signal.

POINT

The device of a remark column turns ON by OFF to ON of the above device, and turns OFF by ON to OFF of the above device.

The command signal cannot be turned ON/OFF by the PLC CPU in the automatic refresh because the statuses and commands are mixed together in M2000 to

M2053. Use the above devices in the case.

And, it can also be turned ON/OFF by the data register. (Refer to Section 4.2.8)

4 - 13


4.1.1 Axis statuses

(1) In-position signal (M2402+20n) ................................... Status signal

(a) This signal turns on when the number of droop pulses in the deviation counter becomes below the "in-position range" set in the servo parameters.

It turns off at positioning start.

Number of droop pulses In-position range t

In-position signal

(M2402+20n)

ON

OFF

(b) An in-position check is performed in the following cases.

• When the servo power supply is turned on.

• After the automatic deceleration is started during positioning control.

• After the deceleration is started with the JOG start signal

OFF.

• During the manual pulse generator operation.

• After the proximity dog ON during a home position return.

At real mode

• After the deceleration is started with the stop command.

• When the speed change to a speed "0" is executed.

• Anytime.............................................................................. At virtual mode

(2) Zero pass signal (M2406+20n) ..................................... Status signal

This signal turns on when the zero point is passed after the power supply on of the servo amplifier.

Once the zero point has been passed, it remains on state until the Multiple CPU system has been reset.

However, in the home position return method of proximity dog type, count type, dog cradle type, limit switch combined type, scale home position signal detection type, or dogless home position signal reference type, this signal turns off once at the home position return in real mode start and turns on again at the next zero point passage.

(3) Error detection signal (M2407+20n) ............................. Status signal

(a) This signal turns on with detection of a minor error or major error, and it is used as judgement of the error available/not available.

The applicable error code (Note-1) is stored in the minor error code storage register with detection of a minor error. (Refer to Section 4.2.1)

The applicable error code (Note-1) is stored in the major error code storage register with detection of a major error. (Refer to Section 4.2.1)

4 - 14


(b) This signal turns off when the error reset command (M3207+20n) turns on.

Error detection

ON

Error detection signal

(M2407+20n)

OFF

ON

Error reset command

(M3207+20n)

OFF

REMARK

(Note-1) : Refer to APPENDIX 1 for the error codes with detection of major/minor errors.

(4) Servo error detection signal (M2408+20n) ................... Status signal

(a) This signal turns on when an error occurs at the servo amplifier side (except for errors cause of alarms and emergency stops) (Note-1) and it is used as judgement of the servo error available/not available.

When an error is detected at the servo amplifier side, the applicable error code (Note-1) is stored in the servo error code storage register (Refer to

Section 4.2.1).

(b) This signal turns off when the servo error reset command (M3208+20n) turns on or the servo power supply turns on again.

(Servo error reset is valid in the real mode only.)

Servo error detection

ON

Servo error detection signal

(M2408+20n)

OFF

ON


(M3208+20n)

OFF

REMARK

(Note-1) : Refer to APPENDIX 1.5 for the error codes on errors detected at the servo amplifier side.

(5) Home position return request signal (M2409+20n)

........................ Status signal

This signal turns on when it is necessary to confirm the home position address.

(a) When not using an absolute position system

1) This signal turns on in the following cases:

• Multiple CPU system power supply on or reset

• Servo amplifier power supply on

• Home position return start in the real mode

(Unless a home position return is completed normally, the home position return request signal does not turn off.)

2) This signal turns off by the completion of home position return.

4 - 15


(b) When using an absolute position system

1) This signal turns on in the following cases:

• When not executing a home position return once after system start.

• Home position return start in the real mode

(Unless a home position return is completed normally, the home position return request signal does not turn off.)

• Erase of an absolute data in Motion CPU according to causes, such as battery error

• Servo error [2025] (absolute position erase) occurrence

• Servo error [2143] (absolute position counter warning) occurrence

• Servo error [2913] (encoder counter error) occurrence

• Major error [1201], [1202], [1203] or [1204] occurrence

• When the "rotation direction selection" of servo parameter is changed.

2) This signal turns off by the completion of the home position return.

CAUTION

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 in real mode. In the case of the absolute position system, use the sequence program to check the home position return request before performing the positioning control.

Failure to observe this could lead to an accident such as a collision.

(6) Home position return complete signal (M2410+20n)

........................ Status signal

(a) This signal turns on when the home position return operation using the servo program has been completed normally.

(b) This signal turns off at the positioning start, JOG operation start and manual pulse generator operation start.

(c) If the home position return of proximity dog, dog cradle or stopper type using the servo program is executed during this signal on, the "continuous home position return start error (minor error: 115)" occurs and it cannot be start the home position return.

(7) FLS signal (M2411+20n)

(Note-1)

.................................... Status signal

(a) This signal is controlled by the ON/OFF state for the upper stroke limit switch input (FLS) of the Q172DLX/servo amplifier and bit device

QDS

.

• Upper stroke limit switch input OFF ...... FLS signal: ON

• Upper stroke limit switch input ON ........ FLS signal: OFF

4 - 16


(b) The state for the upper stroke limit switch input (FLS) when the FLS signal is

ON/OFF is shown below.

1) Q172DLX use

(Note-2)

FLS signal : ON

Q172DLX

FLS

FLS

FLS signal : OFF

Q172DLX

FLS

FLS

COM

2) Servo amplifier input use

(Note-3)

FLS signal : ON

Servo amplifier

FLS

DI1

COM

FLS signal : OFF

Servo amplifier

FLS

DI1

DICOM DICOM

3) Bit device use

(Note-1)

QDS

The set bit device is the FLS signal.

(Note-1): Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual

(COMMON)" for an external signal and bit device.

(Note-2): Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller User’s Manual" for a pin configuration.

(Note-3): Refer to the "Servo Amplifier Instruction Manual" for a pin configuration.

(c) "Normally open contact input" and "Normally closed contact input" of the servo data setting can be selected. QDS

(8) RLS signal (M2412+20n)

(Note-1)

.................................... Status signal

(a) This signal is controlled by the ON/OFF state for the lower stroke limit switch input (RLS) of the Q172DLX/servo amplifier and bit device

QDS

.

• Lower stroke limit switch input OFF ...... RLS signal: ON

• Lower stroke limit switch input ON ........ RLS signal: OFF

(b) The state of the lower stroke limit switch input (RLS) when the RLS signal is


1) Q172DLX use

(Note-2)

RLS signal : ON

Q172DLX

RLS

RLS

RLS signal : OFF

Q172DLX

RLS

RLS

COM COM

4 - 17



(Note-3)

RLS signal : ON

Servo amplifier

RLS

DI2

RLS signal : OFF

Servo amplifier

RLS

DI2

DICOM DICOM

3) Bit device use

(Note-1)

QDS

The set bit device is the RLS signal.






(9) STOP signal (M2413+20n)

(Note-1)

................................. Status signal

(a) This signal is controlled by the ON/OFF state for the stop signal input

(STOP) of the Q172DLX and bit device

QDS

.

• Stop signal input of the Q172DLX OFF ..... STOP signal: OFF

• Stop signal input of the Q172DLX ON ....... STOP signal: ON

(b) The state of the stop signal input (STOP) when the STOP signal input is


1) Q172DLX use

(Note-2)

STOP signal : ON

Q172DLX

STOP

STOP

STOP signal : OFF

Q172DLX

STOP

STOP

COM COM

2) Bit device use

(Note-1)

QDS

The set bit device is the STOP signal.





4 - 18


(10) DOG/CHANGE signal (M2414+20n)

(Note-1)

................ Status signal

(a) This signal turns on/off by the proximity dog input (DOG) of the Q172DLX/ servo amplifier/input (DI) of built-in interface in Motion CPU

QDS

/bit device

QDS

at the home position return in the real mode.

This signal turns on/off by the speed/position switching input (CHANGE) of the Q172DLX/proximity dog input (DOG) of servo amplifier/input (DI) of built-in interface in Motion CPU

QDS

/bit device

QDS

at the speed/position switching control in the real mode.

(Note-2)

(There is no CHANGE signal in the servo amplifier.)

(b) The state of the speed/position switching input (CHANGE) when the

CHANGE signal is ON/OFF is shown below.

1) Q172DLX use

(Note-3)

DOG/CHANGE signal : ON

Q172DLX

DOG/CHANGE

DOG/CHANGE

DOG/CHANGE signal : OFF

Q172DLX

DOG/CHANGE

DOG/CHANGE

COM COM


(Note-4)

DOG signal : ON

Servo amplifier

DOG

DI3

DOG signal : OFF

Servo amplifier

DOG

DI3

DICOM DICOM

3) Built-in interface in Motion CPU use

(Note-3)

QDS

DI signal : ON

Built-in interface in Motion CPU

DI

DI

DI signal : OFF

Built-in interface in Motion CPU

DI

DI

COM COM

4) Bit device use

(Note-1)

QDS

The set bit device is the DOG/CHANGE signal.



(Note-2): When using the Q173DCPU(-S1)/Q172DCPU(-S1), the external input signal (DOG) of servo amplifier can also be used in the speed/position switching control. (Refer to

Section 1.4 for the software version that supports this function.)



4 - 19


(c) When using the Q172DLX/built-in interface in Motion CPU, "Normally open contact input" and "Normally closed contact input" of the system setting can be selected.

When using the proximity dog input (DOG) of servo amplifier/bit device,

"Normally open contact input" and "Normally closed contact input" of the servo data setting can be selected. QDS

(11) Servo ready signal (M2415+20n) ............................... Status signal

(a) This signal turns on when the servo amplifiers connected to each axis are in the READY state.

(b) This signal turns off in the following cases.

• M2042 is off

• Servo amplifier is not mounted

• Servo parameter is not set

• It is received the forced stop input from an external source

• Servo OFF by the servo OFF command (M3215+20n) ON

• Servo error occurs

Refer to "APPENDIX 1.5 Servo errors" for details.

Q38DB

Q61P Q03UD

CPU

Q172D

CPU

Communication is normal

Servo ready signal : ON

AMP

M

AMP

M

POINT

When the part of multiple servo amplifiers connected to the SSCNET (/H) becomes a servo error, only an applicable axis becomes the servo OFF state.

(12) Torque limiting signal (M2416+20n) ........................... Status signal

This signal turns on while torque limit is executed.

The signal toward the torque limiting axis turns on.

4 - 20


(13) Virtual mode continuation operation disable warning signal

(M2418+20n) .............................................................. Status signal

When the difference between the final servo command value in previous virtual mode last time and the servo current value at virtual mode switching next time exceeds the "Allowable travel value during power off (× Number of feedback pulses)" set in the "System setting", "Virtual mode continuation operation disable warning signal device" of the applicable axis is turned on as warning of being uncontinuable in virtual mode operation.

It checks for the following cases.

No. Check

1

Servo amplifier power supply ON for absolute axis.

2 Anytime during real mode operation.

Remark

• A minor error [901] (power supply on in real mode)/[9010] (power supply on in virtual mode) are also set.

• It also turns on at the following cases.

1) Home position return

2) Current value change

3) Fixed-pitch feed, speed control ( ), ( ) or speed/position switching control.

Reset the "Virtual mode continuation operation disable warning signal device" using the Motion SFC program.

4 - 21


4.1.2 Axis command signals

(1) Error reset command (M3207+20n) .......................Command signal

This command is used to clear the minor/major error code storage register of an axis for which the error detection signal has turn on (M2407+20n: ON), and reset the error detection signal (M2407+20n).

ON


(M2407+20n)

OFF

ON

Error reset command

(M3207+20n)

Minor error code storage register (D6+20n)

OFF

** 00

Major error code storage register (D7+20n)

** 00

** : Error code

(2) Servo error reset command (M3208+20n) .............Command signal

This command is used to clear the servo error code storage register (D8+20) of an axis for which the servo error detection signal has turn on (M2408+20n: ON), and reset the servo error detection signal (M2408+20n).

ON

Servo error detection signal

(M2408+20n)

OFF

ON


(M3208+20n)

Servo error code storage register

OFF

** 00

** : Error code

(3) Address clutch reference setting command (M3213+20n)

..................Command signal

This signal is only effective when the output module is a cam connected an address mode clutch or a rotary table, and it is used to specify the "0" reference position for the current value within 1 virtual axis revolution.

The following processes are executed based on the ON/OFF state of the address clutch reference setting command at the real mode/virtual mode switching request.

(a) M3213+20n : ON

Virtual mode operation starts as "0" for the current value within 1 virtual axis revolution of the main shaft and auxiliary input axis.

4 - 22


(b) M3213+20n : OFF

• If the drive module is a virtual servomotor or an incremental synchronous encoder, operation will be continued from the current value within 1 virtual axis revolution for the main shaft and auxiliary input axis in the previous virtual mode.

• If the drive module is an absolute synchronous encoder, operation will be continued from the current value within 1 virtual axis revolution for the main shaft and auxiliary input axis calculated from the current value of synchronous encoder.

(4) Cam reference position setting command (M3214+20n)


This signal is only effective when the output module is a cam, and it is used to specify the cam reference position.

The following processes are executed based on the ON/OFF state of the cam reference position setting command at the real mode/virtual mode switching request.

(a) M3214+20n : ON

• The current value is cam reference position.

• The current feed current value is lower stroke limit value (bottom dead point). Moreover, a cam table search is conducted from the beginning of a cycle, and the bottom dead point (0) is specified as the current value within

1 cam shaft revolution.

Stroke amount

Lower stroke limit value

Feed current value

(bottom dead point) when M3214+20n is ON.

0

1 cycle

Number of pulses within

1 cam shaft revolution-1

Current value within 1 cam shaft revolution = 0

• After the bottom dead point alignment of cam is completed at the system start-up, it must be turned on at the first real mode to virtual mode switching.

Once the bottom dead point setting is set, operation will be continued with

M3214+20n ON by switching from real mode to virtual mode.

(The bottom dead point position is stored in the backup memory.)

4 - 23


(b) M3214+20n : OFF

(Final servo command value in previous virtual mode operation)

(Current servo current value)  (In-position) ……………………….1)

• For formula 1)

Operation will be continued by making the lower stroke limit value and current value within 1 cam shaft revolution into the lower stroke limit value and current value within 1 cam shaft revolution at the previous virtual mode operation.



(Final servo command value in previous virtual mode operation)

(Current servo current value) > (In-position) ……………………….2)

• For formula 2)

Current value within 1 cam shaft revolution for current feed current value is calculated and operation will be continued by making the lower stroke limit value into the lower stroke limit value at the previous virtual mode operation.



[Calculation of current value within 1 cam shaft revolution]

(Feed current value) = (Stroke amount) (Stroke ratio) + (Lower stroke limit value)

The stroke ratio(y) used as above formula is calculated, the cam table of the setting cam No. is searched from the beginning of a cycle, and the current value within 1 cam shaft revolution for applicable point is calculated.

Because the current value within 1 cam shaft revolution is searched always from the beginning of a cycle, beware of cases where the same stroke ratio appears more than once in the cycle.

(Make the necessary position adjustment at the real mode/virtual mode switching.)

32767 y

In the figure at left, there are 2 relevant points (A and B) for the calculated stroke ratio "y", but only point "A" is recognized.

Stroke amount

Stroke ratio


A B Number of pulses within

1 cam shaft revolution-1

1 cycle (1 cam shaft revolution)

(5) Servo OFF command (M3215+20n) ......................Command signal

This command is used to execute the servo OFF state (free run state).

• M3215+20n : OFF ......... Servo ON

• M3215+20n : ON ........... Servo OFF (free run state)

Execute this command after positioning completion because it becomes invalid during positioning.

When the servo OFF command is executed in virtual mode, the clutch will be disengaged first. If it is executed while a "clutch ON" state, a minor error occurs and the servo OFF command becomes invalid.

4 - 24


CAUTION

Turn the power supply of the servo amplifier side off before touching a servomotor, such as machine adjustment.

(6) Gain changing command (M3216+20n) .................Command signal

This signal is used to change the gain of servo amplifier in the Motion controller by the gain changing command ON/OFF.

• ON ............. Gain changing command ON

• OFF ........... Gain changing command OFF

Refer to the "Servo amplifier Instruction Manual" for details of gain changing function.

(7) PI-PID switching command (M3217+20n)

QDS


This signal is used to change the PI-PID switching of servo amplifier in the

Motion controller by the PI-PID switching command ON/OFF.

• ON ............. PI-PID switching command ON(PID control)

• OFF ........... PI-PID switching command OFF(PI control)

Refer to the "Servo amplifier Instruction Manual" for details of PI-PID switching function.

(8) Control loop changing command (M3218+20n)


When using the fully closed loop control servo amplifier, this signal is used to change the fully closed loop control/semi closed loop control of servo amplifier in the Motion controller by the control loop changing command ON/OFF.

• ON ............. During fully closed loop control

• OFF ........... During semi closed loop control

Fully closed loop control change

Semi closed loop control change

ON


(M3218+20n)

OFF

ON


(M2272+n)

OFF

Refer to the "Servo amplifier Instruction Manual" for details of control loop changing function.

4 - 25


POINTS

(1) When the servo amplifier is not started (LED: "AA", "Ab", "AC", "Ad" or "AE"), if the control loop changing command is turned ON/OFF, the command becomes invalid.

(2) When the following are operated during the fully closed loop, it returns to the semi closed loop control.

(a) Power supply OFF or reset of the Multiple CPU system

(b) Wire breakage of the SSCNET cable between the servo amplifier and

Motion controller

(c) Control circuit power supply OFF of the servo amplifier

4 - 26


4.1.3 Virtual servomotor axis statuses

(1) Positioning start complete signal (M4000+20n)

........................ Status signal

(a) This signal turns on with the start completion for the positioning control of the axis specified with the servo program. It does not turn on at JOG operation.

It can be used to read an M-code (Note-1) at the positioning start.

(b) This signal turns off at leading edge of complete signal OFF command

(M4804+20n) or positioning completion.

At leading edge of complete signal OFF command (M4804+20n)

V

Dwell time t

Servo program start

Start accept flag (M2001 to M2032)

OFF

OFF Positioning start complete signal

(M4000+20n)


(M4804+20n)

At positioning completion

V

OFF

ON

ON

ON

Dwell time

Positioning completion t

Servo program start

Start accept flag

(M2001 to M2032)

Positioning start complete signal (M4000+20n)

OFF

OFF

ON

ON

REMARK

(Note-1): Refer to Chapter 7 of the "Q173D(S)CPU/ Q172D(S)CPU Motion controller

(SV13/SV22) Programming manual (REAL MODE)".

4 - 27


(2) Positioning complete signal (M4001+20n) ................... Status signal

(a) This signal turns on with the completion for the positioning control of the axis specified with the servo program.

It does not turn on at the start or stop on the way using JOG operation or speed control.

It does not turn on at the stop on the way during positioning.

It can be used to read an M-code at the positioning completion.

(Refer to Chapter 7 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller

(SV/13/SV22) Programming Manual (REAL MODE)".)

(b) This signal turns off at leading edge of complete signal OFF command

(M4804+20n) or positioning start.

At leading edge of complete signal OFF command (M4804+20n)

V

Dwell time t

Servo program start

Start accept flag

(M2001 to M2032)

OFF

Positioning complete signal (M4001+20n)

Complete signal OFF command (M4804+20n)

OFF

OFF

At next positioning start

V

ON

Dwell time

ON

OFF

ON

Positioning completion

ON

Positioning start t

Servo program start

Start accept flag

(M2001 to M2032)


OFF

OFF

ON

ON

OFF

ON

(3) Command in-positioning signal (M4003+20n) ............. Status signal

(a) This signal turns on when the absolute value of the difference between the command position and the feed current value becomes below the

"command in-position range" set in the parameters of virtual servomotor

(Refer to Section 6.1.2).

This signal turns off in the following cases.

• Positioning control start

• Speed control

• JOG operation

4 - 28


(b) Command in-position check is continually executed during position control.

This check is not executed during speed control.

V

Position control start

Command in-position setting

Speed control start t

Command in-position

(M4003+20n)

ON

OFF

Execution of command in-position check

(4) Speed controlling signal (M4004+20n) ......................... Status signal

(a) This signal turns on during speed control, and it is used as judgement of during the speed control or position control.

The speed controlling signal that turned on with speed control turns off at the positioning control start of following figure.

(b) This signal turns off at the power supply on and during position control.

At speed control

Speed control start

At position control

Positioning start t

Speed controlling signal

(M4004+20n)

OFF

(5) Error detection signal (M4007+20n) ............................. Status signal

(a) This signal turns on when a minor error or major error is detected in a virtual servomotor or output module connected to a virtual servomotor.

It is used as judgement of the error available/not available by turning the error detection signal on/off.

(b) When the error detection signal turns on, the applicable error code is stored in the error code storage register.

• Minor error code (Note-1) ... Stored in the minor error code storage register

(Note-2) .

• Major error code (Note-1) ... Stored in the major error code storage register

(Note-2) .

The judgement of the virtual servomotor/output module for detected error can be confirmed by the error code details or turning the error detection signal of output module on/off.

4 - 29


(c) When the error reset command (M4807+20n) turns on in the state where the virtual servomotor or output module connected to the virtual servomotor turns on is normal, the error detection signal turns off.

REMARK

(Note-1) : Refer to APPENDIX 1.4 for details of the virtual servomotor minor/major error codes.

Refer to APPENDIX 1.6 for details of the output module minor/major error codes.

(Note-2) : Refer to Section 4.2.3 for details of the minor/major error code storage register.

(6) M-code outputting signal (M4019+20n) ........................ Status signal

(a) This signal turns during M-code is outputting.

(b) This signal turns off when the stop command, cancel signal, skip signal or

FIN signal are inputted.

M-code M1 M2 M3

ON

M-code outputting signal

(M4019+20n)

OFF

FIN signal

(M4819+20n)

OFF

ON

POINT

(1) The FIN signal and M-code outputting signal are both signal for the FIN signal wait function.

(2) The FIN signal and M-code outputting signal are effective only when FIN acceleration/deceleration is designated in the servo program. Otherwise, the

FIN signal wait function is disabled, and the M-code outputting signal does not turn on.

4 - 30


4.1.4 Virtual servomotor axis command signals

(1) Stop command (M4800+20n) ................................Command signal

(a) This command stops a starting axis from an external source and becomes effective at leading edge of signal. (An axis for which the stop command is turning on cannot be started.)

ON

Stop command

(M4800+20n)

OFF

V

Stop command for specified axis

Control during stop command OFF

Setting speed

Stop t

Deceleration stop processing

(b) It can also be used as the stop command during the speed control. (Refer to

Section "6.13 Speed Control (I)" of the "Q173D(S)CPU/Q172D(S)CPU

Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details of the speed control.

(c) Stop processing details when the stop command turned on is shown in

Table 4.1.

Table 4.1 Stop Processing at Stop command ON

Control details during execution

Processing at the turning stop command on

During control During deceleration stop processing

Positioning control

Speed control

JOG operation

The axis decelerates to a stop in the deceleration time set in the parameter block or servo program.

The stop command is ignored and deceleration stop processing is continued.

(d) The stop command in a dwell time is invalid. (After a dwell time, the start accept flag (M2001+n) turns OFF, and the positioning complete signal

(M4001+20n) turns ON.)

4 - 31


(2) Rapid stop command (M4801+20n) .......................Command signal

(a) This command stops a starting axis rapidly from an external source and becomes effective at leading edge of signal. (An axis for which the rapid stop command is turning on cannot be started.)

ON

Rapid stop command

(M4801+20n)

OFF

V

Rapid stop command for specified axis

Control during rapid stop command OFF

Setting speed

Stop t

Rapid stop processing

(b) The details of stop processing when the rapid stop command turns on are shown in Table 4.2.

Table 4.2 Details of stop processing when the rapid stop command turns on

Control details during execution

Positioning control

Speed control

Processing at the turning rapid stop command on

During control During deceleration stop processing

Rapid stop processing is executed.

Parameter (Speed limit value)

Stop cause

Deceleration processing is stopped and rapid stop processing is executed.

Setting speed

Deceleration stop processing

Operation speed

Rapid stop cause

Rapid stop deceleration processing

JOG operation Stop

Stop

Real deceleration time

Rapid stop deceleration time of the parameter block

(c) The rapid stop command in a dwell time is invalid. (After a dwell time, the start accept flag (M2001+n) turns OFF, and the positioning complete signal

(M4001+20n) turns ON.)

REMARK

(Note-1) : Rapid stop processing is deceleration stop with deceleration time set in the parameter block or servo program.

4 - 32


(3) Forward rotation JOG start command (M4802+20n)/Reverse rotation JOG start command (M4803+20n) ...........Command signal

(a) JOG operation to the address increase direction is executed while forward rotation JOG start command (M4802+20n) is turning on.

When M4802+20n is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.

(b) JOG operation to the address decrease direction is executed while reverse rotation JOG start command (M4803+20n) is turning on.

When M4803+20n is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.

POINT

Take an interlock so that the forward rotation JOG start command (M4802+20n) and reverse rotation JOG start command (M4803+20n) may not turn on simultaneously.

(4) Complete signal OFF command (M4804+20n)


(a) This command is used to turn off the positioning start complete signal

(M4000+20n) and positioning complete signal (M4001+20n).

Dwell time Dwell time t

ON ON ON

Positioning start complete signal

(M4000+20n)


OFF

OFF

Complete signal OFF command (M4804+20n)

OFF

ON

ON ON

POINT

Do not turn the complete signal OFF command on with a PLS instruction.

If it is turned on with a PLS instruction, it cannot be turned off the positioning start complete signal (M4000+20n) and the positioning complete signal (M4001+20n).

4 - 33


(5) Error reset command (M4807+20n) .......................Command signal

(a) This command is used to clear the minor/major error code storage register of an axis for which the error detection signal has turn on (M4007+20n :

ON), and reset the error detection signal (M4007+20n).

(b) The following processing is executed when the error reset command turns on.

• If the virtual servomotor and output module are normal, the minor/major error code storage registers are cleared and the error detection signal

(M4007+20n) is reset.

• If the virtual servomotor and output module error has not been canceled, the error code is again stored in the minor/major error code storage register.

In this case, the error detection signal (M4007+20n) remains on.

Reset the output module error by error reset of each axis command signal to the output module.

(6) External stop input disable at start command (M4809+20n)


This command is used to set the external stop signal input valid or invalid.

• ON......... External stop input is set as invalid, and even axes which stop input is turning on can be started.

• OFF .......External stop input is set as valid, and axes which stop input is turning on cannot be started.

POINT

When it stops an axis with the external stop input after it starts by turning on the external stop input disable at start command (M4809+20n), switch the external stop input from OFF ON (If the external stop input is turning on at the starting, switch it from ON OFF ON).

4 - 34


(7) FIN signal (M4819+20n) .........................................Command signal

When a M-code is set in a servo program, transit to the next block does not execute until the FIN signal changes as follows: OFF ON OFF. Positioning to the next block begins after the FIN signal changes as above.

It is effective, only when the FIN acceleration/deceleration is set and FIN signal wait function is selected.

Point

1

2

3

4

<K 1000>

Virtual

CPSTART2

Axis

Axis

Speed

FIN

ABS-2

Axis

Axis

M-code

ABS-2

Axis

Axis

M-code

ABS-2

Axis

Axis

M-code

ABS-2

Axis

Axis

CPEND

1

2

1,

2,

1,

2,

1,

2,

1,

2,

Point 1 WAIT 2

M-code 10 11

10000

100

200000

200000

10

M-code outputting signal

(M4019+20n)

FIN signal

(M4819+20n)

300000

250000

11

350000

300000

12

400000

400000

Timing Chart for Operation Description

1. When the positioning of point 1 starts, M-code 10 is output and the M-code outputting signal turns on.

2. FIN signal turns on after performing required processing in the

Motion SFC program. Transition to the next point does not execute until the FIN signal turns on.

3. When the FIN signal turns on, the M-code outputting signal turns off.

4. When the FIN signal turns off after the M-code outputting signal turns off, the positioning to the next point 2 starts.

POINT

(1) The FIN signal and M-code outputting signal are both signal for the FIN signal wait function.

(2) The FIN signal and M-code outputting signal are valid only when FIN acceleration/deceleration is designated in the servo program. Otherwise, the

FIN signal wait function is disabled, and the M-code outputting signal does not turn on.

4 - 35


4.1.5 Synchronous encoder axis statuses

(1) Error detection signal (M4640+4n) .............................. Status signal

(a) This signal turns on when a minor error or major error is detected in a synchronous encoder or output module connected to the synchronous encoder.

It is used as judgement of the error available/not available by turning the error detection signal on/off.

(b) When the error detection signal turns on, the applicable error code is stored in the error code storage register.

• Minor error code (Note-1) … Stored in the minor error code storage register

(Note-2)

• Major error code (Note-1) … Stored in the major error code storage register

(Note-2)

The judgement of the synchronous encoder/output module for detected error can be confirmed by the error code details or turning the error detection signal of output module on/off.

(c) When the error reset command (M5440+4n) turns on in the state where the synchronous encoder or output module connected to the synchronous encoder is normal, the error detection signal turns off.

(2) External signal TREN (M4641+4n) .............................. Status signal

(a) This signal is used for clutch control in the external input mode. It turns on by turning on the Q173DPX "TREN" input terminal, and indicates the input

ON/OFF state of the "TREN" terminal.

Q172DEX dose not turn ON regardless of the input status of TREN terminal.

(3) Virtual mode continuation operation disabled warning signal

(M4642+4n) .................................................................. Status signal

(a) When the inputted current value at the power supply on of the Multiple CPU system differs from the memorized current value (Final current value in virtual mode operation) at the power supply off of the Multiple CPU system, like the absolute synchronous encoder is moved during the power supply off of the Multiple CPU system, this signal turns on.

The validity of continuation operation in virtual mode can be confirmed at the power supply on or resetting of the Multiple CPU system.

REMARK

(Note-1): Refer to APPENDIX 1.4 for details of the minor/major error code for the synchronous encoder.

Refer to APPENDIX 1.6 for details of the minor/major error code for the output module.

(Note-2): Refer to Section 4.2.5 for details of the minor/major error code storage register.

4 - 36


4.1.6 Synchronous encoder axis command signals

(1) Error reset command (M5440+4n) .........................Command signal

(a) This command is used to clear the minor/major error code storage register of synchronous encoder of an axis for which the error detection signal has turn on (M4640+4n : ON), and reset the error detection signal (M4640+4n).

(b) The following processing is executed when the error reset command turns on.

• If the synchronous encoder and output module are normal, the minor/major error code storage registers are cleared and the error detection signal

(M4640+4n) is reset.

• If the synchronous encoder and output module error has not been canceled, the error code is again stored in the minor/major error code storage register.

In this case, the error detection signal (M4640+4n) remains on.

Reset the output module error by error reset of each axis command signal to the output module.

4 - 37


4.1.7 Common devices

POINT

(1) Internal relays for positioning control are not latched even within the latch range.

(2) The range devices allocated as internal relays for positioning control cannot be used by the user even if their applications have not been set.

(1) PLC ready flag (M2000) .........................................Command signal

(a) This signal informs the Motion CPU that the PLC CPU is normal.

1) The positioning control, home position return or JOG operation using the servo program which performs the Motion SFC program when the

M2000 is ON.

2) The above 1) control is not performed even if the M2000 is turned on during the test mode [TEST mode ON flag (SM501) : ON] using

MT Developer2.

(b) The setting data such as the fixed parameters, servo parameters and limit switch output data can be changed using MT Developer2 when the M2000 is OFF only.

The above data using MT Developer2 cannot be written when the M2000 is

ON.

(c) The following processing are performed when the M2000 turns OFF to ON.

1) Processing details

• Clear the M-code storage area of all axes.

• Turn the PCPU READY complete flag (SM500) on.

(Motion SFC program can be executed.)

• Start to execute the Motion SFC program of the automatic starting from the first.

2) If there is a starting axis, an error occurs, and the processing in above

(c) 1) is not executed.

3) The processing in above (c) 1) is not executed during the test mode.

It is executed when the test mode is cancelled and M2000 is ON.

V

Deceleration stop

Positioning start t

PLC ready flag

(M2000)

OFF

PCPU READY complete flag

(SM500)

OFF

ON

ON

Clear a M-code.

4 - 38


(SM500) does not turn on because during deceleration.


(d) The following processes are performed when the M2000 turns ON to OFF.

1) Processing details

• Turn the PCPU READY complete flag (SM500) off.

• Deceleration stop of the starting axis.

• Stop to execute the Motion SFC program.

• Turn all points of the real output PY off.

(e) Operation at STOP to RUN

Set the condition in which the PLC ready flag (M2000) turns ON. Select the following either.

1) M2000 turns ON by switching from STOP to RUN. (Default)

Condition in which the M2000 turns from OFF to ON.

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

• Turn ON the Multiple CPU system's power supply with the RUN/STOP switch set to RUN.

Condition in which the M2000 turns from ON to OFF

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

2) M2000 turns ON by switching from STOP to RUN and by setting "1" in the setting register.

Condition in which the M2000 turns from OFF to ON

• Set "1" in the setting register (D704) of the PLC ready flag or turn ON the PLC ready flag (M3072) with the RUN/STOP switch set to RUN.

(The Motion CPU detects the change from "0" to "1" in the lowest bit of

D704).

Condition in which the M2000 turns from ON to OFF

• Set "0" in the setting register (D704) of the PLC ready flag or turn OFF the PLC ready flag (M3072) with the RUN/STOP switch set to RUN.

(The Motion CPU detects the change from "1" to "0" in the lowest bit of

D704).

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

4 - 39


(2) Virtual servo start accept flag (M2001 to M2032)

........................ Status signal

(a) This flag turns on when the servo program is started. The start accept flag corresponding to an axis specified with the servo program turns on.

Servo program start

Start accept flag

(M2001+n)



(M4000+20n)

V

(b) The ON/OFF processing of the start accept flag is shown below.

1) When the servo program is started using the Motion SFC program or

Motion dedicated PLC instruction (D(P).SVST), the start accept flag corresponding to an axis specified with the servo program turns on and it turns off at the positioning completion. This flag also turns off when it is made to stopping on the way.

(When it is made to stop on the way by the speed change to speed "0", this flag remains on.)

Normal positioning completion Positioning stop during control

V

Dwell time

ON

Positioning completion t

Servo program start

ON t

Positioning stop completion

OFF Start accept flag

(M2001+n)

OFF

OFF

ON



(M4000+20n)

OFF

ON

2) This flag turns on at the positioning control by turning on the JOG start command (M4802+20n or M4803+20n), and turns off at the positioning stop by turning off the JOG start command.

3) This flag turns on during the manual pulse generator enable (M2051 to

M2053: ON), and turns off at the manual pulse generator disable

(M2051 to M2053: OFF).

4) This flag turns on during a current value change by the CHGA instruction of servo program or Motion dedicated PLC instruction

(D(P).CHGA), and turns off at the completion of the current value change.

CHGA instruction

Start accept flag

(M2001 to M2032)

OFF

ON

Current value changing processing

Turns off at the completion of current value change.

4 - 40


The start accept flag list is shown below.

Axis No. Device No. Axis No.

Device No. Axis No.

Device No. Axis No. Device No.

1 M2001 9 M2009 17 M2017 25 M2025

2 M2002 10 M2010 18 M2018 26 M2026

3 M2003 11 M2011 19 M2019 27 M2027

4 M2004 12 M2012 20 M2020 28 M2028

5 M2005 13 M2013 21 M2021 29 M2029

6 M2006 14 M2014 22 M2022 30 M2030

7 M2007 15 M2015 23 M2023 31 M2031

8 M2008 16 M2016 24 M2024 32 M2032

(Note): The following range is valid.



CAUTION

Do not turn the start accept flags ON/OFF in the user side.

• If the start accept flag is turned off using the Motion SFC program or MT Developer2 while this flag is on, no error will occur but the positioning operation will not be reliable. Depending on the type of machine, it might operate in an unanticipated operation.

• If the start accept flag is turned on using the Motion SFC program or MT Developer2 while this flag is off, no error will occur but the "start accept on error" will occur at the next starting and cannot be started.

(3) Motion error history clear request flag (M2035)


This flag is used to clear the backed-up Motion error history (#8640 to #8735).

The Motion error history is cleared at leading edge of M2035.

After detection of the leading edge of M2035, the Motion error history is cleared, and then the M2035 is automatically turned OFF.

(4) Motion SFC debugging flag (M2038) ........................... Status signal

This flag turns on when it switches to the debug mode of the Motion SFC program using MT Developer2.

It turns off with release of the debug mode.

(5) Motion error detection flag (M2039) ............................. Status signal

This flag turns on with error occurrence of the Motion CPU.

Turn off this flag by the user side, after checking the error contents and removing the error cause.

The self-diagnosis error information except stop error is cleared at the turning

M2039 ON to OFF.

(6) Speed switching point specified flag (M2040) ........Command signal

This flag is used when the speed change is specified at the pass point of the constant speed control.

4 - 41


V

(a) By turning M2040 on before the starting of the constant speed control

(before the servo program is started), control with the change speed can be executed from the first of pass point.

• OFF .......... Speed is changed to the specified speed from the pass point of the constant speed control.

• ON .......... Speed has been changed to the specified speed at the pass point of the constant speed control.

M2040 OFF M2040 ON

V

Pass points of the constant speed control

(When the speed change

is specified with P3.)

Speed switching point specified flag (M2040)

OFF

Servo program start

P1

ON

P2

Start accept flag

(M2001+n)

OFF

P3 P4 t t

Pass points of the constant speed control

(When the speed change

is specified with P3.)

Speed switching point specified flag (M2040)

OFF

ON

P1

Servo program start

ON

Start accept flag

(M2001+n)

OFF

P2 P3 P4

(7) System setting error flag (M2041) ................................ Status signal

This flag inputs the "system setting data" set by MT Developer2 and performs an adjustment check with a real mounting state (main base unit/extension base units) at Multiple CPU system's power supply on or reset.

• ON ........... Error

• OFF ......... Normal

(a) When an error occurs, the 7-segment LED at the front side of Motion CPU shows the system setting error.

The error contents can be confirmed using the monitor of MT Developer2.

(b) When M2041 is ON, positioning cannot be started. Remove an error factor, and turn the Multiple CPU system's power supply on again or reset.

REMARK

Even if the module which is not set as the system setting of MT Developer2 is installed in the slot, it is not set as the object of an adjustment check. And the module which is not set as the system setting cannot be used in the Motion CPU.

4 - 42


(8) All axes servo ON command (M2042) ...................Command signal

This command is used to enable servo operation.

(a) Servo operation enabled..... M2042 turns on while the servo OFF command

(M3215+20n) is off and there is no servo error.

(b) Servo operation disable ...... • M2042 is off

• The servo OFF command (M3215+20n) is on

• Servo error state

• Forced stop

Execute this command after positioning completion because it becomes invalid in positioning.

ON


(M2042)

OFF

ON

All axes servo ON accept flag

(M2049)

OFF

ON

(Note)

Each axis servo ready state OFF

(Note): Refer to Section "3.1.1 Axis statuses "Servo ready signal"" of the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details.

POINT

When M2042 turns ON, it is not turned off even if the Motion CPU is set in the

STOP state.

M2042 turns OFF by the forced stop of Motion CPU.

(9) Real mode/virtual mode switching request flag (M2043)


This flag is used for switching between the real mode and virtual modes.

(a) Turn the M2043 on after the PCPU READY complete flag (SM500) has turn on for switching from the real mode to virtual mode.

• An error check is executed when the M2043 is switched from off to on.

If no error is detected, switch to the virtual mode, and the real mode/virtual mode status switching status flag (M2044) turns on.

• If an error is detected, not switch to the virtual mode. In this case, the real mode/virtual mode switching error detection flag (M2045) turns on, and the error code is stored in the real mode/virtual mode switching error code storage register (SD504).

(b) Turn the M2043 off for switching from the virtual mode to real mode.

• If all axes of the virtual servomotors stopped, switch to the real mode, and

M2044 turns off.

• If the virtual servomotor is operating also with 1 axis, not switch to the real mode. In this case, the M2045 turns on, and the error code is stored in the

SD504.

(c) Refer to Chapter 9 for switching between the real mode and virtual modes.

4 - 43


(10) Real mode/virtual mode switching status flag (M2044)

........................ Status signal

This flag checks the switching completion between the real mode and virtual modes, and the current mode.

• This flag turns off with during the real mode or switching completion from the virtual mode to real mode.

• This flag turns on with switching completion from the real mode to virtual mode.

It can be used as an interlock for the servo program start or control change

(speed change, current value change).

(11) Real mode/virtual mode switching error detection flag (M2045)

........................ Status signal

This flag is used as judgement of the error available/not available at the mode switching (between the real mode and virtual modes).

• This flag remains off if no error was detected at mode switching.

• This flag turns on if an error was detected at mode switching.

In this case, the error code is stored in the SD504.

(12) Out-of-sync warning flag (M2046) .............................. Status signal

(a) This signal turns on mode when a discrepancy of synchronized positions between the drive module and output module occurs during the virtual mode.

It is used as judgement for validity of the continuation operation when the drive module has stopped.

• M2046 : ON...............Continuation operation disabled

• M2046 : OFF .............Continuation operation enabled

(b) This flag turns on the following cases.

• Stop by the forced stop.

• The servo error in the output module.

(c) When the out-of-sync warning flag turns on, resume operation by the following procedure.

1) Return to the real mode and eliminate the error cause.



2) Synchronize the axes.



3) Turn the out-of-sync warning flag (M2046) off.



4) Switch to the virtual mode.



5) Resume operation.

4 - 44


(13) Motion slot fault detection flag (M2047) ..................... Status signal

This flag is used as judgement of which modules installed in the slot of Motion management are "normal" or "abnormal".

• ON .......... Installed module is abnormal

• OFF .......... Installed module is normal

The module information at the power supply on and after the power supply on are always checked, and errors are detected.

(a) When M2047 turns OFF in operation, the operating axis decelerates to a stop.

(b) When an error occurs, the 7-segment LED at the front side of Motion CPU shows the system setting error.

The error contents can be confirmed using the monitor of MT Developer2.

(c) When M2047 is ON, positioning cannot be started. Remove an error factor, and turn the Multiple CPU system's power supply on again or reset.

(14) JOG operation simultaneous start command (M2048)


(a) When M2048 turns on, JOG operation simultaneous start based on the

JOG operation execution axis set in the JOG operation simultaneous start axis setting register (D710 to D713).

(b) When M2048 turns OFF, the operating axis decelerates to a stop.

(15) All axes servo ON accept flag (M2049) ...................... Status signal

This flag turns on when the Motion CPU accepts the all axes servo ON command (M2042).

Since the servo ready state of each axis is not checked, confirm it in the servo ready signal (M2415+20n).

ON


(M2042)

OFF

ON

All axes servo ON accept flag

(M2049)

OFF

ON

Each axis servo ready state

(Note)

OFF

(Note) : Refer to Section "3.1.1 Axis statuses "Servo ready signal"" of the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details.

4 - 45


(16) Manual pulse generator enable flag (M2051 to M2053)


This flag set the enabled or disabled state for positioning with the pulse input from the manual pulse generators connected to P1 to P3 (Note) of the Q173DPX.

• ON ........ Positioning control is executed by the input from the manual pulse generators.

• OFF ...... Positioning control cannot be executed by the manual pulse generators because of the input from the manual pulse generators is ignored.

Default value is invalid (OFF).

REMARK

(Note) : Refer to the " Q173D(S)CPU/Q172D(S)CPU Motion controller User's

Manual" for P1 to P3 connector of the Q173DPX.

(17) Operation cycle over flag (M2054) ............................. Status signal

This flag turns on when the time concerning motion operation exceeds the operation cycle of the Motion CPU setting (SD523). Perform the following operation, in making it turn off.

• Turn the power supply of the Multiple CPU system on to off

• Reset the Multiple CPU system

• Reset using the user program

[Error measures]

1) Change the operation cycle into a large value in the system setting.

2) The number of instruction completions of an event task or NMI task in the Motion SFC program.

4 - 46


(18) Speed change accepting flag (M2061 to M2092)

........................ Status signal

This flag turns on during speed change by the control change (CHGV) instruction (or Motion dedicated PLC instruction (D(P).CHGV)) of the Motion

SFC program.

CHGV instruction

ON


OFF

0 to 4ms Speed change

Setting speed

Speed after speed change t

Speed change completion

The speed change accepting flag list is shown below.


Device No. Axis No.


1 M2061 9 M2069 17 M2077 25 M2085

2 M2062 10 M2070 18 M2078 26 M2086

3 M2063 11 M2071 19 M2079 27 M2087

4 M2064 12 M2072 20 M2080 28 M2088

5 M2065 13 M2073 21 M2081 29 M2089

6 M2066 14 M2074 22 M2082 30 M2090

7 M2067 15 M2075 23 M2083 31 M2091

8 M2068 16 M2076 24 M2084 32 M2092




4 - 47


(19) Automatic decelerating flag (M2128 to M2159) ......... Status signal

This signal turns on while automatic deceleration processing is performed during the positioning control or position follow-up control.

(a) This flag turns on while automatic deceleration to the command address at the position follow-up control, but it turns off if the command address is changed.

(b) This signal turns on while automatic deceleration processing is performed during execution of positioning to final point while in constant speed control.

V

P1

P2


ON

OFF

P3 t

V


ON

OFF

P1

The automatic decelerating flag is turns on after the execution of positioning to final point (P3) even if automatic deceleration processing start while executing the positioning to P2.

P2 t

P3

POINT

Set a travel value in which automatic deceleration processing can be started at the final positioning point, therefore the automatic decelerating flag turns on at the start point of automatic deceleration processing after this final point.

(c) The signal turns off when all normal start complete commands became achieve.

(d) The automatic decelerating flag (M2128 to M2159) might be turned ON even during acceleration at advanced S-curve acceleration/deceleration.

4 - 48


(e) In any of the following cases, this flag does not turn off.

• When deceleration due to JOG signal off

• During manual pulse generator operation

• During deceleration due to stop command or stop cause occurrence

• When travel value is 0

V t


ON

OFF

The automatic decelerating flag list is shown below.


Device No. Axis No.


1 M2128 9 M2136 17 M2144 25 M2152

2 M2129 10 M2137 18 M2145 26 M2153

3 M2130 11 M2138 19 M2146 27 M2154

4 M2131 12 M2139 20 M2147 28 M2155

5 M2132 13 M2140 21 M2148 29 M2156

6 M2133 14 M2141 22 M2149 30 M2157

7 M2134 15 M2142 23 M2150 31 M2158

8 M2135 16 M2143 24 M2151 32 M2159




(20) Speed change "0" accepting flag (M2240 to M2271)

........................ Status signal

This flag turns on while a speed change request to speed "0" or negative speed change request is being accepted.

It turns on when the speed change request to speed "0" or negative speed change request is accepted during a start. After that, this signal turns off when a speed change is accepted or on completion of a stop due to a stop cause.

Deceleration stop at the speed change

"0" accept.

Speed change "0"

V

V

1

Thereafter, by changing speed to other than "0", it starts continuously.

Speed change V

2

V

2 t

Start accept flag


Positioning complete signal

OFF

ON

4 - 49


The speed change "0" accepting flag list is shown below.


Device No. Axis No.


1 M2240 9 M2248 17 M2256 25 M2264

2 M2241 10 M2249 18 M2257 26 M2265

3 M2242 11 M2250 19 M2258 27 M2266

4 M2243 12 M2251 20 M2259 28 M2267

5 M2244 13 M2252 21 M2260 29 M2268

6 M2245 14 M2253 22 M2261 30 M2269

7 M2246 15 M2254 23 M2262 31 M2270

8 M2247 16 M2255 24 M2263 32 M2271




REMARK

(1) Even if it has stopped, when the start accept flag (M2001 to M2032) is ON state, the state where the request of speed change "0" is accepted is indicated.

Confirm by this speed change "0" accepting flag.

(2) During interpolation, the flags corresponding to the interpolation axes are set.

(3) In any of the following cases, the speed change "0" request is invalid.

• After deceleration by the JOG signal off

• After positioning automatic deceleration start

• After deceleration due to stop cause

(a) The flag turns off if a speed change request occurs during deceleration to a stop due to speed change "0".

V

V

1

Speed change "0"

Speed change V

2

V

2 t

Start accept flag


OFF

ON

4 - 50


(b) The flag turns off if a stop cause occurs after speed change "0" accept.

V

Speed change "0"

Stop cause t

Start accept flag


OFF

ON

(c) The speed change "0" accepting flag does not turn on if a speed change "0" occurs after an automatic deceleration start.

Automatic deceleration start

V

Speed change "0"

OFF

ON t

Start accept flag


(OFF)

(d) Even if it is speed change "0" after the automatic deceleration start to the

"command address", speed change "0" accepting flag turns on.

V

Command address P1

V

1

Automatic deceleration start

Speed change "0"

Command address P2

P1

Speed change V

2

V

2

P2 t

Start accept flag


REMARK

It does not start, even if the "command address" is changed during speed change

"0" accepting.

4 - 51


(21) Control loop monitor status (M2272 to M2303)


When using the fully closed loop control servo amplifier, this signal is used to check the fully closed loop control/semi closed loop control of servo amplifier.

• ON .......... During fully closed loop control

• OFF .......... During semi closed loop control

It can be changed the fully closed loop control/semi closed loop control of servo amplifier in the Motion controller by the control loop changing command ON/OFF.

Fully closed loop control change

Semi closed loop control change

ON


(M3218+20n)

OFF

ON


(M2272+n)

OFF

The Control loop monitor status list is shown below.


Device No. Axis No.


1 M2272 9 M2280 17 M2288 25 M2296

2 M2273 10 M2281 18 M2289 26 M2297

3 M2274 11 M2282 19 M2290 27 M2298

4 M2275 12 M2283 20 M2291 28 M2299

5 M2276 13 M2284 21 M2292 29 M2300

6 M2277 14 M2285 22 M2293 30 M2301

7 M2278 15 M2286 23 M2294 31 M2302

8 M2279 16 M2287 24 M2295 32 M2303




4 - 52


4.2 Data Registers

(1) Data register list

Device No.

D0 to

SV22

Application Real Virtual

Axis monitor device

(20 points 32 axes)



D1120 to

D1240 to

D1560 to

D8191

D640 to

D704 to

D758 to

D800

Control change register

(2 points 32 axes)

Common device

(Command signal)

(54 points)

Unusable

(42 points)

Virtual servomotor axis monitor device


Current value after virtual servomotor axis main shaft's differential gear


Backup

Synchronous encoder axis monitor device

(6 points 12 axes)

Backup

(Note-2)

Current value after synchronous encoder axis main shaft's differential gear

(4 points 12 axes)

Backup

Cam axis monitor device


User device

(6632 points)

Real/virtual community

Virtual

: Valid

It can be used as a user device.

4 - 53


POINT

(1) Total number of points for the user devices

6632 points

(2) (Note-1) : This device occupies only the areas of the axes set in the mechanical system program. The unused axis areas in the mechanical system program can be used as a user side.

(3) (Note-2) : It is valid for the version (Refer to Section 1.4) that supports


(4) This manual describes only details for data registers used in the virtual mode. If it is required, refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller

(SV13/SV22) Programming Manual (REAL MODE)".

4 - 54


Axis No. Device No.

1

2

3

4

5

D0 to D19

D20 to D39

D40 to D59

D60 to D79

D80 to D99

(2) Axis monitor device list

Signal name

6

7

8

9

D100 to D119

D120 to D139

D140 to D159

D160 to D179

0

1

2

3

Feed current value/roller cycle speed

Real current value

10 D180 to D199 4

11 D200 to D219 5

12 D220 to D239

Deviation counter value

6 Minor error code

13 D240 to D259

14 D260 to D279

7 Major error code

8 Servo error code

15 D280 to D299

16 D300 to D319


9 re-travel value

17 D320 to D339 10

18 D340 to D359 11

Travel value after proximity dog ON

19 D360 to D379 12 Execute program No.

20 D380 to D399 13 M-code

21 D400 to D419 14 Torque limit value

22

23

D420 to D439

D440 to D459

15

Data set pointer for constant-speed control

24 D460 to D479 16

25 D480 to D499 17

Unusable (Note-1)

26 D500 to D519 18

27 D520 to D539 19

Real current value at stop input

Real

Signal name

Virtual

Roller

Ball screw

Rotary table

Cam

Backup

Backup

Real mode axis

Backup

Refresh cycle

Operation cycle

Immediately

Main cycle

Operation cycle

At start

Operation cycle

At start/ during start

Operation cycle

Fetch cycle

Signal direction

Monitor device

—

Monitor device

28 D540 to D559

29 D560 to D579

30 D580 to D599

31 D600 to D619

: Valid, : Invalid

32 D620 to D639

(Note-1): It can be used as the travel value change register. The travel value change register can be set to the device optionally in the servo program.

Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details.

POINT









4 - 55


Axis No. Device No.

(3) Control change register list

Signal name

Signal name

D647 0

D649 1

JOG speed setting

Real Virtual

Refresh cycle

Fetch cycle

At start

Signal direction

Command device

: Valid

POINT









4 - 56


Axis No. Device No.

1

2

3

4

5

D800 to D809

D810 to D819

D820 to D829

D830 to D839

D840 to D849

(4) Virtual servomotor axis monitor device list

Signal name Real

Signal name

Roller

Virtual

Ball screw

Rotary

Cam table

Real mode axis

12

13

14

15

16

17

6

7

8

9

10

11

D850 to D859

D860 to D869

0

1

Feed current value

D870 to D879 2 Minor error code

D880 to D889 3 Major error code

D890 to D899 4 Execute program No.

D900 to D909 5 M-code

D910 to D919

D920 to D929

D930 to D939

D940 to D949

D950 to D959

D960 to D969

18

19

D970 to D979

D980 to D989

20 D990 to D999

21 D1000 to D1009

22 D1010 to D1019

23 D1020 to D1029

24 D1030 to D1039

25 D1040 to D1049

26 D1050 to D1059

27 D1060 to D1069

28 D1070 to D1079

29 D1080 to D1089

30 D1090 to D1099

31 D1100 to D1109

32 D1100 to D1119

6

7


8 Error search output axis No.

9


Backup

Refresh cycle

Operation cycle

Immediately

At start

Operation cycle

Fetch cycle

Signal direction

Monitor device

: Valid, : Invalid

POINT





4 - 57


Axis No. Device No.

(5) Synchronous encoder axis monitor device list

Signal name

1

2

3

D1120 to D1129

D1130 to D1139

D1140 to D1149

Signal name Real Virtual

Refresh cycle

Fetch cycle

5

6

7

8

9

4

10

11

D1150 to D1159

D1160 to D1169



D1190 to D1199

D1200 to D1209

0

1

4

5

Current value

Backup

(Note-1)

Backup

Operation cycle

Immediately

Monitor device

Unusable —

D1210 to D1219

D1220 to D1229

12 D1230 to D1239

6 Current value after synchronous encoder axis main shaft's differential gear

7


Backup

Operation cycle

Monitor device

— —

Signal direction

: Valid


POINT

(1) It is unusable in the SV22 real mode.


(3) The device area more than 9 axes as a user device.



4 - 58


Axis No. Device No.

(6) Cam axis monitor device list

Signal name

5

6

7

8

9

1

2

3

4

D1240 to D1249

D1250 to D1259

D1260 to D1269


Refresh cycle

Fetch cycle

Signal direction

D1270 to D1279 0 Unusable —

D1280 to D1289 1 Execute cam No.

D1290 to D1299 2

D1300 to D1309 3

Execute stroke amount

Backup

Operation cycle

Monitor device

D1310 to D1319 4

D1320 to D1329 5

Current value within 1 cam shaft revolution

10 D1330 to D1339 6

11 D1340 to D1349 7

12 D1350 to D1359 8

13 D1360 to D1369 9

14 D1370 to D1379

15 D1380 to D1389

16 D1390 to D1399

17 D1400 to D1409

18 D1410 to D1419

19 D1420 to D1429

20 D1430 to D1439

21 D1440 to D1449

22 D1450 to D1459

23 D1460 to D1469

24 D1470 to D1479

25 D1480 to D1489

26 D1490 to D1499

27 D1500 to D1509

28 D1510 to D1519

29 D1520 to D1529

30 D1530 to D1539

31 D1540 to D1549

32 D1550 to D1559

: Valid

POINT





4 - 59


Device

No.

D704

D705

D706

D707

D708

Signal name

PLC ready flag request

Speed switching point specified flag request

All axes servo ON command request


JOG operation simultaneous start command request



Main cycle

Signal direction

Device

No.

Signal name

Command device

D752

Manual pulse generator 1 smoothing magnification setting register

D753


D754


D755

Manual pulse generator 1 enable flag request

D756


D709 Unusable —

D710

D711

D712

D713

D714

D715

D716

D717

D718

D719

JOG operation simultaneous start axis setting register

Manual pulse generator axis

1 No. setting register





15 generators 1 pulse input magnification setting register

(Note-1), (Note-2)

At start

At the manual pulse generator enable flag

D758

D759

D760

D761

D762

D763

D764

D765

D766

D767

D768

D769

D770

D771

D772

D773

D774

D775

D776

Command device

D777

D778 Unusable

D779

(42 points)

D780

D781

D782

D783

D784

D785

D786

D787

D788

D789

D790

D791

D792

D793

D794

D795

D796

D797

D798

D799



Main cycle

Signal direction

Command device

(Note-1): The following range is valid.



(Note-2): The following device area is unusable.



4 - 60


4.2.1 Axis monitor devices

The monitoring data area is used by the Motion CPU to store data such as the feed current value during positioning control, the real current value and the deviation counter value.

It can be used to check the positioning control state using the Motion SFC program.

The user cannot write data to the monitoring data area.

Refer to "APPENDIX 3 Processing Times of the Motion CPU" for the delay time between a positioning device (input, internal relay and special relay) turning on/off and storage of data in the monitor data area.

(1) Feed current value/roller cycle speed storage register

(D0+20n, D1+20n) ..................................................... Monitor device

(a) The target address which is output to the servo amplifier is stored in this register. The target address is based on the command address calculated from the mechanical system program settings.

(b) The stroke range check is performed on this feed current value data.

(c) Roller cycle speed is stored.

The storage range for cycle speed the roller cycle speed storage register is shown below.

Storage Range Setting Units mm inch

1 to 600000000

Real Roller Cycle Speed

0.01 to 6000000.00 [mm/min]

0.001 to 600000.000 [inch/min]

(2) Real current value storage register (D2+20n, D3+20n)

..................... Monitor device

(a) This register stores the real current value which took the droop pulses of the servo amplifier into consideration to the feed current value.

(b) The "feed current value" is equal to the "real current value" in the stopped state.

(3) Deviation counter value storage register (D4+20n, D5+20n)

..................... Monitor device

This register stores the droop pulses read from the servo amplifier.

(4) Minor error code storage register (D6+20n) .............. Monitor device

(a) This register stores the corresponding error code (Refer to APPENDIX 1.4 and 1.6) at the minor error occurrence. If another minor error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Minor error codes can be cleared by an error reset command (M3207+20n).

4 - 61


(5) Major error code storage register (D7+20n) .............. Monitor device

(a) This register stores the corresponding error code (Refer to APPENDIX 1.4 and 1.6) at the major error occurrence. If another major error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Major error codes can be cleared by an error reset command (M3207+20n).

(6) Servo error code storage register (D8+20n) ............. Monitor device

(a) This register stores the corresponding error code (Refer to APPENDIX 1.5) at the servo error occurrence. If another servo error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) It returns to the real mode by the servo error.

(7) Torque limit value storage register (D14+20n) .......... Monitor device

This register stores the torque limit value imposed on the servo amplifier.

The default value "300[%]" is stored at the power supply of servo amplifier ON.

4 - 62


4.2.2 Control change registers

This area stores the JOG operation speed data of the virtual servomotor axis.

Table 4.3 Data storage area for control change list

Name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

D641, D640 D643, D642 D645, D644 D647, D646 D649, D648 D651, D650 D653, D652 D655, D654

Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16

JOG speed D657, D656 D659, D658 D661, D660 D663, D662 D665, D664 D667, D666 D669, D668 D671, D670 setting register








(1) JOG speed setting registers (D640+2n, D641+2n)

................ Command device

(a) This register stores the JOG speed at the JOG operation.

(b) Setting range of the JOG speed is shown below.

Unit PLS

Item Setting Range Unit

JOG speed 1 to 2147483647 [PLS/s]

(c) The JOG speed is the value stored in the JOG speed setting registers at leading edge of the JOG start signal.

Even if data is changed during JOG operation, JOG speed cannot be changed.

(d) Refer to Section 6.21 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details of the JOG operation.

4 - 63


4.2.3 Virtual servomotor axis monitor devices

(1) Feed current value storage register (D800+10n, D801+10n)

..................... Monitor device

(a) This register stores the target address output to the servo amplifier based on the positioning address/travel value specified with the servo program.

(b) The stroke range check is performed on this feed current value data.

(c) Ring address is –2147483648 (-2 31 ) [PLS] to 2147483647 (2 31 -1) [PLS] in the infinite operation.

(2 31 -1)

Feed current value

-2 31

(d) The data of feed current value storage register is also stored in a backup memory at the power supply off or resetting of the Multiple CPU system.

(2) Minor error code storage register (D802+10n)

..................... Monitor device

(a) This register stores the corresponding error code (refer to APPENDIX 1.4 and 1.6) at the minor error occurrence in the virtual servomotor or output module. If another minor error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Minor error codes in the virtual servomotor can be cleared by an error reset command

(Note-1)

of the drive module.

Minor error codes in the output module can be cleared by an error reset command

(Note-2)

of the output module.

REMARK

(Note-1): Refer to Section 4.1.4 for details of the error reset command for the virtual servomotor axis.

(Note-2): Refer to Section 4.1.2 for details of the error reset command for the output module.

4 - 64


(3) Major error code storage register (D803+10n)

..................... Monitor device

(a) This register stores the corresponding error code (refer to APPENDIX 1.4 and 1.6) at the major error occurrence in the virtual servomotor or output module. If another major error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Major error codes in the virtual servomotor can be cleared by an error reset command

(Note-1)

of the drive module.

Major error codes in the output module can be cleared by an error reset command

(Note-2)


REMARK

(Note-1): Refer to Section 4.1.4 for details of the error reset command for the virtual servomotor axis.


4 - 65


4.2.4 Current value after virtual servomotor axis main shaft's differential gear

(1) Current value after virtual servomotor axis main shaft’s differential gear storage register (D806+10n, D807+10n)

...................... Monitor device

Differential gear is connected with the main shaft.

Virtual servomotor

Drive module of the main shaft side

Differential gear


Virtual servomotor or

Synchronous encoder

Drive module of the auxiliary input axis side

Differential gear is not connected with the main shaft.

Virtual servomotor


(a) The current value will be the same as the drive module current value of the main shaft side at the virtual mode switching.

(b) When the current value change is executed toward the drive module current value of the main shaft side, the current value after main shaft's differential gear is also simultaneous changed to the specified current value.

(c) If the differential gear is not connected with the main shaft, drive module feed current value of the main shaft side is always stored in the current value storage register after main shaft’s differential gear.

(d) In the case of following figure, use "current value after virtual servomotor axis main shaft's differential gear" of axis 1 as "current value after virtual servomotor axis main shaft's differential gear".

(The drive module feed current value of the auxiliary input axis side is stored as "current value after virtual servomotor axis main shaft's differential gear" of axis 2.)

Differential gear

Virtual servomotor


Axis 1

Drive module

Axis 2

4 - 66


(2) Error search output axis No. storage register (D808+10n)

..................... Monitor device

(a) This register stores the axis No. of the output module in error by the error search function in the virtual mode.

(b) If there are no errors at the virtual servomotor axes of the main shaft and auxiliary input axis, the error occurrence output axis No. is stored into the error search output axis No. storage register of the corresponding drive module No. when a minor or major error occurs at the connected output axis.

(c) Error search and error reset

1) Searching the main shaft for error

The output axes connected to the main shaft are searched for an error in order of lower to higher numbers. If either a minor or major error has occurred, the corresponding output axis No. is stored into the error search output axis No. storage register.

Resetting the error of the corresponding output axis stores the other error occurrence output axis No. connected to the same main shaft.

2) Searching the auxiliary input axis for error

If either a minor or major error has occurred at the output axis connected to the auxiliary input axis, the corresponding output axis No. is stored into the error search output axis No. storage register.

However, when the differential gear (for virtual main shaft connection) is used to provide auxiliary input to the main shaft, the output axis connected to the auxiliary input axis is not searched for an error. Use the main shaft side error search output axis No. storage register to confirm the error occurrence output axis No.

(d) When error occurs at the drive module axis

When an error occurs at the main shaft/auxiliary input axis to which the output axis is connected, "0" (no error) is stored into the error search output axis No. storage device if an error occurred at the output axis.

4 - 67


4.2.5 Synchronous encoder axis monitor devices

(1) Current value storage register (D1120+10n, D1121+10n)

..................... Monitor device

(a) This register stores the synchronous encoder current value.

(b) Ring address is "-2147483648  -2 31 ) to 2147483647 (2 31 -1)" [PLS].

(c) The current value storage register data is also stored in a backup memory at the power supply off or resetting of the Multiple CPU system.

(2) Minor error code storage register (D1122+10n) ........ Monitor device

(a) This register stores the corresponding error code (refer to APPENDIX 1.4 and 1.6) at the minor error occurrence in the synchronous encoder or output module. If another minor error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Minor error codes in the synchronous encoder can be cleared by an error reset command

(Note-1)

of the synchronous encoder axis.

Minor error codes in the output module can be cleared by an error reset command

(Note-2)


REMARK

(Note-1): Refer to Section 4.1.6 for details of the error reset command for the synchronous encoder axis.


(3) Major error code storage register (D1123+10n) ........ Monitor device

(a) This register stores the corresponding error code (refer to APPENDIX 1.4 and 1.6) at the major error occurrence in the synchronous encoder or output module. If another major error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Major error codes in the synchronous encoder axis can be cleared by an error reset command

(Note-1)

of the synchronous encoder.

Major error codes in the output module can be cleared by an error reset command

(Note-2)


REMARK

(Note-1): Refer to Section 4.1.6 for details of the error reset command for the synchronous encoder axis.


4 - 68


4.2.6 Current value after synchronous encoder axis main shaft's differential gear

(1) Current value after synchronous encoder axis main shaft’s differential gear storage registers (D1126+10n, D1127+10n)

...................... Monitor device

Differential gear is connected with the main shaft.

Synchronous encoder

Drive module of the main shaft side

Differential gear


Virtual servomotor or

Synchronous encoder

Drive module of the auxiliary input axis side

Differential gear is not connected with the main shaft.

Synchronous encoder


(a) The current value will be the same as the drive module current value of the main shaft side at the virtual mode switching.

(b) When the current value change is executed toward the drive module current value of the main shaft side, the current value after main shaft's differential gear is also simultaneous changed to the specified current value.

(c) If the differential gear is not connected with the main shaft, drive module current value of the main shaft side is always stored in the current value storage register after main shaft’s differential gear.

(d) In the case of following figure, use "current value after synchronous encoder axis main shaft's differential gear" of axis 1 as "current value after synchronous encoder axis main shaft's differential gear".

(The drive module feed current value of the auxiliary input axis side is stored as "current value after synchronous encoder axis main shaft's differential gear" of axis 2.)

Synchronous

Differential gear encoder


Axis 1

Drive module

Axis 2

4 - 69


(2) Error search output axis No. storage register (D1128+10n)

..................... Monitor device

(a) This register stores the axis No. of the output module in error by the error search function in the virtual mode.

(b) If there are no errors at the synchronous encoder axes of the main shaft and auxiliary input axis, the error occurrence output axis No. is stored into the error search output axis No. storage register of the corresponding drive module No. when a minor or major error occurs at the connected output axis.

(c) Error search and error reset

1) Searching the main shaft for error

The output axes connected to the main shaft are searched for an error in order of lower to higher numbers. If either a minor or major error has occurred, the corresponding output axis No. is stored into the error search output axis No. storage register.

Resetting the error of the corresponding output axis stores the other error occurrence output axis No. connected to the same main shaft.

2) Searching the auxiliary input axis for error

If either a minor or major error has occurred at the output axis connected to the auxiliary input axis, the corresponding output axis No. is stored into the error search output axis No. storage register.

However, when the differential gear (for virtual main shaft connection) is used to provide auxiliary input to the main shaft, the output axis connected to the auxiliary input axis is not searched for an error. Use the main shaft side error search output axis No. storage register to confirm the error occurrence output axis No.

(d) When error occurs at the drive module axis

When an error occurs at the main shaft/auxiliary input axis to which the output axis is connected, "0" (no error) is stored into the error search output axis No. storage device if an error occurred at the output axis.

4 - 70


4.2.7 Cam axis monitor devices

(1) Execute cam No. storage register (D1241+10n) ...... Monitor device

(a) This register stores the cam No. currently being controlled.

(b) Cam No. of the execute cam No. storage register is held until next cam is executed. (Cam No. is not cleared, even if cam control is completed.)

(2) Execute stroke amount storage register (D1242+10n, D1243+10n)

..................... Monitor device

(a) This register stores the stroke amount currently being controlled.

(3) Current value within 1 cam shaft revolution storage register

(D1244+10n, D1245+10n) ......................................... Monitor device

(a) This register stores the current value within 1 cam shaft revolution set in the parameter.

The current value is a ring address of "0 to [Number of pulses per cam shaft revolution (Nc)-1]".

(N

C

-1)

0

4 - 71


4.2.8 Common devices

(1) Common bit device SET/RST request register (D704 to D708,

D755 to D757) ...................................................... Command device

Because cannot be turn on/off in every bit from the PLC CPU, the bit device is assigned to data register (D), and each bit device turns on with the lowest rank bit 0 to 1 and each bit device becomes off with 1 to 0.

The details of request register are shown below.

(Refer to Section "4.1.7 Common devices" for the bit device M2000 to M2053.)

Details of the request register

No. Function

1 PLC ready flag

2 Speed switching point specified flag

3 All axes servo ON command

4


5


6 Manual pulse generator 1 enable flag



Request register

D704

D705

D706

Bit device

M2000

M2040

M2042

Remark

(Note-1)

M3072

M3073

M3074

D707 M2043 M3075

D708 M2048 M3076

D755

D756

D757

M2051

M2052

M2053

M3077

M3078

M3079


(2) JOG operation simultaneous start axis setting registers

(D710 to D713) ..................................................... Command device

(a) These registers set the virtual servomotor axis No. and direction which start simultaneously the JOG operation. b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D710 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1


Forward rotation

JOG



Reverse rotation

JOG

(Note-1): Make JOG operation simultaneous start axis setting with 1/0.

1: Simultaneous start execution

0: Simultaneous start not execution


Q172DSCPU : Axis No.1 to 16

Q172DCPU(-S1) : Axis No.1 to 8

(Note-3): Refer to APPENDIX 1.1 for the expression method of axis No. corresponding

to each bit of word data.

(b) Refer to Section 6.21.3 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details of the JOG operation simultaneous start.

4 - 72


(3) Manual pulse generator axis No. setting registers (D714 to D719)


(a) These registers stores the virtual servomotor axis No. controlled with the manual pulse generator. b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0


P1


P2



P3



(Note-1): Make the axis No. controlled with the manual pulse generator setting with 1/0.

1 : Specified axis

0 : Unspecified axis




(Note-3): Refer to APPENDIX 1.1 for the expression method of axis No. corresponding to

each bit of word data.

(b) Refer to Section 6.22 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details of the manual pulse generator operation.

(4) Manual pulse generator 1-pulse input magnification setting registers (D720 to D751) ...................................... Command device

(a) These register set the magnification (1 to 10000) per pulse of number of the input pulses from manual pulse generator at the pulse generator operation.

1-pulse input magnification setting register

D720

D721

D722

D723

D724

D725

D726

D727

D728

Axis No. Setting range

Axis 1

Axis 2

Axis 3

Axis 4

Axis 5

Axis 6

Axis 7

Axis 8

Axis 9

1 to 10000

1-pulse input magnification setting register

D736

D737

D738

D739

D740

D741

D742

D743

D744

Axis No. Setting range

Axis 17

Axis 18

Axis 19

Axis 20

Axis 21

Axis 22

Axis 23

Axis 24

Axis 25

1 to 10000

4 - 73





(b) Refer to Section 6.22 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details of the manual pulse generator operation.

(5) Manual pulse generator smoothing magnification setting registers

(D752 to D754) ..................................................... Command device

(a) These registers set the smoothing time constants of manual pulse generators.

Manual pulse generator smoothing magnification setting register

Manual pulse generator 1 (P1): D752



Setting range

0 to 59

(b) When the smoothing magnification is set, the smoothing time constant is as indicated by the following expression.

Smoothing time constant (t) = (Smoothing magnification + 1) 56.8 [ms]

(c) Operation

Manual pulse generator input

Manual pulse generator enable flag (M2051)

OFF

V

ON

V

1 t t t t

Output speed (V

1

) [PLS/s] = (Number of input pulses/s) × (Manual pulse generator 1-pulse input magnification setting)

Travel value (L) = (Number of input pulses) × (Manual pulse generator 1-pulse input magnification setting)

(d) The manual pulse operation in the virtual mode is effective at the only test mode.

REMARK

(1) The smoothing time constant is 56.8[ms] to 3408[ms].

4 - 74


4.3 Motion Registers (#)

There are motion registers (#0 to #12287) in the Motion CPU. #8000 to #8639 are used as the monitor device, #8640 to #8735 are used as the Motion error history device and #8736 to #8751 are used as the product information list device.

Refer to the "Q173D(S)CPU/Q172D(S)Motion Controller (SV13/SV22) Programming

Manual (Motion SFC)" for details of the motion registers and Motion error history device.

(1) Monitor devices (#8000 to #8639)

Information for each axis is stored in the monitor devices.

The details of the storage data are shown below.

Axis

No.

Device No.

1 #8000 to #8019

2 #8020 to #8039

3 #8040 to #8059

4 #8060 to #8079

5 #8080 to #8099

6 #8100 to #8119

7 #8120 to #8139

8 #8140 to #8159

9 #8160 to #8179

10 #8180 to #8199

11 #8200 to #8219

12 #8220 to #8239

13 #8240 to #8259

Signal name

0 Servo amplifier type

1 Motor current

2

3

4

5

6

7

8

Motor speed

Command speed

Home position return retravel value

Servo amplifier display servo error code

14 #8260 to #8279 9 Parameter error No. QDS

15 #8280 to #8299 10 Servo status1 QDS



18 #8340 to #8359 13

19 #8360 to #8379 14

Signal name

Refresh cycle

When the servo amplifier power-on

Operation cycle 1.7[ms] or less : Operation cycle

Operation cycle 3.5[ms] or more : 3.5[ms]

Operation cycle

At home position return re-travel

Main cycle



Signal direction

Monitor device

20 #8380 to #8399 15

21 #8400 to #8419 16

22 #8420 to #8439 17

23 #8440 to #8459 18

24 #8460 to #8479 19

25 #8480 to #8499

26 #8500 to #8519

27 #8520 to #8539

28 #8540 to #8559

29 #8560 to #8579

30 #8580 to #8599

31 #8600 to #8619

32 #8620 to #8639

4 - 75


(a) Servo amplifier type (#8000+20n) ............................................ Monitor device

This register stores the servo amplifier type for each axis at the servo amplifier power supply ON.

• 0 .............. Unused

• 256 ......... MR-J3- B

MR-J3W- B (For 2-axis type)

• 257 ......... MR-J3- B-RJ006 (For fully closed loop control)

MR-J3- B Safety (For drive safety servo)

• 258 ......... MR-J3- B-RJ004 (For Linear servo motor)

• 263 ......... MR-J3- B-RJ080W (For direct drive motor) Ver.!

• 4096 ....... MR-J4- B QDS

MR-J4W- B (For 2-axis type, 3-axis type) QDS

It is not cleared even if the servo amplifier power supply turns OFF.

(b) Motor current (#8001+20n) ....................................................... Monitor device

This register stores the motor current ( 0.1[%]) (signed) read from the servo amplifier.

(c) Motor speed (#8002+20n, #8003+20n) .................................... Monitor device

This register stores the motor speed ( 0.1[r/min]) (signed) read from the servo amplifier.

The motor speed ( 0.1[mm/s]) (signed) is stored at linear servo use.

(d) Command speed (#8004+20n, #8005+20n)............................. Monitor device

This register stores the speed (signed) at which command value to the servo amplifier for every operation cycle is converted into [PLS/s].

(e) Home position return re-travel value (#8006+20n, #8007+20n)

.......................Monitor device

If the position stopped in the position specified with the travel value after proximity dog ON using MT Developer2 is not zero point, it made to travel to zero point by re-travel in the Motion CPU. The travel value (signed) of making it travel to zero point by re-travel at this time is stored.

(Data does not change with the last value in the data setting type.)

(f) Servo amplifier display servo error code (#8008+20n) Ver.!

...................... Monitor device

This register stores the servo error code read from the servo amplifier.

The hexadecimal display is the same as the LED of servo amplifier.

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

Ver.!


4 - 76


(g) Parameter error number (#8009+20n) QDS ........................... Monitor device

The parameter number of error servo parameter is stored in hexadecimal at the servo error occurrence.

H

Parameter No.

Parameter group No.

0: PA group 4: PE group B: PL group

1: PB group 5: PF group

2: PC group 9: Po group

3: PD group A :PS group

C: PT group

(h) Servo status1 (#8010+20n) QDS ........................................... Monitor device

This register stores the servo status read from the servo amplifier. b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

#8010+20n

(Note): The 0/1 is stored in the servo status 1.

0: OFF

1: ON

READY ON

Servo ON

Control mode

Servo alarm

In-position

Torque limit

Absolute position lost

Servo warning

• READY ON (b0)..........................Indicates the ready ON/OFF.

• Servo ON (b1).............................Indicates the servo ON/OFF.

• Control mode (b2, b3).................Indicates the control mode of servo amplifier. b3 b2

0

1

1 Speed control mode

0 Torque control mode

• Servo alarm (b7) .........................Turn ON during the servo alarm.

• In-position (b12) ..........................The dwell pulse turns ON within the servo parameter "in-position".

• Torque limit (b13)........................Turns ON when the servo amplifier is having the torque restricted.

• Absolute position lost (b14) ........Turns ON when the servo amplifier is lost the absolute position.

• Servo warning (b15) ...................Turn ON during the servo warning.

POINT

Servo warning (b15) turns ON during Motion controller forced stop or servo forced stop.

4 - 77


(i) Servo status2 (#8011+20n) QDS ............................................. Monitor device


#8011+20n

Zero point pass

Zero speed

Speed limit

PID control


0: OFF

1: ON

• Zero point pass (b0)....................Turns ON if the zero point of the encoder has been passed even once.

• Zero speed (b3) ..........................Turns ON when the motor speed is lower than the servo parameter "zero speed."

• Speed limit (b4)...........................Turn ON during the speed limit in torque control mode.

• PID control (b8)...........................Turn ON when the servo amplifier is PID control.

#8012+20n

(j) Servo status3 (#8012+20n) QDS ............................................. Monitor device


Continuous operation to torque control mode


0: OFF

1: ON

• Continuous operation to torque control mode (b14)

.....................................................Turn ON when the continuous operation to torque control mode.

(2) Product information list devices (#8736 to #8751)

Ver.!

The operating system software version and serial number of Motion CPU is stored in ASCII code.

The product information list devices are shown below.

Signal name Refresh cycle Fetch cycle Signal direction Device No.

#8736 to

#8743

#8744 to

#8751


Motion CPU module serial number

At power on Monitor device

Ver.!


4 - 78


Character

Character

(a) Operating system software version (#8736 to #8743) ............. Monitor device

The operating system software version of Motion CPU displayed on the system monitor (product information list) of GX Works2/GX Developer is stored in ASCII code.

(Example) Operating system software version: "SV22j VER300A"

Device No.

#8736 #8737 #8738 #8739 #8740 #8741 #8742 #8743

Low High Low High Low High Low High Low High Low High Low High Low High

20H 53H 56H 32H 32H 6AH 20H 20H 56H 45H 52H 33H 30H 30H 41H 20H

S V 2 2 j V E R 3 0 0 A

: Space.

(b) Motion CPU module serial number (#8744 to #8751) ............. Monitor device

The serial number of Motion CPU displayed on the system monitor (product information list) of GX Works2/GX Developer is stored in ASCII code.

(Example) Serial number: "A7Z123015"

Device No.

#8744 #8745 #8746 #8747 #8748 #8749 #8750 #8751

Low High Low High Low High Low High Low High Low High Low High Low High

41H 37H 5AH 31H 32H 33H 30H 31H 35H 20H 20H 20H 20H 20H 20H 20H

A 7 Z 1 2 3 0 1 5

: Space.

POINT

Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion Controller User's Manual" or

"Q173D(S)CPU/Q172D(S)CPU Motion Controller Programming Manual

(COMMON)" for checking of the operating system software version and serial number.

4 - 79


4.4 Special Relays (SM)

There are 2256 special relay points of SM0 to SM2255 in the Motion CPU.

Of these, devices in a Table 4.4 are used for the positioning control.

The special relay list used for the positioning control is shown below.

(Refer to " Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual

(COMMON)" for the application of special relays except below.)

Table 4.4 Special relay list

Device No. Signal name

SM500 PCPU READY complete flag

Refresh cycle

Main cycle

SM501 TEST mode ON flag

SM503 Digital oscilloscope executing flag

Operation cycle

Main cycle stop Ver.!

cycle

Fetch cycle Signal type

Status signal

SM512 Motion CPU WDT error flag

SM513 Manual pulse generator axis setting error flag

SM516 Servo program setting error flag

Main cycle

(1) PCPU READY complete flag (SM500) ......................... Status signal

This flag is used as judgement of the normal or abnormal in the Motion CPU side using the sequence program.

(a) At leading edge of PLC ready flag (M2000), the fixed parameters, servo parameters and limit switch output data are checked, and if error is not detected, this flag turns on.

The servo parameters are written to the servo amplifiers and the M-codes are cleared.

(b) This flag turns off when the PLC ready flag (M2000) turns off.

PLC ready flag

(M2000)


(SM500) t

The servo parameters are written to the servo amplifiers and the M-codes are cleared.

Ver.!


4 - 80


(2) TEST mode ON flag (SM501) ...................................... Status signal

(a) This flag is used as judgement of during the test mode or not using

MT Developer2

.

Use it for an interlock, etc. at the starting of the servo program using the

Motion SFC program.

• OFF...........Except the test mode

• ON.............During the test mode

(b) If the test mode is not executed in the test mode request from

MT Developer2, the TEST mode request error flag (SM510) turns on.

(3) External forced stop input flag (SM502) ....................... Status signal

This flag is used to check the external forced stop input signal ON/OFF.

• OFF ......... External forced stop input ON

• ON ........... External forced stop input OFF

POINT

(1) If the forced stop signal is input during positioning, the feed current value is advanced within the rapid stop deceleration time set in the parameter block.

At the same time, the servo OFF state is established because the all axes servo ON command (M2042) turns off.

When the rapid stop deceleration time has elapsed after input of the forced stop signal, the feed current value returns to the value at the point when the emergency stop was initiated.

(2) If the forced stop is reset before the emergency stop deceleration time has elapsed, a servo error occurs.

(4) Digital oscilloscope executing flag (SM503) ................. Status signal

This flag is used to check the state of execution for the digital oscilloscope.

• OFF ......... Digital oscilloscope has stopped.

• ON ........... Digital oscilloscope is executing.

(5) External forced stop input ON latch flag (SM506)

Ver.!

................................ Status signal

This flag turns on when an external forced stop input is detected.

After that, it remains ON even if the external forced stop input is cancelled.

Reset the external forced stop input ON latch flag using the Motion SFC program.

• OFF ......... External forced stop input is not detected.

• ON ........... External forced stop input is detected.

Ver.!


4 - 81


(6) Amplifier-less operation status flag (SM508) ................ Status signal

This flag is used to check the state of amplifier-less operation.

• OFF ......... During normal operation

• ON ........... During amplifier-less operation

(7) TEST mode request error flag (SM510) ....................... Status signal

(a) This flag turns on when the test mode is not executed in the test mode request using MT Developer2.

(b) When SM510 turns on, the error contents are stored in the test mode request error information (SD510, SD511).

(8) Motion CPU WDT error flag (SM512)........................... Status signal

This flag turns on when a WDT error (watchdog timer error) is detected of the

Motion CPU self-diagnosis function.

When the Motion CPU detects a WDT error, it executes an immediate stop without deceleration of the operating axes.

If the Motion CPU WDT error flag has turn on, reset the Multiple CPU system.

If SM512 remains on after resetting, there is a fault at the Motion CPU side.

The error cause is stored in the "Motion CPU WDT error cause (SD512)".

(Refer to Section 4.5(7)).

(9) Manual pulse generator axis setting error flag (SM513)

....................... Status signal

(a) This flag is use as judgement of normal or abnormal setting of the manual pulse generator axis No. setting registers (D714 to D719).

• OFF...........D714 to D719 is normal

• ON.............D714 to D719 is abnormal

(b) This flag turns ON by turning ON the manual pulse generator enable flag

(M2051 to M2053) with the manual pulse generator axis P1 to P3 unused after setting the manual pulse generator interface module (Q173DPX) in the system setting.

(c) When SM513 turns on, the error contents are stored in the manual pulse generator axis setting error information (SD513 to SD515).

(10) Servo program setting error flag (SM516) ................. Status signal

This flag is used as judgement of normal or abnormal for the servo program positioning data.

• OFF........... Normal

• ON ............ Abnormal

4 - 82


4.5 Special Registers (SD)

SD500

SD501

SD502

SD503

SD504

SD505

SD506

SD508

SD510

SD511

SD512

SD513

SD514

SD515

SD516

SD517

SD522

SD523

SD524

SD550

SD551

Device No.

SD803

There are 2256 special register points of SD0 to SD2255 in the Motion CPU.

Of these, devices in a Table 4.5 are used for the positioning control.

The special register list used for the positioning control is shown below.

(Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual

(COMMON)" for the applications of special registers except below.)

Signal name

Table 4.5 Special register list

Refresh cycle Fetch cycle Signal direction

Main cycle

Real mode axis information register (SV22)

Servo amplifier loading information

At power supply on/ operation cycle

Real mode/virtual mode switching error information (SV22)


SSCNET control (status)

Test mode request error information

Motion CPU WDT error cause

Main cycle

At test mode request

At Motion CPU

WDT error occurrence


Manual pulse generator axis setting error information

Error program No.

Error item information

Motion operation cycle

Operation cycle of the Motion CPU setting

At start

Operation cycle

At power supply on

Maximum Motion operation cycle QDS Operation

System setting error information QDS

At System setting error occurrence method Ver.!

SSCNET control (command)

At power supply on

Main cycle

Monitor device

Command device

Ver.!


4 - 83


SD200

(1) State of switch (SD200) ............................................. Monitor device

The switch state of CPU is stored in the form of the following. b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Switch state of CPU

0 : RUN

1 : STOP

No used

(2) Real mode axis information register (SD500, SD501)

.................... Monitor device

This signal is used to store the information used as a real mode axis at the time of switching from real mode to virtual mode.

The real mode axis information does not change at the time of switching from virtual mode to real mode. b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

SD500 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1


Real mode axis information

0 : Except real mode axis

1 : Real mode axis






(3) Servo amplifier loading information (SD502, SD503)

..................... Monitor device

The mounting status of the servo amplifier is checked at the power supply on or reset of the Multiple CPU system and its results are stored in this device.

If communication with servo amplifier stops, it is reset.

The mounting status of changed axis after the power supply on is stored. b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0



Servo amplifier mounting status

. . . . . . . . 1

Not mounted . . . . 0 (Note-1): The following range is valid.



(Note-2) : Refer to APPENDIX 1.1 for the expression method of axis No. corresponding


4 - 84


(a) Servo amplifier mounting status

1) Mounting status

• Mounted ..…..... The servo amplifier is normal. (Communication with the servo amplifier is normal.)

• Not mounted .... The servo amplifier is not mounted.

The servo amplifier power is off.

Normal communication with the servo amplifier is not possible due to a connecting cable fault, etc.

2) The system settings and servo amplifier mounting status are shown below.

System Settings

Servo amplifier

Used (axis No. setting)

Unused

1 is stored 0 is stored

0 is stored

(4) Real mode/virtual mode switching error information

(SD504 to SD506) ..................................................... Monitor device

When a mode switching error occurs in real-to-virtual or virtual-to-real mode switching, or a mode continuation error occurs in the virtual mode, its error information is stored.

Refer to APPENDIX 1.7 for details of the stored error code.

The axis error code among the error codes stored in SD504 to SD506 is shown below. b15 b0

SD504 Error



Erroneous axis bit "1"

<Example> For 8 axes error

(Decimal) "128" and (Hexadecimal) "0080H" is stored in the SD505,


and the error code is stored in the SD504.






(5) SSCNET control (status) (SD508) ...................... Monitor device

SD508 stores the executing state for connect/disconnect of SSCNET communication and start/release of amplifier-less operation.

• 0 .............. Command accept waiting

• -1 ............. Execute waiting

• -2 ............. Executing

Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller programming

Manual (COMMON)" for details of the SSCNET control function.

4 - 85


(6) Test mode request error information (SD510, SD511)

..................... Monitor device

If there are operating axis at a test mode request using MT Developer2, a test mode request error occurs, the test mode request error flag (SM510) turns on, and the during operation/stop data of each axis are stored. b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0



Stores the during operation/stop data of each axis

0 : During stop

1 : During operation (Note-1): The following range is valid.





Error code

1

2

300

303

S/W fault 3

S/W fault 4

(7) Motion CPU WDT error cause (SD512) .................... Monitor device

This register is used as judgement of the error contents in the Motion CPU.

Error cause

S/W fault 1

Operation cycle time over

Operation when error occurs

Action to take

All axes stop immediately, after which operation cannot be started.

• Reset the Multiple CPU system.

• If the an operation cycle time over reoccurs after resetting, or a main cycle is lengthened (more than 1.0[s]),

1) Change the operation cycle into a large value in the system setting.

2) Reduce the number of command execution of the event task or NMI task in the system setting.

• Reset the Multiple CPU system.

• If the error reoccurs after resetting, explain the error symptom and get advice from our sales representative.

4 - 86


(8) Manual pulse generator axis setting error information

(SD513 to SD515) ..................................................... Monitor device

The setting information is checked at leading edge of manual pulse generator enable signal, if an error is found, the following error information is stored into

SD513 to SD515 and the manual pulse generator axis setting error flag (SM513) turns on.

If there is an unused setting error for the manual pulse generator axis, a correspondence bit of SD513 turns ON.

SD513 b15 b14 b13 b12 b11 b10 b9

0 0 0 0 0 0 0 b8 b7

P3 P2 b6 b5

P1 P3 b4 b3 b2 b1 b0

P2 P1 P3 P2 P1

Store the axis setting errors of the manual pulse generators connected to P1 to P3 of Q173DPX.

0 : Normal

1 : Setting error

(Axis setting in each digit is except 1 to 32)

Store the smoothing magnification setting errors of the manual pulse generators connected to P1 to P3 of Q173DPX.

0 : Normal

1 : Setting error

(Axis setting in each digit is except 0 to 59)

Store the unused setting errors of the manual pulse generators connected to P1 to P3 of

Q173DPX.

0 : Normal

1 : The manual pulse generator enable flag

is ON for manual pulse generator with

an unused setting error.

All turn to 0.



Store the 1-pulse input magnification setting errors of the axis.

0 : Normal

1 : Setting error

(Input magnification of each axis is except

1 to 10000.) (Note-1): The following range is valid.





(9) Error program No. (SD516) ....................................... Monitor device

(a) When the servo program error occurs at the servo program start, the servo program setting error flag (SM516) turns on and the error servo program No.

(0 to 4095).

(b) If an error occurs in another servo program when error program No. has been stored, the program No. of the new error is stored.

(10) Error item information (SD517) ..........………......... Monitor device

When the servo program error occurs at the servo program start, the servo program setting error flag (SM516) turns on and the error code corresponds to the error setting item is stored.

Refer to APPENDIX 1.3 for details of servo program setting errors.

4 - 87


(11) Motion operation cycle (SD522) .............................. Monitor device

The time which motion operation took for every motion operation cycle is stored in [µs] unit.

(12) Operation cycle of the Motion CPU setting (SD523)

..................... Monitor device

The setting operation cycle is stored in [µs] unit.

When the "Default Setting" is set in the system setting, the operation cycle corresponding to the number of setting axes. When "0.2[ms]

QDS

/ 0.4[ms] /

0.8[ms] / 1.7[ms] / 3.5[ms] / 7.1[ms] /14.2[ms]

QD

" is set in the system setting, the operation cycle corresponding to each setting.

(Note): If the servo amplifiers of 9 axes or more are connected to one

SSCNET line, it does not support an operation cycle of 0.4[ms].

0.8[ms] is used as the real operation cycle, even if 0.4[ms] is set in the system setting.

(13) Maximum Motion operation cycle (SD524)

QDS

.............................. Monitor device

The maximum time for motion operation is stored every motion operation cycle in [µs] unit.

(14) System setting error information (SD550,SD551)

QDS

.............................. Monitor device

The error code and error individual information are stored at the system setting error occurrence.

Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming

Manual (COMMON)" for details of the system setting errors.

(15) Operation method (SD560)

QDS Ver.!

.................... Monitor device

When the operating system software is SV22, the operation method information is stored.

• 0 ............ Virtual mode switching method

• 1 ............ Advanced synchronous control method

Ver.!


4 - 88


(16) SSCNET control (command) (SD803) ................ Command device

SD803 is required for connect/disconnect of SSCNET communication and start/release of amplifier-less operation.

• 0 .............. No command

• 1 to 32 ..... Disconnect command of SSCNET communication

• -10 ........... Re-connect command of SSCNET communication

• -20 ........... Start command 1 of amplifier-less operation (EMI invalid)

• -21 ........... Start command 2 of amplifier-less operation (EMI valid)

• -25 ........... Release command of amplifier-less operation

• -2 ............. Execute command

Refer to the "Q173DCPU/Q172DCPU Motion controller Programming Manual

(COMMON)" for details of the SSCNET control function.

4 - 89


MEMO

4 - 90

5 MECHANICAL SYSTEM PROGRAM

5. MECHANICAL SYSTEM PROGRAM

This section describes the mechanical system program in the virtual mode.

In the mechanical system program (Mechanical support language), what was performing synchronous control by hardware using the gear, shaft, belt, pulley, cam or infinitely variable speed changer, etc. is transposed to software, and same operation control is performed.

The mechanical system program is composed with the mechanical module connection diagram and mechanical module parameter.

• The mechanical module connection diagram shows the virtual mechanical system which connected the virtual mechanical modules.

• The mechanical module parameters are used to control of the mechanical modules used at the mechanical module connection diagram.

Refer to the mechanical module parameter lists shown in Chapters 6 to 8 for the mechanical module parameters.

5

5 - 1


5.1 Mechanical Module Connection Diagram

The mechanical module connection diagram shows a virtual system diagram which arranged the mechanical modules and was composed.

Configuration of the mechanical module connection is shown in Fig. 5.1 below.

Indicates rotation direction

Drive module Transmission module

Virtual axis

Virtual main shaft

Virtual servomotor

Differential gear

Gear

Synchronous encoder

Drive module

Virtual servomotor

Connection axis

Synchronous encoder


Clutch

Drive module

Virtual servomotor

Gear

Speed change gear

Clutch

Differential gear

Speed change gear

Cam

Synchronous encoder

Roller

Ball screw

Rotary table

1 block

1 system

Fig. 5.1 Configuration of the Mechanical Module Connection

POINT

(1) Either a virtual servomotor or a synchronous encoder can be connected in the drive module.

(2) One of the cam, roller, ball screw or rotary table can be connected in the output module.

5 - 2


(1) Block

The term "block" is one relation from the virtual transmission module (gear) connected to the virtual main shaft to the output module.

Refer to Section 5.2 for the number of mechanical modules which can be connected in one block.

(2) System

The term "system" is a generic term of multiple blocks connected to one virtual main shaft.

The number of blocks connectable with one system is up to 32 blocks.

(3) Transmission module connections

There are 3 transmission module connection patterns:

• Pattern 1....... Without a differential gear.

• Pattern 2....... Without a speed change gear at the output side of the differential gear.

• Pattern 3....... With a speed change gear at the output side of the differential gear.

Pattern 1 Pattern 2 Pattern 3

Gear Gear Gear

Output module

Gear

B

Drive module

Differential gear

Output module

Gear

B

Drive module

Differential gear

Speed change gear

Output module

5 - 3


(a) Transmission modules which can be connected at "A" and "B" above

1) A clutch, speed change gear, and "clutch + speed change gear" can be connected at "A" and "B".

2) If a "clutch + speed change gear" are used, connection constraints have not restrictions.

Clutch

Speed change gear

Clutch

Speed change gear

Speed change gear

Clutch

(b) Transmission module which can be connected at "C" (pattern 3)

Only a clutch can be connected at "C".

5 - 4


MEMO

5 - 5


5.2 Mechanical Module List

An overview of the mechanical modules used at the mechanical module connection diagrams in the virtual mode is shown in Tables 5.1.

Refer to Chapter 6 to 8 for details of each mechanical module.

Classification

Drive module

Virtual servomotor

Synchronous encoder

Virtual axis

Mechanical Module

Virtual main shaft


Gear

Direct clutch

Transmission module Smoothing clutch

Speed change gear

Differential gear

Differential gear to main shaft

—

—

Table 5.1 Mechanical Module List

Number module

Maximum Number of Usable

Q173DSCPU Q172DSCPU

Number

Per

System

Number Per Block

Connection

Shaft Side

Auxiliary

Input

Axis Side

Number

Per Motion

CPU module

Number

Per

System

Number Per Block

Connection

Axis Side

Auxiliary

Input

Axis Side

12

32

Total

44

Total

64

12

Total

34

32 32 1

32 1 —

—

Total

28

12

Total

32

12

Total

18

— —

32 32 — — 16 — —

16 — —

64 64 1 1 32 32 1 1

64 64 1 1 32 32 1 1

64 64 1 1 32 32 1 1

16 16 1

16 1 —

—

5 - 6



Q173DCPU(-S1)

Number

Per Motion

CPU module

Number

Per

System

Number Per Block

Connection

Shaft Side

Auxiliary

Input

Axis Side

Number

Per Motion

CPU module

Q172DCPU(-S1)

Number Per Block

Number

Per

System

Connection

Axis Side

Auxiliary

Input

Axis Side

Function Description

• It is used to drive the virtual axis of

32 32

12

32

Total

44

Total

64

12

Total

34

32 32 1

32 1 —

—

Total

16

Total

16

8

Total

10

8 8 1

—

8 1 — servo program or JOG operation.

• It is used to drive the virtual axis by the synchronous encoder.

• This is a virtual "link shaft". the transmission module.

• This is the auxiliary input axis for input to the differential gear of transmission

• It is automatically displayed when a differential gear and gear are connected.

• The drive module rotation is transmitted to the output axis.

• A setting gear ratio is applied to the module, and then transmits to the output axis that it becomes in the setting rotation direction.

• Transmit or separate the drive module rotation to the output module.

• There are a direct clutch transmitted directly and the smoothing clutch which performs the acceleration/deceleration and transmission by the smoothing time

• It can be selected the ON/OFF mode, address mode or the external input mode depending on the application.

• Time constant system or slippage system can be selected as a smoothing method.

• It is used to change the speed of output module (roller). applied to input axis speed, and transmits to the output axis.

• Auxiliary input axis rotation is subtracted from virtual main shaft rotation and the result is transmitted to the output axis.

• Auxiliary input axis rotation is subtracted from virtual main shaft rotation, and the result is transmitted to the output axis.

(Connected to the virtual main shaft)

Section

Section

6.1

Section

6.2

—

—

Section

7.1

Section

7.2

Section

7.3

Section

7.4

5 - 7


Classification

Output module

Roller

Ball screw

Rotary table

Cam

Table 5.1 Mechanical Module List (Continued)

Mechanical Module

Number module


Q173DSCPU Q172DSCPU

Number

Per

System

Number Per Block

Connection

Shaft Side

Auxiliary

Input

Axis Side

Number

Per Motion

CPU module

Number

Per

System

Number Per Block

Connection

Axis Side

Auxiliary

Input

Axis Side

32 32

32 32

Total

32

Total

32

32 32

32 32

16 16

16 16

1 1

Total

16

Total

16

16 16

16 16

1 1

5 - 8



Q173DCPU(-S1)

Number

Per Motion

CPU module

Number

Per

System

Number Per Block

Connection

Shaft Side

Auxiliary

Input

Axis Side

Number

Per Motion

CPU module

Q172DCPU(-S1)

Number Per Block

Number

Per

System

Connection

Axis Side

Auxiliary

Input

Axis Side

32 32

32 32

32

Total

32

32

Total

32

32 32

8 8

8 8

1 1

Total

8

Total

8

8 8

8 8

Function Description

• It is used to perform the speed control at the final output.

• It is used to perform the linear positioning control at the final output.

1 1

• It is used to perform the angle control at the final output.

• It is used to perform the position control based on the cam pattern setting data.

• There are 2 cam control modes: the twoway cam and feed cam.

Section

Section

8.1

Section

8.2

Section

8.3

Section

8.4

5 - 9


MEMO

5 - 10

6 DRIVE MODULE

6. DRIVE MODULE

The drive module is the source of drive for the virtual axis (virtual main shaft, virtual auxiliary input axis).

There are following 2 types drive module.

• Virtual servomotor ....................... Refer to Section 6.1

• Synchronous encoder ................. Refer to Section 6.2

POINT

Set the travel value of drive module so large as possible to prevent the speed fluctuation of output module in the mechanical system program. If the travel value of drive module is small, the speed fluctuation of output module may occur depending on the setting for transmission module.

6

6 - 1

6 DRIVE MODULE

6.1 Virtual Servomotor

The virtual servomotor is used to operate the virtual axis (virtual main shaft, virtual auxiliary input axis) using the servo program or JOG operation.

Virtual servomotor operation and parameters are shown below.

6.1.1 Operation description

(1) Operation

When the virtual servomotor is started, the pulses are transmitted to the virtual axis (virtual main shaft, virtual auxiliary input axis) by the start conditions

(command speed, travel value).

The transmitted pulses are transmitted to the output module connected via the transmission module (gear, differential gear, clutch, speed change gear).

Motion SFC program

(2) Starting method

The virtual servomotor is started using the servo program or JOG operation.

(a) Start using the servo program

The servo program of Motion SFC program (motion control step) is executed. At this time, the start accept flag (Note-1) (M2001 to M2032) of the starting axis turns on.

Example of the Motion SFC program is shown below.


Starting method

G10

PX000*M2044*!M2001

K10

ABS-1

Axis 1, 10000PLS

Speed 1000PLS/s

G20

!PX000*!M2001

Wait until PX000 and switching status turn on, and axis 1 start accept flag turn off.

1 axis linear positioning control

Used axis . . . . . . . . Axis 1

End address . . . . . .10000[PLS]

Positioning speed . . . . .1000[PLS/s]

Wait until PX000 and axis 1 start accept flag turn on.

Control

Virtual servo motor

[Virtual axis1]

END

(Note) : Example of the above Motion SFC program is started using the automatic start or sequence program.

REMARK

(Note-1) : Refer to Section 4.1.7 (2) for details of the start accept flag.

6 - 2

6 DRIVE MODULE

(b) Start using the JOG operation

An individual start and simultaneous start can be executed in the JOG operation (Note-1).

1) Individual start

.......It is started by turning on the forward/reverse JOG command (Note-2) of each axis.

Motion SFC program for which executes the JOG operation is shown below.

Virtual axis1 individual start program

JOG operation - Individual start

F10

D640L=K100000

G10

M2044*!M2001

P1

F20

SET M4802=PX003*!M4803

RST M4802=!PX003

SET M4803=PX004*!M4802

RST M4803=!PX004

Set the JOG operation speed to D640, D641.

Wait until the switching status turn on, and axis 1 start accept flag turn off.

1 axis forward/reverse JOG operation.

1 axis forward JOG command

SET/RST.

1 axis reverse JOG command

SET/RST.

Forward JOG

Reverse JOG


Virtual servo motor

P1

(Note): Example of the above Motion SFC program is started using the automatic start or sequence program.

6 - 3

6 DRIVE MODULE

2) Simultaneous start

.......The simultaneous start axis No. and directions (forward/reverse) are set by the JOG operation simultaneous start axis setting register

(D710 to D713) (Note-3) , and it is started by turning on the JOG operation simultaneous start command flag (M2048) (Note-3) .

Virtual axis 1, 2 simultaneous program

Simultaneous start

When the 2 axes simultaneous start switch

(PX000) turn on, the following JOG operation is executed with speed of 150000 [mm/min].

[PX000 : 1 axis reverse, 2 axes forward]

G10

PX001*M2044*!M2001*!M2002

Wait until PX001 and switching status turn on, and axis 1, 2 start accept flag turn off.

P0

G20

PX000

F10

D710=H0002

D712=H0001

D640L=K150000

D642L=K150000

SET M2048

JOG operation execution by turning on the JOG operation simultaneous start command

RST M2048

JOG operation


Virtual servo motor

[Virtual axis 1]

[Virtual axis 2]

P0


REMARK

(Note-1): Refer to Section "6.21 JOG Operation" of the "Q173D(S)CPU/

Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual

(REAL MODE)" for details of the JOG operation.

(Note-2): Refer to Section 4.1.4 (3) for details of the forward/reverse rotation JOG start commands.

(Note-3): Refer to Section 4.2.8 (2) for details of the JOG operation simultaneous start axis setting registers, and Section 4.1.7 (14) for details of the JOG operation simultaneous start command.

6 - 4

6 DRIVE MODULE

(3) Stopping method during operation

When the virtual servomotor is stopped during operation after the start, turn the stop command (M4800+20n)/rapid stop command (M4801+20n) on using the

Motion SFC program.

(There are no external stop causes (STOP, FLS, RLS) for the virtual servomotor.)

(4) Control items

(a) It is controlled as the virtual servomotor backlash compensation amount "0" at the positioning control.

(b) The deviation counter value and the real current value are not stored, so that the virtual servomotor has no feedback pulse.

(c) The feed current value of virtual servomotor is recorded in a backup memory, and it is restored at the switching from real mode to virtual mode after the power supply of the Multiple CPU system turned on.

1) When the output module is using the absolute position system, continuation operation is possible. However, if the servomotor of the output module connected to the virtual servomotor is operated while the power supply of the Multiple CPU system turns off, continuation operation is impossible even if the absolute position system is being used.

At this time, the virtual mode continuation operation disabled warning signal

(Note-1)

turns on.

Set the virtual servomotor or servomotor of output module to the position which synchronous operation is possible.

2) When the output module is not using the absolute position system, correct the feed current value of virtual servomotor by the current value change switching from real mode to virtual mode.

(5) Control change

The following control changes are possible for the virtual servomotor.

• Current value change

• Speed change

• Target position change QDS

Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22)

Programming Manual (Motion SFC)" for details of the current value change, speed change or target position change.

REMARK

(Note-1): Refer to Section 4.1.5 (3) for details of the virtual mode continuation operation disabled warning signal.

6 - 5

6 DRIVE MODULE

(6) Error-time operation mode

The processings are shown below when major errors occurred with the output modules per 1 system.

The following control is executed based on the parameter settings (Refer to

Section 6.1.2) of the virtual servomotor connected to the virtual main shaft.

(a) Continuation

Even if a major error occurs with the output module, the output module continues operation. At this time, the error detection signal (M2407+20n) turns on, and the applicable error code is stored in the major error code storage register.

Use the Motion SFC program for continue/stop of the system and the output module operation at the major error occurrence.

[During operation]

Virtual servomotor

(b) Clutch OFF

If a major error occurs with the output module, the clutch within 1 system turns off and stops connected output modules. (The smoothing processing is executed by the clutch setting.)

At this time, the clutch ON/OFF command device does not turn off.

However, the clutch status storage device turns off regardless of the clutch

ON/OFF command device's ON/OFF status.

Operation continues at axes where no clutch is connected.

Use the Motion SFC program to stop the drive module.

Eliminate the error cause, then turn the clutch ON/OFF command device off to on to resume the operation.

[Operation at major error occurrence]

Clutch ON

Clutch ON

Major error occurrence

Clutch OFF

Clutch ON


Clutch OFF

Stop

Operation continuation

Clutch OFF

6 - 6

6 DRIVE MODULE

(7) Virtual servomotor axis infinite operation

By setting the upper stroke limit value and lower stroke limit value of the virtual servomotor parameters such that the "upper stroke limit value = lower stroke limit value", the stroke limit becomes invalid and infinite operation becomes possible.

When the stroke limit is invalid, it is also possible for the start of the feed current value to take place in a direction that exceeds 32 bits. In this case, the feed current value is converted to a 32 bits ring address.

-2147483648......2147483647

The following operations are possible by the control mode.

Control mode

Positioning (Linear)

Speed-switching

Constant-speed (Linear)

Fixed-pitch feed

Position follow-up

Control contents

• When the ABS command is used for the start, it starts in a direction within the 32 bits range. It does not start in a direction that exceeds the 32 bits range.

• When the INC command is used for the start, it starts in the specified direction, so it also can be start in a direction that exceeds 32 bits.

• It starts in the specified direction, it also can be start in a direction that exceeds 32 bits.

• The command address is controlled by the absolute method so it does not start in a direction that exceeds the

32 bits range.

Speed

JOG

Manual pulse generator

(Test mode)

Positioning (Circular, Helical)

Constant-speed (Circular, Helical)

• Stroke is invalid. (It is ignored.) Moves in the specified direction.

• A start error (107, 108, 109) accompanies the ABS, ABH,

INC or INH command and start is not possible.

(8) Reverse return during positioning

By specifying a negative speed and making a speed change request by the

CHGV instruction during the start, allow the axis start deceleration at that point and return in the opposite direction upon completion of deceleration.


Programming Manual (Motion SFC)" for details.

(9) Target position change

QDS

Making a target position change request by the CHGP instruction during the start.


Programming Manual (Motion SFC)" for details.

6 - 7

6 DRIVE MODULE

6.1.2 Parameter list

The virtual servomotor parameters are shown in Table 6.1 and the parameters shown in this table are explained in items (1) to (4) below.

Refer to the help of MT Developer2 for the parameter setting method of virtual servomotor.

A parameter is requested except for the above for program operation of the virtual servomotor. Refer to the item (5) for precautions of the parameter blocks.

Table 6.1 Virtual Servomotor Parameter List

No.

1 Virtual axis No.

Setting item

2 Upper stroke limit value

3 Lower stroke limit value

5

6

JOG operation-time JOG speed restriction parameter Parameter block No.

7 Operation mode at error occurrence

Default value Setting range

— —

Q173DSCPU/Q173DCPU(-S1) : 1 to 32

Q172DSCPU : 1 to 16

Q172DCPU(-S1) : 1 to 8

2147483647 PLS

0 PLS

-2147483648 to 2147483647

-2147483648 to 2147483647

Q173DSCPU/Q172DSCPU

100 PLS

: 1 to 2147483647

Q173DCPU(-S1)/Q172DCPU(-S1) : 1 to 32767

20000

1

PLS/s

—

1 to 2147483647

1 to 64

Continuation — Continuation/Clutch OFF

—

PLS

PLS

PLS

PLS/s

—

(1) Virtual axis No. setting

The virtual axis No. is set in the servo program at the virtual mode operation. The axis No. of the virtual servomotor connected to the virtual main shaft or virtual auxiliary input axis.

(2) Upper/lower stroke limit value settings

The stroke limit range of the virtual servomotor axis is set.

(a) When the stroke limit value is made valid:

Set the stroke range of the "Lower stroke limit value < upper stroke limit value".

The stroke limit check and control details at the start/during start are shown below.

Control mode

Positioning

Fixed-pitch feed

Speed-switching

Linear

Circular

Constant-speed/Helical

Position follow-up

Speed

Error check

(Note)

At start During start

106 207 208 220

— — —

—

—

Remarks stroke limit range is possible.

—

—

Manual pulse generator —

— — stroke limit range from outside the

— stroke limit range is possible.

(Note): Code detected at the error check.

6 - 8

6 DRIVE MODULE

<Error check at start>

Error code

106

Contents

Command position is outside the stroke limit range at start.

Operation

Operation does not start.

<Error check during start>

Error code

207

208

220

Contents

Feed current value is outside the stroke limit range during start.

Feed current value of another axis is outside the stroke limit range at the circular interpolation start.

Command address is outside the stroke limit range during position follow-up control.

Operation

Deceleration stop.

(b) When the stroke limit value is invalid.

Set the stroke range of the "Lower stroke limit value = upper stroke limit value".

When the stroke limit is invalid, feed current value startup in a direction that exceeds 32 bits is possible.

In such a case the feed current value is converted to a 32 bit ring address.

-2147483648......2147483647

The following operations are possible by the control mode.

Control mode

Positioning (Linear)

Speed-switching

Constant-speed (Linear)

Fixed-pitch feed

Position follow-up

Control contents

• When the ABS command is used at the start, it starts in a direction within the 32 bits range. It does not start in a direction that exceeds the 32 bits range.

• When the INC command is used at the start, it starts in the specified direction, so it also can be start in a direction that exceeds 32 bits.

• It starts in the specified direction, it also can be start in a direction that exceeds 32 bits.

• The command address is controlled by the absolute method so it does not start in a direction that exceeds the

32 bits range.

Speed

JOG

Manual pulse generator

Positioning (Circular, Helical)

Constant-speed (Circular, Helical)

• Stroke is invalid. (It is ignored.) Travel in the specified direction.

• A start error (107, 108, 109) occurs in the ABS, ABH, INC or INH command and start is not possible.

6 - 9

6 DRIVE MODULE

(3) Command in-position range

The command in-position is the difference between the positioning address

(command position) and feed current value.

Once the value for the command in-position has been set, the command inposition signal (M2403 + 20n) turns on when the difference between the command position and the feed current value enters the set range [(command position - feed current value)  (command in-position range)].

The command in-position check is executed, continuously during position control.

(The command in-position range is not checked during the speed control and

JOG operation.)

V

Position control start

Command in-position setting value

Speed control start t

Command in-position

(M4003+20n)

ON

OFF

Execution of command in-position check

Fig. 6.1 Command in-position range

(4) Setting of the JOG speed restriction and parameter block No.

The JOG speed restriction and parameter block No. used in the JOG operation are shown below.

(a) JOG speed restriction

This is the maximum speed setting at the JOG operation for virtual axis.

If the JOG speed exceeds the JOG speed restriction, the JOG speed is controlled with the JOG speed restriction.

(b) Parameter block No. setting

This is the parameter block No. setting at the JOG operation.

The following parameter block data items are valid in the JOG operation.

• Acceleration time

• Deceleration time

• Rapid stop deceleration time

Speed

Speed limit value

Rapid stop cause occurrence

1) Real acceleration time

Time take to reach the positioning speed

set in the servo program.

Positioning speed set in the servo program

2) Real rapid stop deceleration time

Time taken to effect a rapid stop from the

positioning speed set in the servo program.

1) Real accele-

ration time

Set acceleration time

Set rapid stop deceleration time

2) Real rapid stop

deceleration time

Time 3) Real deceleration time

Time taken to stop from the positioning

speed set in the servo program.

3) Real deceleration time

Set deceleration time

Fig. 6.2 Relationships between the JOG speed restriction, acceleration time, deceleration time and rapid stop time

6 - 10

6 DRIVE MODULE

POINT

(1) Unit is fixed at [PLS] regardless of the interpolation control unit setting of parameter block in the JOG operation.

(2) Even if the JOG speed of virtual servomotor is within the JOG speed restriction, when the JOG speed has not satisfied the condition "(Command speed [PLS/s])

(Operation cycle [ms]) (Number of input side gear teeth) < 2147483647

10 3 ", the speed of output module becomes abnormal. Be sure to use within the range of above conditional expression.

Number of input side gear teeth

Virtual servomotor

Output module

(Example) Relation between an operation cycle, number of input side gear teeth and maximum speed

Operation cycle

[ms]

Speed [Unit: PLS/s]

Number of input side gear teeth

0.22

QDS 900000000

14.2

QD 14062500 2145800

REMARK

Regardless of the speed limit value of parameter block for also program start of virtual servomotor, when the command speed has not satisfied the condition

"(Command speed [PLS/s]) (Operation cycle [ms]) (Number of input side gear teeth) < 2147483647 10

3

", the speed of output module becomes abnormal.

Be sure to use within the range of above conditional expression.

6 - 11

6 DRIVE MODULE

(5) The parameter block No. for the program operation of virtual servomotor is set in the servo program for virtual mode. (If the parameter block No. setting is omitted, it is controlled with the contents of parameter block No.1.)

The valid parameter block data are shown below.

Interpolation control unit

Speed limit value

Acceleration time

Deceleration time

Rapid stop deceleration time

S-curve ratio

Acceleration/deceleration system


Torque limit value

Acceleration section 1 ratio


Deceleration section 1 ratio


STOP input-time deceleration processing

Circular interpolation error permissible range

[PLS] only

(Note-1)

[PLS/s] only

(Note-2)

[PLS] only

(Note-1)

(Note-1)

: Valid, : Invalid

(Note-1): If it is set except for the [PLS] or [PLS/s], the program operation is executed as [PLS] automatically.

(Note-2): It is set for every output module with a parameter of output module.

<Example>

Interpolation control unit

Speed limit value

Acceleration time

Deceleration time


S-curve ratio

1000[ms]

1000[ms]

1000[ms]

1000[ms]

0[%] 0[%]

Acceleration/deceleration system Trapezoid/S-curve Trapezoid/S-curve


Item




Specified parameter block setting value

[mm]

2000.00[mm/min]

1000[ms]

20.0[%]

20.0[%]

20.0[%]

Value used for the program operation

[PLS]

200000[PLS/s]

1000[ms]

20.0[%]

20.0[%]

20.0[%]


Torque limit value

STOP input-time deceleration processing

Circular interpolation error permissible range

20.0[%]

300[%]

Deceleration stop

0.0100[mm]

20.0[%]

100[PLS]

6 - 12

6 DRIVE MODULE

6.1.3 Virtual servomotor axis devices (Internal relays, data registers)

(1) Virtual servomotor axis status

Refer to Section 4.1.3 for details of the virtual servomotor axis statuses.

(2) Virtual servomotor axis command signal

Refer to Section 4.1.4 for details of the virtual servomotor axis command signals.

(3) Virtual servomotor axis monitor device

Refer to Section 4.2.3 for details of the virtual servomotor axis monitor devices.

(4) Current value after virtual servomotor axis main shaft’s differential gear

Refer to Section 4.2.4 for details of the current value after virtual servomotor axis main shaft’s differential gear.

6 - 13

6 DRIVE MODULE

6.2 Synchronous Encoder

The synchronous encoder is used to operate the virtual axis (virtual main shaft, virtual auxiliary input axis) with the external input pulse.

Synchronous encoder operation and parameters are shown below.

6.2.1 Operation description

(1) Operations

Although a synchronous encoder does not need to start using the servo program etc. in order to operate it by external devices, it needs cautions for the timing which begins to input the input pulse from a synchronous encoder.

(a) Operation start

The input timing of input pulse

(Note-4)

from an external synchronous encoder is shown below.

• At the switching from real mode to virtual mode

• At the external signal

(Note-2)

(TREN : Synchronous encoder input start signal) input

1) When the input pulse is started to input at the switching from real mode to virtual mode.

(Note-4) a) The input pulse is input from the external synchronous encoder at the switching from real mode to virtual mode.

ON

Real mode/virtual mode (Note-1) switching request flag (M2043)

OFF

ON

Real mode/virtual mode (Note-1) switching status flag (M2044)

OFF

Real mode Virtual mode

Input pulse from the external synchronous encoder

(2 31 -1)

Feed current value of the synchronous encoder axis

(-2 31 )

Operation start of the synchronous encoder axis b) The control mode (Note-3) of a clutch is operation in the case of

ON/OFF mode and address mode. It can be used with the synchronous encoder for the incremental/absolute data method. c) Operating of the synchronous encoder axis starts when switched to the virtual mode by executing the switching request from real mode to virtual mode (M2043 OFF to ON). It depends on the state of connected clutch whether synchronous encoder operation in virtual mode is transmitted or not to the output module.

• Clutch ON ........ Transmit to the output module.

• Clutch OFF ...... Not transmit to the output module.

6 - 14

6 DRIVE MODULE

CAUTION

If the mode is switched from real mode to virtual mode in the state of clutch ON, use the smoothing clutch. If the direct clutch is used and the mode is switched from real mode to virtual mode in the state of clutch ON, the rapid acceleration occurs at the output module axis, causing a servo error, and the machine will be subjected to a jolt.

2) When the input pulse is inputted from an external synchronous encoder.

(Note-4) a) The input pulse is started to input from the external synchronous encoder, when the clutch is switched on in virtual mode.

ON

Real mode/virtual mode (Note-1) switching request flag (M2043)

OFF

ON

Real mode/virtual mode (Note-1) switching status flag (M2044)

OFF

Input pulse from the external synchronous encoder

Clutch ON/ OFF command device

External signal(TREN)

OFF

OFF

ON

ON

OFF

ON

(2 31 -1)

Feed current value of the synchronous encoder axis

[PLS]

Operation stop of the synchronous encoder axis

(-2 31 )

Operation start of the synchronous encoder axis b) The control mode

(Note-3)

of a clutch is operation in the case of external input mode.

Operation of the synchronous encoder and clutch corresponds.

It can be used with the synchronous encoder for the incremental data method connected to Q173DPX only.

(b) Operation end

1) Operation of the synchronous encoder axis is executed the real mode/virtual mode switching request (M2043 : ON OFF) and ends at the switching to real mode.

(Note-4)

2) The procedure for ending operation of the synchronous encoder axis is shown below. a) Stop the output module

Stop the external synchronous encoder.

Switch the connected clutch OFF. b) Switch from the virtual mode to real mode.

6 - 15

6 DRIVE MODULE

CAUTION

If the mode is switched from virtual mode to real mode while the synchronous encoder axis and connected output module are operating, the rapid stop occurs at the output module axis, causing a servo error, and the machine will be subjected to a jolt.

(c) Stopping method

Stop the external synchronous encoder for stopping the external synchronous encoder.

There are no external inputs (FLS, RLS, STOP) or stop command/rapid stop command from the Motion SFC program for the synchronous encoder.

(d) Control items

1) The deviation counter value and the real current value are not stored, so that the synchronous encoder has no feedback pulse.

2) The current value of synchronous encoder is recorded in a backup memory, and it is restored at the switching from real mode to virtual mode after the power supply of the Multiple CPU system turned on.

(Note-4) a) When the output module is using the absolute position system, continuation operation is possible. However, if the servomotor of the output module connected to the synchronous encoder or synchronous encoder for the absolute data method is operated by 180° or more while the power supply of the Multiple CPU system turns off, continuation operation is impossible even if the absolute position system is being used.

At this time, the virtual mode continuation operation disabled warning signal turns on.

Set the servomotor of output module to the position which synchronous operation is possible. b) When the output module is not using the absolute position system, correct the feed current value by the current value change switching from real mode to virtual mode.

(e) Control change

The following current value change is possible for the synchronous encoder.

Refer to Section 7.3 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller

(SV13/SV22) Programming Manual (Motion SFC)" for details of the current value change.

6 - 16

6 DRIVE MODULE

REMARK

(Note-1): Refer to Section 4.1.7 (9) (10) for details of the real mode/virtual mode switching request flag and real mode/virtual mode switching status flag.

Refer to Chapter 9 for switching from real mode to virtual mode.

(Note-2): The synchronous encoder input start signal is inputted to the Q173DPX

"TREN" terminal.

Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller User's

Manual" for details of the Q173DPX "TREN" terminal.

(Note-3): Refer to Section 7.2.1 for details of the clutch control mode.

(Note-4): The input pulse is always input after Multiple CPU system's power supply

ON in the real mode for the version (Refer to Section 1.4) that supports


Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller

(SV13/SV22) Programming Manual (REAL MODE)" for details.

(f) Error-time operation mode

The processings are shown below when major errors occurred with the output modules per 1 system.

The following control is executed based on the parameter settings (Refer to

Table 6.2) of the synchronous encoder connected to the virtual main shaft.

1) Continuation

Even if a major error occurs with the output module, the output module continues operation. At this time, the error detection signal

(M2407+20n) turns on, and the applicable error code is stored in the major error code storage register.

Use the Motion SFC program for continue/stop of the system and the output module operation at the major error occurrence.

2) Clutch OFF

If a major error occurs with the output module, the clutch within 1 system turns off and stops connected output modules.

At this time, the clutch ON/OFF command device does not turn off.

However, the clutch status storage device turns off regardless of the clutch ON/OFF command device's ON/OFF status.

Operation continues at axes where no clutch is connected.

Use the Motion SFC program to stop the drive module.

Eliminate the error cause, then turn the clutch ON/OFF command device off to on to resume the operation.

6 - 17

6 DRIVE MODULE

[During operation]

Synchronous encoder

Clutch ON

Clutch ON

[Operation at major error occurrence]


Clutch OFF

Clutch ON


Clutch OFF

Stop

Operation continuation

Clutch OFF

6 - 18

6 DRIVE MODULE


The synchronous encoder parameters are shown in Table 6.2 and the parameters shown in this table are explained in items (1) below.

Refer to the help of MT Developer2 for the parameter setting method of synchronous encoder.

No.

Table 6.2 Synchronous Encoder Parameter List

Setting item

1 Synchronous encoder No.

Default value

—

2 Error-time operation mode Continuation

Setting range

Q173DSCPU/Q172DSCPU/Q173DCPU(-S1) : 1 to 12

Q172DCPU(-S1) : 1 to 8

Continuation/ Clutch OFF

(1) Synchronous encoder No.

The synchronous encoder No. is set connected to the Q172DEX/Q173DPX/builtin interface in Motion CPU (DI)

QDS

.

Connecting position Synchronous encoder No.

P1 1

P2 2

P3 3

P4 4

P5 5

P6 6

P7 7

P8 8

P9 9

P10 10

P11 11

P12 12

REMARK

(Note-1): The absolute and incremental synchronous encoders can be used (set) together.

6 - 19

6 DRIVE MODULE

6.2.3 Synchronous encoder axis devices (Internal relays, data registers)

(1) Synchronous encoder axis status

Refer to Section 4.1.5 for details of the synchronous encoder axis statuses.

(2) Synchronous encoder axis command signal

Refer to Section 4.1.6 for details of the synchronous encoder axis command signals.

(3) Synchronous encoder axis monitor device

Refer to Section 4.2.5 for details of the synchronous encoder axis monitor devices.

(4) Current value after synchronous encoder axis main shaft's differential gear

Refer to Section 4.2.6 for details of the current value after synchronous encoder axis main shaft’s differential gear.

6 - 20

6 DRIVE MODULE

6.3 Virtual Servomotor/Synchronous Encoder Control Change

The current value change and JOG speed change of the virtual servomotor and the current value of synchronous encoder.


Programming Manual (Motion SFC)" for details of the current value change/speed change/target position change

QDS

.

6.3.1 Virtual servomotor control change

Axis No. Device No.

(1) Control change registers

Signal name

Signal name

D647 0

D649 1

JOG speed setting

Real Virtual

Refresh cycle

Fetch cycle

At start

Signal direction

Command device

: Valid

6 - 21

6 DRIVE MODULE

POINT









(a) JOG speed setting registers (D640+2n, D641+2n) .............Command device

1) This register stores the JOG speed at the JOG operation.

2) Setting range of the JOG speed is 1 to 2147483647 [PLS/s].

3) The JOG speed is the value stored in the JOG speed setting registers at leading edge of JOG start signal.

Even if data is changed during JOG operation, JOG speed cannot be changed.

(Note): Refer to Section 6.21 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details of the JOG operation.

(2) Current value change

(a) Current value change by the CHGA instruction

Motion SFC program for which executes the servo program is shown below.

Current value change program of the virtual servomotor (When 1 axis feed current value of the virtual servomotor is changed to 1000 PLS.)

Current value change CHGA


G10

PX000*M2043*M2044*!M2001

Wait until PX000, real mode/virtual mode switching request and switching status turn on, and Axis 1 start accept flag turn off.

K10

CHGA

Axis 1, 1000PLS

G20

!PX000*!M2001

Virtual servomotor axis current value change control.

Used axis . . . . . . . . . . . . . . . Axis 1

Current value to change. . . . 1000[PLS]

Wait until PX000 and axis 1 start accept flag turns off.

END


6 - 22

6 DRIVE MODULE

6.3.2 Synchronous encoder control change

(1) Current value change by the CHGA-E instruction

Example of Motion SFC program for which executes the servo program is shown below.

Current value change CHGA-E


G10

PX000*M2043*M2044*!M2101

K10

CHGA-E

Axis 1, 20000PLS

Wait until PX000, real mode/virtual mode switching request and switching status turn on, and current value changing flag turns off.

Synchronous encoder axis current value change control.

Used axis . . . . . . . . . . . . . . . Axis 1

Current value to change. . . . 20000[PLS]

G20

!PX000*!M2101

Wait until PX000 and current value changing flag turns off.

END


(a) The current value to change uses the following devices.

• Indirect setting....... Data register (D)

Link register (W)

Motion register (#)

2 word

Multiple CPU area device (U \G)

• Direct setting ......... Decimal constant (K)

(b) Precautions

• When the synchronous encoder current value is changed in the real mode, an error occurs and the current value change is not executed.

(Note-1)

• The synchronous encoder current value change can be executed even during operation in the virtual mode operation (during pulse input from the synchronous encoder).

(Note-1)

When the current value is changed, the synchronous encoder current value will be continued from the changed value.

• Even if a synchronous encoder current value is changed, it will have no effect on the output module current value.

(Note-1): The current value change can be executed in real mode for the version (Refer to Section 1.4) that supports "synchronous encoder current value monitor in real mode".

6 - 23

6 DRIVE MODULE

MEMO

6 - 24

7 TRANSMISSION MODULE

7. TRANSMISSION MODULE

The transmission module transmits the pulse outputted from the drive module to output module.

There are following 4 types transmission modules.

• Gear .................................. Section 7.1

• Clutch ............................... Section 7.2

• Speed change gear ......... Section 7.3

• Differential gear ................ Section 7.4

The device range and setting procedure for indirect setting in the parameter setting of the transmission module are show below.

(1) Device range

The number of device words and device range at the indirect setting are shown below.

Clutch

Number of

Module Item device words

Clutch ON/OFF command device

Smoothing clutch complete signal

Clutch status

Mode setting device

Clutch ON address setting device

Clutch OFF address setting device

Slippage setting device

Slippage in-position range setting device

Input axis side tooth count

Gear

Output axis side tooth count

Speed change gear Speed change ratio setting device

Bit

1

2

2

2

2

1

1

1

Device setting range Remark

Device Range

X 0000 to 1FFF

(Note-1)

Y

M

B

F

U \G

0000 to 1FFF

0 to 8191

0000 to 1FFF

0 to 2047

10000.0 to

(10000+p-1).F

(Note-2)

Device

D

W

#

U \G

Range

0 to 8191

0000 to 1FFF

0 to 7999

10000 to

(10000+p-1)

(Note-2)

(Note-1): The range of "PXn+4 to PXn+F" cannot be used (fixed at 0) for the input device (PXn+0 to PXn+F) allocated to the built-in interface in Motion CPU (DI). (n: First input No.) QDS

(Note-2): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU.

7

POINT

(1) Be sure to set even-numbered devices of the items set as 2-word.

Be sure to set as 32-bit integer type when the data is set in these devices using the Motion SFC programs.

(2) When a 2-word monitor device is read in the Motion SFC program, read it as

32-bit integer type.

(3) Refer to Chapter 2 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller

Programming Manual (COMMON)" for the user setting area points of the

Multiple CPU high speed transmission area.

7 - 1


Clutch

Gear



Clutch status

Mode setting device




Slippage in-position range setting device

Input axis side tooth count

(2) Device data input

The all device data set indirectly is inputted as "initial value" at the switching from real mode to virtual mode, thereafter the input control for module is executed during the virtual mode operation.

The input timing of each setting device and refresh cycle of setting device are shown below.

Refresh device

Device input timing

Real mode/

Virtual mode switching

During the virtual mode operation

Input for every operation cycle.

(Note)

Refresh cycle


(Note)


(Note)

Operation cycle

(Note)

Output axis side tooth count

Speed change gear

Speed change ratio setting device

Input when the current value change of the connection source drive module (virtual servomotor axis/synchronous encoder axis) is executed and the gear ratio is changed.


(Note)

REMARK

(Note): The operation cycle is set in the "operation cycle setting" of system basic setting.


Manual (COMMON)" for details of setting contents.

7 - 2


7.1 Gear

This section describes the gear operation and the parameters required to use a gear.

7.1.1 Operation

Relation between the number of pulses outputted from the synchronous encoder or virtual servomotor and the output module is adjusted by parameter setting of the encoder resolution of servomotor, the gear ratio in consideration of the deceleration ratio for machine system etc. and rotation direction.

The gear operation is shown below.

(1) The gear transmits the number of pulses which applied the gear ratio set in the gear parameter to the travel value (number of pulses) of drive module (virtual servomotor, synchronous encoder) to the output axis.

Number of output axis pulses

=

Number of input axis pulses

× [Gear ratio] [PLS]

7.1.2 Parameters

(2) The rotation direction of output axis is set in the gear parameters.

Input axis

Gear (gear ratio)

Drive module

Output axis

REMARK

Refer to Section 7.1.2 for details of the gear parameters.

The gear parameters are shown in Table 7.1 and the parameters shown in this table are explained in items (1) to (2) below.

Refer to the help of MT Developer2 for the gear parameter setting method.

Table 7.1 Gear Parameter List

Default

Direct setting

Setting range

Indirect setting

D0 to D8191

(Note-1)

1

Gear

Input axis side tooth count (GI) ratio Output axis side tooth count (GO)

1 1 to 65535

W0 to W1FFF

#0 to #7999

U \G10000 to U \G(10000+p-1)

(Note-2)

2

Rotation direction of output axis

Forward rotation

Forward rotation

Reverse rotation

—

(Note-1): D800 to D1559 are dedicated devices of the virtual servomotor axis, synchronous encoder axis and output module "Cam" in the virtual mode. Unused areas of virtual servomotor axis and cam axis can be used as a user device.


7 - 3


(1) Gear ratio

(a) The number of pulses transmitted to the output axis through 1 pulse outputted from the drive module by the gear module is set in the gear ratio.

(b) The gear ratio is based on the settings for the input axis side tooth count (GI) and output axis side tooth count (GO).

Gear ratio =

Input axis side tooth count (GI)

Output axis side tooth count (GO)

(2) Rotation direction of output axis

(a) The rotation direction of the output axis forward the rotation direction of the input axis is set.

(b) There are two types for rotation directions of the output axis: forward and reverse.

1) Forward

When the input axis rotates to the address increase direction, the output axis also rotates to the address increase direction.

Gear

Drive module

Input axis rotates to the address increase direction.

Output axis rotates to the address increase direction.

2) Reverse

When the input axis rotates to the address increase direction, the output axis rotates to the address decrease direction.

Gear

Drive module

Input axis rotates to the address increase direction.

Output axis rotates to the address decrease direction.

POINT

If the gear ratio is set indirectly, the timing that the gear ratio set in Motion SFC program becomes valid is shown below.

(1) When the real mode is switched to virtual mode.

(2) When the current value of the drive module is changed in the virtual mode.

7 - 4


7.2 Clutch

The clutch is used to transmit/disengage the command pulse from drive module side to output module side, and to control the operation/stop of servomotor.

There are two types for clutch: smoothing clutch and direct clutch.

These two clutches operate in the same way, but these have the difference in whether the acceleration/deceleration processing by the smoothing processing is executed or not at the switching of the clutch on/off.

(1) Smoothing clutch and direct clutch

(a) Smoothing clutch

When the clutch is switched on/off, output to the output axis with the acceleration/deceleration processing (smoothing processing) set in the clutch parameters.

There are following three systems for smoothing clutch.

1) Time constant system

2) Slippage system

• Exponential function system • Linear acceleration/deceleration system

(b) Direct clutch

When the clutch is switched on/off, output to the output axis without the acceleration/deceleration processing.

V

Input to clutch

Output to output axis by the smoothing clutch for time constant system

V

Clutch ON

Acceleration by the smoothing processing

A

B t*

Output to output axis by the smoothing clutch for slippage system

(Exponential function system)

V


Output to output axis by the smoothing clutch for slippage system (Linear acceleration/deceleration system)

Slippage

V


Slippage

V

Clutch OFF

Deceleration by the smoothing processing

Deceleration by the smoothing processing

Deceleration by the smoothing processing t t t t

Output to output axis by the direct clutch t

*

t: Smoothing time constant

Time until it becomes

A

B

Fig. 7.1 Output to the Output axis by the Smoothing and Direct Clutch

7 - 5


REMARK

(1) Clutch ON/OFF state is shown below.

Input side (Input axis) to the clutch

Clutch

Output axis

• Clutch ON state..........The state in which pulses inputted to the clutch are output to the output axis.

• Clutch OFF state........The state in which pulses inputted to the clutch are not output to the output axis.

(2) Smoothing processing

(a) Time constant system

1) Since the time constant is fixed, the slippage of clutch changes according to the speed of drive module.

V

V

A

S

A

V A , V B : Drive module speed

S

A

A

S

B

B

V

B

V

AX

0.63

V

BX

0.63

S

B t

Smoothing time constant

Clutch status

7 - 6


2) If input to clutch (travel value after the main shaft's differential gear) changes after smoothing completion, the smoothing processing is executed at that point.

V

Input to clutch

Travel value after the main shaft's differential gear t

Internal clutch status

V

Output to output axis by the smoothing clutch for time constant system t

*t *t

Smoothing completion

*t *t

Clutch status signal

*t : Smoothing time constant

(b) Slippage system

There are following two systems for slippage system.

• Exponential function system

• Linear acceleration/deceleration system

1) Exponential function system a) Set the slippage indicated by the shaded area in the diagram below.

Slippage is recommended to be set greater than input to clutch (travel value after the main shaft's differential gear).

V

Input to clutch

Slippage [PLS] t

Clutch status ON

OFF

7 - 7


b) Since the slippage remains constant even if the drive module speed changes, the clutch ON/OFF position can be controlled without any influence from speed changes.

V

V

A

S

A

S

B

V

B V

A

, V

B

: Drive module speed t

A

, t

B

: Smoothing complete time

S

A A

S

B

B t t

A t

B

Input to clutch

Travel value after the main shaft's differential gear c) If input to clutch (travel value after the main shaft's differential gear) changes after smoothing completion, the smoothing processing is not executed at that point and output directly.

V t


V

Slippage [PLS]

Output to output axis by the smoothing clutch for exponential function system

Slippage [PLS] t

Smoothing processing is not executed.

Smoothing completion Smoothing completion

Clutch status signal d) The smoothing clutch complete signal turns ON after completion of smoothing processing.

• ON …."(Remainder slippage) < (Slippage in-position range)"

• OFF… Smoothing processing start (Clutch ON/OFF)

The smoothing clutch complete signal is used to check the completion of smoothing processing, etc.

7 - 8


V

2) Linear acceleration/deceleration system a) Set the slippage indicated by the shaded area in the diagram below.

Slippage is recommended to be set greater than input to clutch (travel value after the main shaft's differential gear).

Input to clutch

Slippage [PLS]

V t

ON

Clutch status

OFF b) Execute the smoothing processing so that the slippage may become the shaded area by the linear acceleration/deceleration system at clutch ON/OFF. c) Since the slippage remains constant even if the drive module speed changes, the clutch ON/OFF position can be controlled without any influence from speed changes.

V

A

S

A

S

B

V

B

V A , V B : Drive module speed t A , t B : Smoothing complete time

S

A A

S

B

B t t

A t

B

7 - 9


Input to clutch d) If input to clutch (travel value after the main shaft's differential gear) changes after smoothing completion, the smoothing processing is not executed and output directly.

V

Travel value after the main shaft's differential gear t


V

Slippage [PLS]

Output to output axis by the smoothing clutch for linear acceleration/ deceleration system

Slippage [PLS] t

Smoothing processing is not executed.

Smoothing completion Smoothing completion

Clutch status signal e) The smoothing clutch complete signal turns ON after completion of smoothing processing.

• ON …."(Remainder slippage) < (Slippage in-position range)"

• OFF… Smoothing processing start (Clutch ON/OFF)

The smoothing clutch complete signal is used to check the completion of smoothing processing, etc.

7 - 10


7.2.1 Operation

There are following five clutch operation modes.

Operation mode

ON/OFF mode

Address mode

Address mode 2

One-shot mode

External input mode

Description

Clutch ON/OFF control is executed by turning the clutch ON/OFF command device on/off.

Clutch ON/OFF control is executed by turning the clutch ON/OFF command device on/off and an address of clutch ON/OFF address setting device.

After clutch ON/OFF command device turns on, Clutch ON/OFF control by an address of clutch ON/OFF address setting device.

Clutch ON/OFF control is executed based on the drive module current value, setting travel value before clutch ON and setting travel value after clutch ON after the clutch ON/OFF command device from off to on.

Only axis that the incremental synchronous encoder (manual pulse generator) is set as drive module can be set.

Clutch ON/OFF control is executed by turning the clutch ON/OFF command device on/off and an external input (TREN signal:

Synchronous encoder start signal).

Operations for every clutch mode are shown below.

(1) ON/OFF mode

(a) The clutch ON/OFF control is executed by turning the clutch ON/OFF command device on/off.

Clutch ON/OFF command device: ON

Clutch ON/OFF command device: OFF

ON

OFF

(b) It takes a time for maximum operation cycle until a clutch will be in the

ON/OFF state after turning the clutch ON/OFF command device on/off.

If greater accuracy is required, use the "address mode".

POINT

(1) The mode setting device of except "0 to 4" is regarded as an error, and it controls continuously at the previous setting value.

(2) Clutch operation mode can be changed at any time.

(c) The clutch ON/OFF state can be checked by the clutch status signal.

7 - 11


Clutch ON/OFF command device (Note)

OFF

(d) The refresh cycle of clutch status signal is an operation cycle.

ON

ON


OFF

Maximum

1 operation cycle

Maximum

1 operation cycle

Maximum

1 operation cycle

Current value of virtual axis (input axis)

Current value of output axis

Continuance from current value at clutch OFF

Clutch OFF state


Clutch OFF state Clutch ON state

(Note) : Refer to Section "7.2.2 Parameters" for details.

Fig. 7.2 Operation Timing for ON/OFF Mode

(2) Address mode

(a) When the current value of virtual axis reaches an address of clutch ON/OFF address setting device, the clutch ON/OFF is executed. (Mode setting device is "1".)

1) When the clutch ON/OFF command device is ON and the current value of virtual axis reaches an address set in the clutch ON address setting device, the clutch is set to the ON state.

2) When the clutch ON/OFF command device is OFF and the current value of virtual axis reaches an address set in the clutch OFF address setting device, the clutch is set to the OFF state.

(b) The clutch ON/OFF control differs according to the output module connected as follows.

1) For a ball screw or roller

The ON/OFF control is executed by the current value of virtual axis.

When a differential gear is connected to the main shaft, the ON/OFF control is executed by the current value after the main shaft's differential gear.

2) For a rotary table or cam

The ON/OFF control can be executed by setting the current value of virtual axis or current value within 1 virtual axis revolution.

(Refer to a rotary table or cam of output module for details.)

7 - 12


(c) Turn the clutch ON/OFF command device on/off after setting an address of clutch ON/OFF address setting device.

1) When the clutch ON/OFF command device is OFF, even if the current value of virtual axis reaches an address of clutch ON address setting device, the clutch is not set to the ON state.

2) When the clutch ON/OFF command device is ON, even if the current value of virtual axis reaches an address of clutch OFF address setting device, the clutch is not set to the OFF state.

(d) The clutch ON/OFF state can be checked by clutch status signal.

(e) The refresh cycle of clutch status signal is an operation cycle.

ON/OFF mode Address mode

Mode setting device value

0 1


OFF

1 operation cycle required

ON

ON

ON


OFF


OFF



Clutch OFF address (Note)

Clutch ON address (Note)


Clutch OFF state Clutch ON state Clutch OFF state


Fig. 7.3 Operation Timing for Address Mode

POINT

(1) The mode setting device of except for "0 to 4" is regarded as an error, and control is continued at the previous setting value.

(2) Clutch operation mode changes are valid at any time.

(3) Clutch ON/OFF address setting device changes are valid at any time. Since they have 2-word data, set it as 32-bit integer type data.

7 - 13


(3) Address mode 2

(a) When the current value of virtual axis reaches an address of clutch ON/OFF address setting device, the clutch ON/OFF is executed. (Mode setting device is "2".)

(b) When the clutch ON/OFF command device is ON, the following controls are executed according to the current clutch status.

1) When the current clutch status is OFF.

When the current value of virtual axis reaches an address set in the clutch ON address setting device, the clutch is set to the ON state.

After that, it is set the state in 2).

2) When the current clutch status is ON.

When the current value of virtual axis reaches an address set in the clutch OFF address setting device, the clutch is set to the OFF state.

After that, it is set the state in 1).


(c) When the clutch ON/OFF command device is OFF, the clutch is turned off and the above control (b) is not executed. Therefore, the above control is resumed by turning the clutch ON/OFF command device on.

2

ON


OFF




ON



Clutch status OFF

ON


OFF

1)

2)

1) 1)

2)

Control by address mode 2

1)

1)

2)

Clutch ON address is monitored for control.

Clutch OFF address is monitored for control.


Fig. 7.4 Operation Timing for Address Mode 2

POINT


(2) Clutch control mode changes are valid at any time.


7 - 14



Clutch status

OFF

(d) The clutch ON/OFF control is executed for every operation cycle. When the current value passes through an address set in the clutch ON/OFF address setting device for 1 operation cycle, the internal control is executed correctly but the clutch status signal does not change.

1) When the clutch status signal is OFF and the current value passes through an address set in the clutch ON/OFF address setting device.

Clutch ON address (Note-2)

Clutch OFF address (Note-2)

ON


OFF

Operation cycle

Number of pulses in this area are transmitted.

(Note-1)

(Note-1) : "0" is transmitted when the "clutch ON address"

= "clutch OFF address".

(Note-2) : Refer to Section "7.2.2 Parameters" for details.

Clutch OFF address (Note-2)

2) When the clutch status signal is ON and the current value passes through an address set in the clutch ON/OFF address setting device.

Clutch ON address (Note-2)


ON

Clutch status


ON

OFF

Operation cycle


(Note-1)

(Note-1) : Number of all pulses are transmitted when the

"clutch OFF address" = "clutch ON address".


(e) When the "Clutch OFF" is set in the parameter "Error-time operation mode" of drive module and a major error occurs in the output module, the operating system software turns off the clutch.

The procedure to resume an operation after an error occurrence is shown below.

1) Remove a major error factor.

2) Turn the clutch ON/OFF command device off.

It returns to normal state.

3) Turn the clutch ON/OFF command device on.

The clutch ON address is monitored and control is resumed.

7 - 15


(f) The procedure to execute the axis servo OFF or power supply OFF of servo amplifier during operation is shown below.


The clutch status is set to the OFF state. After that, the axis servo

OFF command becomes valid.

2) Execute the axis servo OFF command or the power supply OFF of servo amplifier.

(g) The procedure to resume an operation after the axis servo OFF or power supply OFF of servo amplifier during operation is shown below.

1) Turn the power supply of servo amplifier on.

2) Execute the axis servo ON command.


The clutch ON address is monitored and control is resumed.

(4) One-shot mode

(a) When the mode setting device is "3: One-shot mode clutch ON command is valid" or "4: One-shot mode clutch ON command is invalid", it switches to one-shot mode control.

(b) When the mode setting device is "3", the clutch ON/OFF command device becomes valid, and the following controls are executed based on the clutch

ON address setting device (setting travel value after clutch ON)/clutch OFF address setting device (setting travel value before clutch ON) by the clutch

ON/OFF command device.

1) When the clutch ON/OFF command device switches from OFF to ON.

The clutch is set to the ON state after moving the travel value set in the setting travel value before clutch ON, and it is set to the OFF state after moving the travel value set in the setting travel value after clutch ON.

2) When the clutch ON/OFF command device switches from ON to OFF.

It has no influence on the clutch processing. The clutch state is held.


3


1)

2)

ON

Clutch ON/OFF command device (Note-2)

OFF

ON

Clutch status

OFF

ON

Clutch status signal OFF

(Note-1) : 1) Setting travel value after clutch ON.

2) Setting travel value before clutch ON.


Fig. 7.5 Operation Timing for One-shot Mode

7 - 16


(c) When the mode setting device is "4", the clutch ON/OFF command device becomes invalid, and the clutch remains OFF. However, when the mode setting device is changed from "3" to "4" during execution of clutch ON/OFF processing by turning the clutch ON/OFF command device on, the clutch

ON/OFF processing in execution is executed till the end and the next clutch

ON/OFF command or later becomes invalid.

The clutch ON/OFF command device becomes valid by changing the mode setting device value to "3" again.


3 4


1)

2)

ON


OFF

ON

Clutch status

OFF

ON





(d) The details for setting items are shown below.

Setting items




Description

The clutch ON/OFF processing of one-shot mode starts at leading edge of this device.

The transmitted travel value (setting travel value after clutch ON) of connected drive module from turning on clutch to turning off is set.

A positive travel value is stored to indicate a positive direction travel value from the point of clutch ON, and a negative value to indicate a negative travel direction travel value.

(Setting range: -2147483648 (-2 31 ) to 2147483647 (2 31 -1) [PLS])

The travel value (setting travel value before clutch ON) of connected drive module from turning on clutch ON/OFF command device to turning on the clutch actually is set. A positive travel value is stored to indicate a positive direction travel value from the point of clutch ON, and a negative value to indicate a negative travel direction travel value.

(Setting range: -2147483648 (-2

31

) to 2147483647 (2

31

-1) [PLS])

(Note) : When the setting travel value before clutch ON is "0", the clutch also becomes ON state simultaneously by turning the clutch ON/OFF command device off to on.

7 - 17


POINT


(2) Clutch control mode changes are valid at any time.


(e) The clutch ON/OFF control is executed for every operation cycle. The internal control is executed correctly but the clutch status signal does not change for the setting travel value that the clutch status turns from off to on to off for 1 operation cycle.


Clutch status

OFF

1)

ON


(Note)


Operation cycle

(Note) : There is no transmission value, when 1) is "0".

(f) When the mode setting device becomes "3", the clutch ON/OFF control starts based on the setting data while the clutch ON/OFF command device is

ON.


3

1)

2)



OFF

Clutch status

OFF

ON

ON




7 - 18


(g) When the mode setting device becomes "3", the clutch status turns OFF, while the clutch ON/OFF command device is OFF and the clutch status is

ON.


3



OFF

ON

Clutch status OFF


(h) When the mode setting device is changed from "except 3" to "4", the clutch status turns off regardless of the clutch ON/OFF command device.

(i) When the clutch ON/OFF address setting device data is changed during the clutch processing of one-shot mode, it becomes valid by turning the next clutch ON/OFF command device off to on.

(j) When the drive module stops during the clutch ON/OFF processing by turning the clutch ON/OFF command device on, or if the clutch ON/OFF command device is turned on though the drive module stops, the one-shot mode clutch does not end until the travel value condition set to the setting travel value before clutch ON or setting travel value after clutch ON is satisfied.

(k) When the current value change is made to the drive module during the clutch ON/OFF processing by turning the clutch ON/OFF command device on, the clutch turns off at the position where the setting travel value before clutch ON or setting travel value after clutch ON from the clutch ON position is satisfied.

7 - 19


(l) When the travel direction of drive module changes during the clutch ON/OFF processing by turning the clutch ON/OFF command device on, the clutch

ON/OFF control is executed at the position in which not the travel value of drive module but the setting travel value before clutch ON/ setting travel value after clutch ON to the position where the clutch ON command is given was added.


3



OFF

ON

1)

2)

ON

OFF

Clutch status




(m) The setting travel value before clutch ON/setting travel value after clutch ON differs according to the output module connected as follows.

1) For a ball screw or roller

The clutch ON/OFF control is executed by the current travel value of virtual axis connected.

When a differential gear is connected to the main shaft, the clutch

ON/OFF control is executed by the current travel value after the main shaft's differential gear.

2) For a rotary table or cam

The clutch ON/OFF control is executed by the travel value of current value within 1 virtual axis revolution. The setting travel value can be set outside the range of current value within 1 virtual axis revolution.

(n) When the travel direction set in the setting travel value before clutch ON/ setting travel value after clutch ON does not match the virtual axis or current value within 1 virtual axis revolution, note that the clutch will turn on/off even if the condition is not satisfied when the data found by subtracting the travel value from the specified travel value comes out of the range -2147483648 to

2147483647 [PLS] and changes from

"

+

"

to

"

-

"

or from

"

-

"

to

"

+

"

.

7 - 20


(o) When the "Clutch OFF" is set in the parameter "Error-time operation mode" of drive module and a major error occurs in the output module, the operating system software turns off the clutch.

The procedure to resume an operation after an error occurrence is shown below.

1) Remove a major error factor.


It returns to normal state.


The clutch control of one-shot mode is resumed.

(p) The procedure to execute the axis servo ON/OFF or power supply OFF of servo amplifier during operation is shown below.

1) Turn the clutch revolution OFF command device off, when the clutch status is ON state, wait until the clutch status becomes OFF.

After the clutch status to be set to OFF state, the axis servo OFF command becomes valid.

2) Execute the axis servo OFF command or the power supply OFF of servo amplifier off.

(q) The procedure to resume an operation after the axis servo OFF or the power supply OFF of servo amplifier during operation is shown below.

1) Turn the power supply of servo amplifier on.

2) Execute the axis servo ON command.


The clutch control of one-shot mode is resumed.

(5) External input mode

(a) The clutch ON/OFF control is executed by turning the clutch ON/OFF command device on/off and external input (TREN signal: Synchronous encoder start signal).

Since the input pulses from synchronous encoder are counted at leading edge of external input, a high-speed response and high accuracy clutch control is possible.

1) The clutch is set to the ON state at leading edge of external input (OFF

ON) after the clutch ON/OFF command device turns on.

2) When the clutch ON/OFF command device turns off, the clutch is set to the OFF state after maximum 2 operation cycles.

7 - 21


(b) Turn the external input (TREN signal) on after turning the clutch ON/OFF command device on.

In this mode, a time for maximum 2 operation cycles is required to turn the external input on after the clutch ON/OFF command device turns on.

1) If the external input turns from off to on when the clutch ON/OFF command device is OFF, the clutch is not set to the ON state.

2) If the clutch ON/OFF device turns on when the external input is ON, the clutch is not set to the ON state.

3) If the external input turns off after the clutch is set to the ON state, the clutch state remain ON.

(c) The clutch status signal ON/OFF is refreshed by the operation cycle.

(d) The current value of input axis (synchronous encoder) changes at the clutch

ON state only.

Input pulse from synchronous encoder

ON


OFF


OFF

ON

ON

ON

External input

(TREN signal)

OFF



Current value of input axis

(Synchronous encoder)


Clutch OFF state

Continuance from the current value at the clutch OFF

Clutch ON state Clutch OFF state


Fig. 7.6 Operation Timing for External Input Mode

(e) Only axis that the incremental synchronous encoder (manual pulse generator) is set as drive module can be used in this mode. When an absolute synchronous encoder is set as the drive module, it cannot be used.

7 - 22


(f) A synchronous encoder, external input and external input mode clutch can be set in only 1:1 ratio.

The relationship between the synchronous encoder and external input is shown in the table below.


External input

(TREN signal)


External input

(TREN signal)

P2

P3

P4

TREN 2

TREN 3

TREN 4

P8

P9

P10

TREN 8

TREN 9

TREN 10

P5

P6

TREN 5

TREN 6

P11

P12

TREN 11

TREN 12

(Note): The range of synchronous encoder No. P1 to P8 is valid in the Q172DCPU(-S1).

(g) Set all clutches connected to the same encoder No. to the external input mode to use the clutch connected to an encoder in the external input mode.

However, it is permissible to use a combination of direct clutches and smoothing clutches.

< Example 1 > Synchronous encoder is connected to a drive axis

When an external input mode clutch is used, set all clutches connected to the synchronous encoder to the external input mode. (Also set clutch ON/OFF devices to the same setting.)

Synchronous encoder

Set all to external input mode. (Also set clutch

ON/OFF device to the same setting.)

7 - 23


< Example 2 > Same synchronous encoder is connected to auxiliary input axis

Set all the clutches connected to the same synchronous encoder set to the external input mode. (Also set clutch

ON/OFF devices to the same setting.)

Synchronous encoder No.1

Set both to external input mode. (Also set clutch ON/OFF device to the same setting.)


< Example 3 > Same synchronous encoder is connected to a drive axis and auxiliary input axis

Set all the connected clutches to the external input mode.

(Refer to examples 1 and 2)


Set all to external input mode.


7 - 24


7.2.2 Parameters

The clutch parameters are shown in Table 7.2 and the parameters shown in this table are explained in items (1) to (11) below.

Refer to the help of MT Developer2 for the clutch parameter setting method.

Table 7.2 Clutch Parameter List

No. Setting item Default value

ON/OFF mode

ON/OFF mode

Setting range

ON/OFF mode

Address mode

Address mode 2

One-shot mode combined use

External input mode

Setting possible

Direct clutch

2

3

Mode setting device

(1 word)


— — —

— –-/Bit device

(Note-1)

5

6

Clutch ON address setting device (2 words)

Clutch OFF address setting device (2 words)

— — —

8 Smoothing time constant

9


(2 words)

Time constant system

Time constant system/slippage system

(Exponential function system/Linear acceleration deceleration system)

— 1 to 65535 [ms]

Slippage in-position

10 range setting device

(2 words)

—

—

Smoothing clutch

11

Address mode clutch control system

Current value within 1 virtual axis revolution

Current value within 1 virtual axis revolution/

Current value of virtual axis

Valid when a cam/rotary table is set as the output module.

12


— —/Bit device

(Note-1)

—

(Note-1): The devices set in other clutch parameter cannot be used.

(1) Operation mode

(a) This device is used to set the mode to switch clutch ON/OFF.

The following three modes can be set.

• ON/OFF mode

• ON/OFF mode, address mode, address mode 2 and one-shot mode combined use

• External input mode

Refer to Section "7.2.1 Operation" for each operation modes.

7 - 25


(b) If a synchronous encoder is used as the drive module, the operation modes that can be set differ depending on the encoder interface connected to the

Q173DPX/Q172DEX.

Encoder interface

ON/OFF mode

Clutch operation mode

Address mode,

Address mode 2,

One-Shot mode

External input mode

Manual pulse generator input

(Q173DPX)

Serial encoder input

(Q172DEX)

: Enable, : Disable

(2) Mode setting device (only ON/OFF mode, address mode, address mode 2 and one-shot mode combined use, 1 word)

(a) This device is used to switch the ON/OFF mode and address mode.

The mode by mode setting device value are as follows:

Mode setting device No. Name

3, 4 One-shot mode

The mode setting device of except for "0 to 4" is regarded as an error, and an operation is continued at the previous setting value.

(b) The following devices can be used as the mode setting device.

Data register

Link register

Motion register

Multiple CPU area device

D0 to D8191

(Note-1)

W0 to W1FFF

#0 to #7999

U \G10000 to U \G(10000+p-1)

(Note-2)

(Note-1): D800 to D1559 are dedicated devices of virtual servomotor axis, synchronous encoder axis and output module "cam" in the virtual mode.

Unused areas of virtual servomotor axis and cam axis can be used as a user device.


7 - 26


(3) Clutch ON/OFF command device

(a) This device is used to execute the clutch ON/OFF command.

(b) The following devices can be used as the clutch ON/OFF command device.

Input X0 to X1FFF

(Note-1)

Internal relay

Link relay

Annunciator


M0 to M8191

(Note-2)

B0 to B1FFF

F0 to F2047

U \G10000.0 to U \G(10000+p-1).F

(Note-3)

(Note-1): The range of "PXn+4 to PXn+F" cannot be used (fixed at 0) for the input device (PXn+0 to PXn+F) allocated to the built-in interface in Motion CPU

(DI). (n: First input No.) QDS

(Note-2): "M4000 to M4639 and M4800 to M5439" are the dedicated devices of virtual servomotor axis in the virtual mode.

Unused area of virtual servomotor axis can be used as a user side.


(4) Clutch status

(a) This device is used to indicate the clutch ON/OFF state.

(b) The following devices can be used as the clutch status.

Input X0 to X1FFF

(Note-1)

Internal relay

Link relay

Annunciator


M0 to M8191

(Note-2), (Note-3)

B0 to B1FFF

F0 to F2047

U \G10000.0 to U \G(10000+p-1).F

(Note-4), (Note-5)



(Note-2): "M4000 to M4639 and M4800 to M5439" are the dedicated devices of virtual servomotor axis in the virtual mode. Unused area of virtual servomotor axis can be used as a user side.

(Note-3): Use these parameters to use the device (M2160 to M2223) allocated to

Q17 CPUN/Q17 HCPU.


(Note-5): Only device of the self CPU can be used.

7 - 27


(5) Clutch ON/OFF address setting device (only ON/OFF mode, address mode, address mode 2 and one-shot mode combined use, 2 words)

(a) This device is used to set an address to turn the clutch on/off in the address mode.

(b) The following devices can be used as the clutch ON/OFF address setting devices.

Data register

Link register

Motion register


D0 to D8191

(Note-2)

W0 to W1FFF

#0 to #7999

U \G10000 to U \G(10000+p-1) (Note-3)

(Note-1): Set an even numbered the first device.




(c) The clutch ON/OFF address settings range is as follows.

1) The output module is a ball screw/roller, or output module is a cam/rotary table and the address mode clutch control system is current value of virtual axis.

-2147483648 (-2 31 ) to 2147483647 (2 31 -1) [PLS]

2) The output module is a cam/rotary table, and the address mode clutch control system is current value within virtual axis revolution.

0 to number of pulses within 1 output axis revolution -1 [PLS]

7 - 28


(d) The clutch ON/OFF address setting device value according to the output module is as follows.

Refer to Section 7.2.1 (1) to (5) for details of each mode operation.

Ball screw/Roller Rotary table/Cam

• Current value of virtual axis

If the differential gear is connected to the main shaft, the device is current value after virtual servomotor axis main shaft’s differential gear.

[Example]

Virtual servomotor/ synchronous encoder

Differential gear

Gear


Drive module

Clutch

Roller

Select between the following depending on the setting for address mode clutch.

• Current value of virtual axis

• Current value within 1 virtual axis revolution

(Drive module travel value × Gear ratio %Nc)

% : Remainder operator

Nc : Number of pulses within 1 cam axis revolution

[Example]


Differential gear

Gear

Drive module travel value

Gear ratio

Clutch

Cam

Drive module

(6) Smoothing method

(a) The method for smoothing processing of the clutch is set.

The following three methods can be set:

• Time constant system

• Slippage system

Exponential function system

Linear acceleration/deceleration system

(b) Refer to Section 7.2 for each system operation.

(7) Smoothing time constant

This is the time taken to reach 63[%] of the output axis speed.

7 - 29


(8) Slippage setting device (2 words)

(a) This device is used to set the slippage of clutch.

(b) The following devices can be used as the slippage setting device.

Name Setting range

(Note-1)

D0 to D8191

(Note-2)

Data register

Link register

Motion register


W0 to W1FFF

#0 to #7999

U \G10000 to U \G(10000+p-1)

(Note-3)





(c) The setting range for slippage is 0 to 2147483647 [PLS].

(9) Slippage in-position range setting device (2 words)

(a) This device is used to set the remainder slippage range for judge as smoothing completion.

(b) The following devices can be used as the slippage in-position range setting device.

Name

Data register

Link register

Motion register


Setting range

(Note-1)

D0 to D8191

(Note-2)

W0 to W1FFF

#0 to #7999

U \G10000 to U \G(10000+p-1)

(Note-3)





(c) The setting range for remainder slippage is 0 to 2147483647 [PLS].

7 - 30


(d) When "(Remainder slippage) < (Slippage in-position range)" is set, the smoothing clutch complete signal turns on.

The smoothing clutch complete signal ON/OFF is refreshed by the operation cycle.

1) ON/OFF state of smoothing clutch is indicated. (Only exponential function system and linear acceleration/deceleration system are valid.)

• ON ….."(Remainder slippage) < (Slippage in-position range)"

• OFF…. Smoothing processing start (Clutch ON/OFF)

2) Set the slippage in-position range setting device to use the smoothing clutch complete signal.

3) Operation for smoothing clutch a) Exponential function system

V

Input to clutch

Travel value after main shaft's differential gear t


ON by acceleration smoothing completion

OFF by smoothing clutch start

ON by deceleration smoothing completion




V

Slippage in-position range


Output of output axis by slippage smoothing clutch


Acceleration smoothing completion t

Acceleration smoothing completion

Deceleration smoothing completion

7 - 31


b) Linear acceleration/deceleration system

V

Input to clutch

Travel value after main shaft's differential gear t




ON by deceleration smoothing completion




V



Output of output axis by slippage smoothing clutch



Deceleration smoothing completion t


(e) When "0" is set in the slippage in-position range setting device, when a clutch is connected/disconnected completely (Remainder slippage=0), the smoothing clutch complete signal turns on.

(f) Slippage in-position range can be changed at any time.

(g) When the slippage in-position range setting device is not set, the smoothing clutch complete signal does not turns on.

(h) When the setting value for slippage in-position range setting device is outside the range, a minor error [5430] of output module will occur at the time of switching from real mode to virtual mode. In this case, it controls as a setting value "0".

Besides, the setting value for slippage in-position range is set outside the range during virtual mode operation, a minor error [6170] of output module will occur, and it controls as a setting value "0".

7 - 32


(10) Address mode clutch control system

(a) When a clutch is turned on by the setting value of ON/OFF address setting device in the address mode/address mode 2, the current value (current value within 1 virtual axis revolution/current value of virtual axis) of virtual axis to be used is selected.

1) Current value within 1 virtual axis revolution

….. The ON/OFF control is executed by the current value within 1 virtual axis revolution system.

2) Current value of virtual axis

….. The ON/OFF control is executed by the current value of virtual axis. When a differential gear is connected to the main shaft, the

ON/OFF control is executed by the current value after the main shaft's differential gear.

(b) The output module connected to clutch is valid for cam/rotary table

(11) Smoothing clutch complete signal

(a) This device is used to confirm the completion of smoothing processing.

(b) The following devices can be used as the smoothing clutch complete signal.

Input X0 to X1FFF

(Note-1)

Internal relay

Link relay

Annunciator


M0 to M8191

(Note-2), (Note-3)

B0 to B1FFF

F0 to F2047

U \G10000.0 to U \G(10000+p-1).F

(Note-4), (Note-5)






Q17 CPUN/Q17 HCPU.



7 - 33


7.3 Speed Change Gear

Speed change gear is used to change the rotation speed to output module and travel value during operation.

The operation of speed change gear and parameters required to use it are shown below.

7.3.1 Operation

This section describes the operation of speed change gear.

(1) The speed that the input axis speed multiplied by a speed change ratio set in the speed change ratio setting device is transmitted to output axis.

[Output axis speed] = [Input axis speed]

[Speed change ratio]

[PLS/s]

10000

Output axis

Speed change gear

(Speed change ratio)

Output module

7 - 34


(2) When a speed change ratio changes, the acceleration/deceleration processing is executed by the smoothing time constant (t) set in the speed change gear parameters.

V

Input axis t

Speed change ratio

V

10000

Output axis

A B

2500

Operation cycle

C D

8000

Operation cycle

E F t

7.3.2 Parameters

The speed change gear parameters are shown in Table 7.3 and the parameters shown in this table are explained in items (1) to (3) below.

Refer to the help of MT Developer2 for the speed change gear parameter setting method.

Table 7.3 Speed Change Gear Parameter List

No.

1

2

Setting Item

Speed change ratio upper limit value

Speed change ratio lower limit value

Default

10000

1

Setting range

0 to 65535

0 to 65535

3

Speed change ratio setting device

(1 word)

—

D0 to D8191

W0 to W1FFF

#0 to #7999

U \G10000 to U \G(10000+p-1)

(Note-1)

4

Smoothing time constant

0 0 to 65535 [ms]


7 - 35


(1) Speed change ratio upper/lower limit value

(a) The validate range (0.00 to 655.35[%]) of speed change ratio set in the speed change ratio setting device is set.

(b) When the setting value of speed change ratio setting device is greater than the speed change ratio upper limit value, an operation is executed by a speed change ratio clamped at the upper limit value.

When the setting value of speed change ratio setting device is smaller than the speed change ratio lower limit value, an operation is executed by a speed change ratio clamped at the lower limit value.

Speed change ratio

65535

Speed change ratio upper limit value

Clamp at speed change ratio upper limit value

Operation by setting speed change ratio

Speed change ratio lower limit value

0

Clamp at speed change ratio lower limit value

(c) The speed change ratio upper/lower limit value is set in the range of 0 to

65535, i.e. 100 times the settings actually made: 0.00 to 655.35%.

(d) Set the speed change ratio upper/lower limit value as formula below.

0  (Speed change ratio lower limit value)  (Speed change ratio upper limit value)  65535

(2) Speed change ratio setting device

(a) The device to set a speed change ratio of speed change gear.

(b) The following devices can be used as the speed change ratio setting devices.

Data register

Link register

Motion register


D0 to D8191

(Note-1)

W0 to W1FFF

#0 to #7999

U \G10000 to U \G(10000+p-1)

(Note-2)




(c) The setting range is " Speed change ratio lower limit value " to " Speed change ratio upper limit value " .

(3) Smoothing time constant

This is the time taken to reach 63[%] of the output axis speed.

7 - 36


7.4 Differential Gear

The differential gear is used for the following purposes;

• Output module phase is shifted or alignment of operation start position is executed.

• Individual operation separated from the virtual main shaft is executed.

7.4.1 Operation

(1) When the output module phase is shifted or alignment of the operation start position is executed.

(a) When the input axis clutch is ON.

The differential gear subtracts the auxiliary input shaft travel value from the input shaft travel value and transmits this to the output axis.

Output axis travel value

=

Input axis travel value

Auxiliary input axis travel value

[PLS]

Virtual main shaft

Clutch

Auxiliary input axis Input axis

Differential gear

Output axis

Drive module

Output module

(b) When the input axis clutch is OFF.

Individual operation is possible using the auxiliary input axis since the differential gear transmits only the travel value from the auxiliary input axis to the output axis.

(2) When the differential gear is used to connect to the virtual main shaft.

This is used for operation in which the main shaft is switched or when the same drive module is used as auxiliary input to control all blocks.


Input axis Differential gear

Output axis Virtual main shaft

Auxiliary input axis

Drive module

Set the different drive modules for virtual main shaft side and auxiliary input axis side.

7.4.2 Parameters

No parameters need to be set for the differential gear.

7 - 37


MEMO

7 - 38

8 OUTPUT MODULE

8. OUTPUT MODULE

The command pulse output from drive module is input to output module via the transmission module.

The travel value of servomotor is controlled by the command pulse from output module.

There are following four output modules.

The parameters in accordance with that mechanism is set if necessary.

• Roller.................... Section 8.1

• Ball screw............. Section 8.2

• Rotary table.......... Section 8.3

• Cam ..................... Section 8.4

(1) Output module types

Output module types are shown below.

Module Details

The speed control is executed with the final output (axis).

Applications

Roller

Roller

Ball screw

The linear position control is executed with the final output

(axis).

The angle control is executed with the final output (axis).

Rotary table

The electronic cam operation is executed with the final output

(axis).

Cam

Ball screw

Rotary table

Cam

(Electronic cam)

8

8 - 1

8 OUTPUT MODULE

(2) Device range of output module parameters and device data input

The device range and setting method of items set in the indirect setting by devices among the output module parameters are shown below.

(a) Device range

The number of device words and device range in the indirect setting are shown below.

Module Item

Number of device words

Roller Torque limit value setting device

Ball screw Torque limit value setting device

Rotary table

Torque limit value setting device

Current value within 1 virtual axis revolution storage device

(Main shaft side)


(Auxiliary input axis side)

1

1

1

2

2

Device

Device range Remark

Number of pulses per cam shaft revolution (Nc) QDS

2

D

W

Range

0 to 8191

0 to 1FFF

Cam No. setting device

Stroke amount setting device

1

2

# 0 to 7999

U \G 10000 to (10000+p-1)

(Note-1)

Cam


Lower stroke limit value storage device


(Main shaft side)



1

2

2

2

Device Range

0 to 1FFF

(Note-2)

0 to 1FFF

Cam/ball screw switching command device

Bit

X

Y

M

B

0 to 8191

0 to 1FFF

F 0 to 2047

U \G 10000.0 to (10000+p-1).F

(Note-1)



8 - 2

8 OUTPUT MODULE

POINT

(1) Be sure to set even-numbered device of the items set as 2-word.

Be sure to set as 32-bit integer type when the data is set in these devices using the Motion SFC programs.

(2) When a 2-word monitor device is read in the Motion SFC program, read it as

32-bit integer type.


Programming Manual (COMMON)" for the user setting area points of the

Multiple CPU high speed transmission area.

(b) Device data input

All indirect setting device data are input as "initial value" at the switching real mode/virtual mode, thereafter the input control for module is executed during the virtual mode operation.

The input timing and refresh cycle of setting device are shown below.

Roller Torque limit value setting device

Ball screw Torque limit value setting device

Rotary table



(Main shaft side)



Number of pulses per cam shaft revolution (Nc) QDS

Input device

Refresh device

Device input timing

Real mode

/Virtual mode switching

During the Virtual mode operation


(Note)

Cam No. setting device



(Note)

However, the cam No. and stroke amount switching position pass point are valid.


(Note)

Cam




(Main shaft side)



Cam/ball screw switching command device


(Note)

Refresh cycle

Operation cycle

(Note)

Operation cycle

(Note)

8 - 3

8 OUTPUT MODULE

REMARK

(Note): The operation cycle is set in the "operation cycle setting" of system basic setting.


Manual (COMMON)" for details.

8 - 4

8 OUTPUT MODULE

8.1 Rollers

8.1.1 Operation

The rollers are used in the following cases.

• The machine connected to the servomotor is operated continuously.

• The system which does not need position control.

(It is used when the speed control (cycle speed/number of rotations) mainly is controlled without the current value and position data.)

This section describes the roller operation and parameters required to use a roller.

(1) Operation

(a) The roller is controlled with the speed that the speed/travel value of drive module multiplied by a gear ratio/speed change ratio of transmission module, and it rotates for the travel value.

Roller speed

Number of roller

revolution

=

(Drive module speed

[PLS/s])

=

(Drive module travel value [PLS])

(Gear ratio) (Speed change ratio) [PLS/s]

(Gear ratio) (Speed change ratio) [PLS]

The speed/travel value of drive module transmitted to the roller is commanded to the servo amplifier.

Drive module

Gear(Gear ratio)

Clutch

Speed change gear

(Speed change ratio)

Roller

(b) When a clutch is used, the roller is controlled at clutch ON.

8 - 5

8 OUTPUT MODULE

(2) Control details

(a) The roller has no current value.

However, when it switches from the virtual mode to real mode, it reaches the current value corresponding to the position moved in the virtual mode.

• The current value is a ring address within the range of -2147483648 (-2 31 ) to 2147483647 (2 31 -1) [PLS].

(2 31 -1)

Current value

-2 31

(b) Backlash compensation processing is continued with the settings value of fixed parameters even if it switches the real mode/virtual mode.

(c) The roller cycle speed can be monitored using MT Developer2 and the roller cycle speed storage register.

Refer to Section 8.1.2 for the calculation formula of roller cycle speed, and refer to Section 4.2.1 for details of the roller cycle speed storage register.


The roller parameters are shown in Table 8.1 and the parameters shown in this table are explained in items (1) to (6) below.

Refer to the help of MT Developer2 for the roller parameter setting method.

Table 8.1 Roller Parameter List

No.

Setting item Default Setting range

1 Output axis No.

3 Roller diameter (L)

0 mm

0


Q172DSCPU : 1 to 16

Q172DCPU(-S1) : 1 to 8 mm

0.1 to 214748364.7

[µm] inch

0.00001 to

21474.83647 [inch]

4

Number of pulses per roller revolution (N

L

)

0 1 to 2147483647 [PLS]

5 Permissible droop pulse value 6553500 1 to 1073741824 [PLS]

0.001 to 600000.000

6 Speed limit value (V L

[mm/min] [inch/min]

7

Torque limit value setting device (1 word)

— -(300[%]) / word device (D, W, #, U \G)

8 Comment None

(1) Output unit

(a) This device is used to set the unit ([mm]/[inch]) of roller.

(b) The unit (unit in the fixed parameter) for the axis which execute the roller setting in the real mode is permissible to use the any of [mm], [inch],

[degree] and [PLS].

8 - 6

8 OUTPUT MODULE

(2) Roller diameter (L)/Number of pulses per roller revolution (N

L

)

(a) The roller diameter connected to servomotor and the number of pulses per roller revolution are displayed.

Number of pulses per roller revolution (N

L

)

Roller diameter (L)

(b) The roller cycle speed is calculated by the roller diameter and number of pulses per roller revolution as the formula below.

1) Unit : [mm]

[Roller cycle speed] =

Number of input pulses per minute

L

[mm/min] L : [mm]

N

L

2) Unit : [inch]

[Roller cycle speed] =

Number of input pulses per minute

L

[inch/min] L : [inch]

N

L

The value calculated by calculations 1) and 2) is stored with an integer value in the roller cycle speed storage register.

Output unit Roller cycle speed storage register

(3) Permissible droop pulse value

(a) This device is used to set the permissible droop pulse value of deviation counter.

(b) The deviation counter value is continually checked, and if it becomes larger than the permissible droop pulse value, the error detection signal

(M2407+20n) turns on.

However, since the roller axis operation continues, execute the error processing by user side.

(4) Speed control limit (V

L

)

(a) This device is used to set the maximum speed of roller axis.

(b) Set the speed limit value within the following range.

1 

V L N L

60 L

 2147483647[PLS/s]

V L : [mm/min] or [inch/min]

L : [mm] or [inch]

8 - 7

8 OUTPUT MODULE

(c) When the roller axis speed exceeds the speed limit value, the error detection signal (M2407+20n) turns on.

However, the roller axis speed is not clamped.

V

Even if the speed limit value is exceeded, it controls with the setting speed.

Speed limit value t

(5) Torque limit value setting device (1 word)

(a) This device is used to set the torque limit value of roller axis.

When the device is set, the torque control is executed with the preset device value.

In the virtual mode, the torque limit setting is always valid.

If the device is not set, the torque limit is set at 300[%].

(b) The following devices can be set as the torque limit setting device.

Data register

Link register

Motion register


D0 to D8191

(Note-1)

W0 to W1FFF

#0 to #7999

U \G10000 to U \G(10000+p-1)

(Note-2)




(c) The setting range for torque limit value is 1 to 1000[%].

(6) Comment

(a) This device is used to create a comment such as purpose of roller axis.

Made comment can be displayed at monitoring using MT Developer2.

(b) Comments up to 32 characters long can be created.

POINT

(1) "Roller diameter" or "number of pulses per roller revolution" set in the roller parameter is used for only the cycle speed monitor of servomotor, and it is not related to the rotation speed/travel value of servomotor.

(2) The roller cycle speed monitor device is the same for the "feed current value" in the real mode. Therefore, the position address (current value) of roller axis cannot be monitored in the virtual mode.

When it switches from the virtual mode to real mode, the certain value is stored in the position address (current value). The value at this time is an unfixed value.

8 - 8

8 OUTPUT MODULE

8.2 Ball Screw

8.2.1 Operation

The ball screw is used to make a machine connected to servomotor operate linearly.

This section describes the ball screw operation and parameters required to use ball screws.

(1) Operation

(a) The ball screw is controlled with the speed that the speed/travel value of drive module multiplied by a gear ratio of transmission module, and the travel value is output.

(Ball screw speed) = (Drive module speed [PLS/s]) (Gear ratio) [PLS/s]

(Ball screw travel value) = (Drive module travel value [PLS]) (Gear ratio) [PLS]

The speed/travel value of drive module transmitted to the ball screw is commanded to the servo amplifier.

Drive module

Gear(Gear ratio)

Clutch

Ball screw

(b) When a clutch is used, the ball screw is controlled at clutch ON.

(2) Control details

(a) Feed current value is continued, even if it switches from the real mode to virtual mode/from the virtual mode to real mode.

(b) Backlash compensation processing is continued with the settings value of fixed parameters, even if it switches the real/virtual mode.

(c) The travel value per pulse is controlled with the travel value per pulse in the fixed parameters.

8 - 9

8 OUTPUT MODULE


The ball screw parameters are shown in Table 8.2 and the parameters shown in this table are explained in items (1) to (7) below.

Refer to the help of MT Developer2 for the ball screw parameter setting method.

Table 8.2 Ball Screw Parameter List

No.

Setting Item

1 Output axis No.

Default

0

Setting range


Q172DSCPU : 1 to 16

Q172DCPU(-S1) : 1 to 8 mm inch 2 Output unit

3 Ball screw pith (P)

4

Number of pulses per ball screw revolution (N

P

) mm

Must be not set.

It is controlled with the fixed parameter.

5 Permissible droop pulse value

6 Upper stroke limit value

7 Lower stroke limit value

6553500

214748364.7

0

1 to 1073741824 [PLS]

-214748364.8 to

214748364.7 [µm]

8 Speed limit value (V

L

) 0

[mm/min]

-21474.83648 to

21474.83647 [inch]

0.001 to 600000.000

[inch/min]

9


10 Comment

—

None

-(300[%]) / word device (D, W, #, U \G)

(1) Output unit

(a) This device is used to set the unit ([mm]/[inch]) of ball screw.

(b) Set the same unit as used in the real mode (unit in the fixed parameters) for the ball screw unit.

If the ball screw unit differs unit in the real mode, a mode switching error will occur at the switching from real mode to virtual mode.

(2) Ball screw pitch(P)/Number of pulses per ball screw revolution(N

P

)

(a) The ball screw pitch connected to the servomotor and number of pulses per ball screw revolution are displayed.

Ball screw

Number of pulses per ball screw revolution (N

P

)

Ball screw pitch (P)

(b) The travel value per pulse is calculated by the ball screw pitch and number of pulses per ball screw revolution as the formula below.

[Travel value per pulse] =

P

N

P

8 - 10

8 OUTPUT MODULE





However, since the ball screw axis operation continues, execute the error processing by user side.

(4) Upper/lower stroke limit value

(a) This device is used to set the stroke range in the virtual mode.

(b) When it exceeds the stroke range during operation, the error detection signal


However, a stop processing of ball screw axis is not executed.

(5) Speed limit value (V

L

)

(a) This device is used to set the maximum speed of ball screw axis.


1) Unit : [mm]

1 

V L 10 4

60 P

N P

 2147483647 [PLS/s]

2) Unit : [inch]

1 

V

L

10 5

60 P

N

P

 2147483647 [PLS/s]

(c) When the ball screw axis speed exceeds the speed limit value, the error detection signal (M2407+20n) turns on.

However, the ball screw axis speed is not clamped.

V


Speed limit value t

8 - 11

8 OUTPUT MODULE


(a) This device is used to set the torque limit value of ball screw axis.




(b) The following devices can be set as the torque limit value setting device.

Data register

Link register

Motion register


D0 to D8191

(Note-1)

W0 to W1FFF

#0 to #7999

U \G10000 to U \G(10000+p-1)

(Note-2)

(Note-1): D800 to D1559 are dedicated devices of virtual servomotor axis, synchronous encoder axis and output module "Cam" in the virtual mode.



(c) The setting range for the torque limit value is 1 to 1000[%].

(7) Comment

(a) This device is used to create a comment such as purpose of ball screw axis.



8 - 12

8 OUTPUT MODULE

8.3 Rotary Tables

8.3.1 Operation

The rotary table is used to make a machine connected to servomotor gyrate.

This section describes the rotary table operation and parameters required to use rotary table.

(1) Operation

(a) The rotary table is controlled with the speed that the speed/travel value of drive module multiplied by a gear ratio of transmission module, and the travel value is output.

(Rotary table speed) = (Drive module speed) [PLS/s]

(Rotary table travel value) = (Drive module travel value) [PLS]

(Gear ratio) [PLS/s]

(Gear ratio) [PLS]

The speed/travel value of drive module transmitted to the rotary table is commanded to the servo amplifier.

Drive module

Gear(Gear ratio)

Clutch

Rotary table

(b) When a clutch is used, the rotary table is controlled at clutch ON.

(2) Control details

(a) Feed current value is continued, even if it switches from the real mode to virtual mode/from the virtual mode to real mode.

(b) Backlash compensation processing is continued with the settings value of fixed parameters, even if it switches the real mode/virtual mode.

(c) The travel value per pulse is controlled with the travel value per pulse in the fixed parameters.

8 - 13

8 OUTPUT MODULE


The rotary table parameters are shown in Table 8.3 and the parameters shown in this table are explained in items (1) to (8) below.

Refer to the help of MT Developer2 for the rotary table parameter setting method.

Table 8.3 Rotary Table Parameter List

No.

Setting Item Default Setting range

1 Output axis No. 0

2

Number of pulses per rotary table revolution (N

D

)

3 Permissible droop pulse value 6553500

4 Upper stroke limit value 0


Q172DSCPU : 1 to 16

Q172DCPU(-S1) : 1 to 8

Must be not set.


1 to 1073741824 [PLS]

0 to 359.99999 [degree]

5 Lower stroke limit value 0 0 to 359.99999 [degree]

6 Speed limit value (V L ) 0

(Note-1)

7


8 Comment

—

None

-(300[%]) / word device (D, W, #, U \G)

9

10


(Main shaft side) (2 words)



(2 words)

—

—

- / word device (D, W, #, U \G)


(Note-1): When the "speed control 10 multiplied speed setting for degree axis" is set to "valid", the setting range is 0.01 to 21474836.47[degree/min].

(1) Number of pulses per rotary table revolution (N

D

)

(a) The number of pulses per rotary table connected to the servomotor revolution is displayed.

Number of pulses per rotary table revolution (N

D

)

Displayed items Displayed range

Must be not set.


Number of pulses per rotary table revolution

(N D )

N

D

= A

P

[PLS]

360[degree]

A

L

[degree]

A

P

: Number of pulsesl value per revolution of fixed parameter

A L : Travel value per revolution of fixed parameter

8 - 14

8 OUTPUT MODULE

(b) The travel value per pulse is calculated from the number of pulses per rotary table revolution in accordance with the following formula:

[Travel value per pulse] =

360

N

D

[degree]





However, since the rotary table axis operation continues, execute the error processing by user side.

(3) Upper/lower stroke limit value

(a) This device is used to set the stroke range in the virtual mode.

The upper/lower stroke limit setting determines whether the stroke limit is valid or not. If the upper stroke limit value is equal to the lower stroke limit value, the stroke limit is invalid.

(b) When it exceeds the stroke range during operation, the error detection signal


However, a stop processing of rotary table axis is not executed.

(4) Speed limit value (V

L

)

(a) This device is used to set the maximum speed of rotary table axis.


1 

V

L

10 5 N

D

60 360 10 5

 2147483647 [PLS/s]

(c) When the rotary table axis speed exceeds the speed limit value, the error detection signal (M2407+20n) turns on.

However, the rotary table axis speed is not clamped.

V


Speed limit value t

8 - 15

8 OUTPUT MODULE


(a) This device is used to set the torque limit value of rotary table axis.





Data register

Link register

Motion register


D0 to D8191

(Note-1)

W0 to W1FFF

#0 to #7999

U \G10000 to U \G(10000+p-1)

(Note-2)





(6) Comment

(a) This device is used to create a comment such as purpose of rotary table axis.



(7) Current value within 1 virtual axis revolution storage device


This parameter is set when the address mode clutch is set at the rotary table main shaft side.

Drive module

Gear(Gear ratio)


Address mode clutch


= (Drive module travel value gear) %N

D

(% : Remainder operator)

(N

D

-1)

PLS

Rotary table

0 0 0 0

The reference position (0) for the current value within

1 virtual axis revolution is set with the address clutch reference setting command (M3213+20n).

(a) The current value within 1 virtual axis revolution of rotary table main shaft side is stored in the preset device.

8 - 16

8 OUTPUT MODULE

(b) The following devices can be set as the current value within 1 virtual axis revolution storage device.

Name Setting range

(Note-1)

D0 to D8191

(Note-2)

Data register

Link register

Motion register


W0 to W1FFF

#0 to #7999

U \G10000 to U \G(10000+p-1)

(Note-3), (Note-4)

(Note-1): Set an even number at the first device.




(Note-4): Only device of the self-CPU can be used.

(c) The current value within 1 virtual axis revolution is the range of 0 to (N D -1)

[PLS].

(N D : Number of pulses per rotary table revolution)

(d) The address mode clutch is turned on/off with the specified address of the current value within 1 virtual axis revolution range of 0 to (N D -1) [PLS].

Therefore, set the address value within the range of 0 to (N D -1) [PLS] in the clutch ON/OFF address setting device.

(e) The current value within 1 virtual axis revolution reference position "0" is set by turning the address clutch reference setting command (M3213+20n) on and switching to the virtual mode.

The current values within 1 virtual axis revolution for both the main shaft and the auxiliary input axis is set to "0" at this time.

If the address clutch reference setting command (M3213+20n) is turned off and it switches to the virtual mode, the following processing is executed depending on the drive module.



8 - 17

8 OUTPUT MODULE

(f) An example of an address mode clutch operation is shown below.

Operation example

Set the clutch ON/OFF in this current value

(Current value within 1 virtual axis revolution).

1 axis

Number of pulses per revolution : 20000[PLS]

Virtual servomotor current value


0


0 10000

20000

0 10000 0

Set the clutch status

Clutch ON address = 0

Clutch OFF address = 10000

359.99999 [degree]

Output axis current value

Current value within 1 output axis revolution

20000

10000


(Auxiliary input axis side) (2 words)

This parameter is set when the address mode clutch is set at the rotary table auxiliary input axis side.

Drive module


Address mode clutch

Rotary table

Drive module

(a) By setting the current value within 1 virtual axis revolution of rotary table auxiliary input axis side for the current value within 1 virtual axis revolution is stored in the preset device.

Current value within 1 virtual axis revolution of auxiliary input axis side

=

Drive module travel value of auxiliary input axis side

Gear ratio

Number of pulses per rotary table revolution

(Note): Current value within 1 virtual axis revolution of auxiliary input axis side is updated regardless of clutch ON/OFF.

8 - 18

8 OUTPUT MODULE


Name Setting range

(Note-1)

D0 to D8191

(Note-2)

Data register

Link register

Motion register


W0 to W1FFF

#0 to #7999

U \G 10000 to U \G (10000+p-1)

(Note-3), (Note-4)






(c) The current value within 1 virtual axis revolution is the range of 0 to (N D -1)

[PLS].

(N D : Number of pulses per rotary table revolution)

(d) The address mode clutch is turned on/off with the specified address of the current value within 1 virtual axis revolution range of 0 to (N D -1) [PLS].

Therefore, set the address value within the range of 0 to (N D -1) [PLS] in the clutch ON/OFF address setting device.






8 - 19

8 OUTPUT MODULE


Operation example

Main shaft side clutch OFF

Set the clutch ON/OFF in this current value.

(Current value within 1 virtual axis revolution)

1 axis


Virtual servomotor current value of auxiliary input axis side

(Synchronous encoder) 0





0 10000

20000

0 10000 0

359.99999

[degree]

Output axis current value

20000


10000

(Note): The rotation of output axis is reversed by differential gear.

POINT

When the number of pulses per virtual axis revolution is not an integer value, a virtual axis revolution may not become a rotary table revolution.

8 - 20

8 OUTPUT MODULE

8.4 Cam

Cam

Upper dead point

Cam is used to make a machine connected to servomotor operate according to the preset cam pattern.

(1) For axes at which the cam is set as the output module, the same operation as a cam is executed using a ball screw as shown in the example below.

Same operation

Upper dead point

Pulse generator

Servo motor

Reduction gear

Moving part

Lower dead point

Stroke amount Servo amplifier

Stroke amount

Q61P Q03UD

CPU

Q173D

CPU

QX41 QX41 Q172D

LX

(2) The following two types data required to use a cam.

• Settings item at cam data creation.

It is set at cam data (cam curve) creation using the MT Developer2.

(Refer to Section 8.4.2)

• Cam parameters

These are the parameters used to set to cam in the output module at mechanical system program creation.

(Refer to Section 8.4.3)

8 - 21

8 OUTPUT MODULE

8.4.1 Operation

This section describes the cam operation.

(1) Procedure for switching from the real mode to virtual mode

Set the devices by the following procedure using the Motion SFC program at the switching from real mode to virtual mode.

(a) Set the following details.

• Set the cam No. and stroke amount in the "cam No. setting device" and

"stroke amount setting device" set in each cam shaft parameters.

• Turn the cam reference position setting command (M3214+20n) on/off as required.

(Refer to Section 4.1.2 (4))

(b) Execute the real mode/virtual mode switching request.

(M2043: OFF ON)

(c) Start operation based on the cam pattern, stroke amount and cam reference setting command set in each cam shaft.

(2) Processing at the switching from the real mode to virtual mode

The current value within 1 cam shaft revolution is indexed based on the cam reference position setting command (M3214+20n), feed current value, lower stroke limit value, stroke amount and cam No. (cam pattern) at the switching from real mode to virtual mode.

(3) Operation

A value calculated by the stroke ratio of cam data table based on the current value within 1 cam shaft revolution is output.

[Feed current value] = [Lower stroke limit value] + [Stroke amount] [Stroke ratio]

The current value within 1 cam shaft revolution is set by the travel value that the travel value of drive module multiplied by a gear ratio of transmission module.

Number of pulses per stroke amount is controlled based on the travel value per pulse set in the fixed parameter in the real mode.

(4) Switching the stroke amount and cam No. during operation

(a) The cam stroke amount and execute cam No. can be changed using the

Motion SFC program during cam operation.

(b) The stroke amount and cam No. are changed by the address set in the

"stroke amount, cam No. change point" at the creating cam data.

When the "stroke amount, cam No. change point" is passed, the stroke amount/cam No. is changed based on the value of the stroke amount setting device and cam No. setting device set in the cam parameters.

8 - 22

8 OUTPUT MODULE

< Example > Switching between cam No.1 and No.2, and switching timing between stroke amount I 1 and I 2 when the stroke amount/cam

No. change point is set as "0".

Current value within 1 cam shaft revolution [PLS]

Nc : Number of pulses within

1 cam shaft revolution

Nc-1, 0 Nc-1, 0 Nc-1, 0

1 cycle

Cam No. setting device value


Execute cam No.

1 l

1

2 l

2

1 2

Execute stroke amount l

1 l

2

(c) Error causes at the changing stroke amount/cam No. during operation

1) The cam No. and stroke amount are always input at the switching from real mode to virtual mode and in the virtual mode.

A relative check is executed at the time of input. An error occurs in the following cases, the error detection signal (M2407+20n) turns on and the error code is stored in the minor error code storage register.

• The stroke amount is outside the range of 1 to 2147483647 (2 31 -1).

"Lower stroke limit value + Stroke amount"  "2147483647 (2 31 -1)" is not satisfied in the two-way cam mode.

• The control mode of cam No. is not same.

2) Processing for the cam No./stroke amount error

• If the error occurs at switching from the real mode to virtual mode, it does not switch to the virtual mode.

• If the error occurs at reaching the preset "stroke amount, cam No. change point" (during cam operation), operation continues without switching to the preset stroke amount/cam No.

Reset the error detection signal and minor error code storage register by the error reset command (M3207+20n).

3) Processing for the error a) If the error occurs at switching from the real mode to virtual mode, correct by the following procedure.

• Turn the real mode/virtual mode switching request flag (M2043) off.

• Correct the cam No. and stroke amount.

• Turn the real mode/virtual mode switching request flag on, and switch to virtual mode. b) If the error occurs during cam operation, correct the cam No. and stroke amount.

8 - 23

8 OUTPUT MODULE

(5) Control details

(a) The cam feed current value is continued at switching from the real mode to virtual mode/from the virtual mode to real mode.

(b) Backlash compensation processing is continued with the settings value of fixed parameters, even if switches the real mode/virtual mode.

(c) Upper/lower stroke limit value and speed limit value are not checked.

(6) Control change

The current value within 1 cam shaft revolution can be changed to optional value for the cam as the control change during the virtual mode operation.


Programming Manual (Motion SFC)" for details of current value change.

Motion SFC program for which executes the current value change (CHGA-C) is shown below.

Current value change CHGA-C


G10

PX000*M2043*M2044*!M2001

Wait until PX000, real mode/virtual mode switching request and switching status turn on, and axis 1 start accept flag turn off.

K10

CHGA-C

Axis 1, 1000PLS

Current value within 1 cam shaft revolution change control

Axis used ............................... Axis 1

Current value to be changed ... 1000[PLS]

G20

!PX000*!M2001

Wait until PX000 and axis 1 start accept flag turn off.

END


[Operation]

Stroke

This stroke amount of lower stroke limit value is changed so that the motor may not rotate even if the current value is changed.

1000 Change Current value within 1 cam shaft revolution

Current value within 1 cam shaft revolution after the change

8 - 24

8 OUTPUT MODULE

(7) Program example

[Switching real mode/virtual mode]

Motion SFC program for switching real mode/virtual mode is shown below.

Switching real mode/virtual mode example

Switching real mode/virtual mode

G10

PX000*!M2043*!M2044

PX000 turn on, and real mode/virtual mode switching request and switching status turn off.

F10

D2000=K1

D2002L=K50000

SET M3214

SET M2043

Cam No. setting device set

Stroke amount setting device set

Cam reference position setting command set

Real mode/virtual mode switching request ON

END


[Switching cam No./stroke amount during operation]

Motion SFC program for switching cam No. or stroke amount is shown below.

Cam data value setting example

Cam data value setting

G10

PX001

F10

D2000=K1

D2002L=K60000

Cam data value setting condition PX001 turn on.

Cam No. setting device set

Stroke amount setting device set

END


8.4.2 Settings items at cam data creating

This section describes the setting items at cam data creating using MT Developer2.

Table 8.4 Table of Settings Items at cam Data Creating

No.

Setting item

1 Cam No.

2 Resolution

3

Stroke amount/

Cam No. change point

Default

—

256

0

Setting range

Refer to (1)

256, 512, 1024, 2048

0 to (resolution-1)

4 Operation mode

5 Cam data table

Two-way cam mode

0

• Two-way cam mode

• Feed cam mode

0 to 32767

8 - 25

8 OUTPUT MODULE

(1) Cam No.

This device is used to set the number allocated in created cam data.

The number of cam data is set "1 to 64" for each machine.

A cam No. is used with the number which offset value attached by the machine name sequence registered on mechanical system editing screen in the mechanical system program.

Machine name sequence

1

2

3

4

Setting cam No.

1 to 64

101 to 164

201 to 264

301 to 364

(2) Resolution

(a) This device is used to set the number of index divisions in one cam cycle.

(b) The following conditions need to be satisfied in order to output the all point data of resolution correctly.

• Number of pulses per cam revolution (Nc)  Resolution

• Time required per cam revolution  Operation cycle × Resolution

(3) Stroke amount/cam No. change point

(a) This device is used to set a position at which the stroke amount/cam No. is switched during operation.

(b) When the set switching position [range: 0 to (resolution -1)] is reached, if the stroke amount/cam No. is normal, it is switched to the setting stroke amount and cam No.

(4) Operation mode

(a) This device is used to set the two-way cam mode/feed cam mode.

1) Two-way cam mode ....... A two-way operation is repeated between the lower stroke limit value (lower dead point) and the range set in the stroke amount.

Stroke amount


(Lower dead point)

8 - 26

8 OUTPUT MODULE

32767

Cam pattern

0

0

1 cycle

(1 cam shaft revolution)

Operation example

Output value

(Address)

Stroke amount


Resolution-1

Stroke amount


V

2) Feed cam mode .............With the lower stroke limit value (lower dead point) as the operation start position, positioning is executed by feeding one stroke amount per cycle in a fixed direction.

Stroke amount t t

1 cycle


(Lower dead point)

1 cycle 1 cycle

Current value

Cam pattern Operation example

Output value

(Address)

Stroke amount

0

0

1 cycle

Resolution-1 Stroke amount


V

1 cycle 1 cycle 1 cycle t t

8 - 27

8 OUTPUT MODULE

(5) Cam data table

(a) This device is used to set each point stroke ratio (when the stroke amount is divided into 32767 divisions) in the set resolution.

Output value

(Address)

32767

Stroke amount


(Lower dead point)

(0) 0

Stroke ratio

Cam curve t

1 cycle

(b) The cam data table is automatically created by creating the cam curve using

MT Developer2.

The cam curves which can be used in the Motion CPU are shown in Section

8.4.4.

8 - 28

8 OUTPUT MODULE


The cam parameters are shown in Table 8.5 and the parameters No.2 to No.12 shown in this table are explained in items (1) to (11) below.

Refer to the help of MT Developer2 for the cam parameter setting method.

No.

1 Output axis No.

Setting item

Table 8.5 Cam Parameter List

2

Number of pulses per cam shaft revolution

(N

C

) (2 words)

3 Cam No. setting device (1 word)

4 Permissible droop pulse value

6 Stroke amount setting device (2 words)

7 Torque limit value setting device (1 word)

8 Comment

9


(2 words)

10

11


(Main shaft side, 2 words)


(Auxiliary input axis side, 2 words)

12 Cam/ball screw switching command device

Default value

0

0

—

6553500 mm

—

—

None

—

—

—

Setting range


Q172DSCPU : 1 to 16

Q172DCPU(-S1) : 1 to 8

1 to 1073741824 [PLS]/

Word device (D, W, #, U \G)

QDS


1 to 1073741824 [PLS] mm inch degree PLS


-(300[%]) / word device (D, W, #, U \G)




— - / bit device

(Note-1)

(Note-1): The devices set in other parameter cannot be used.

(1) Number of pulses per cam shaft revolution (Nc) (2 word)

(a) The number of pulses required to rotate the cam one cycle is set.

Number of pulses per cam shaft revolution (Nc)

(b) The setting for the number of pulses per cam shaft revolution is not related to the travel value per pulse (fixed parameter setting).

8 - 29

8 OUTPUT MODULE

(c) Set cam reference position after setting the number of pulses per cam shaft revolution. If not setting, the positioning is executed at the position before change.

(d) The following devices can be set as the number of pulses per cam shaft revolution. QDS

Name

Data register

Link register

Motion register


Setting range

(Note--1)

D0 to D8191

(Note--2)

W0 to W1FFF

#0 to #7999

U \G10000 to U \G(10000+p-1)

(Note-3)





(2) Cam No. setting device (1 word)

(a) This device is used to set the device that sets in the Motion SFC program by which the cam No. to control.

(b) The following devices can be set as the cam No. setting device.

Data register

Link register

Motion register


D0 to D8191

(Note-1)

W0 to W1FFF

#0 to #7999

U \G10000 to U \G(10000+p-1)

(Note-2)




(c) When the cam No. setting device value is changed during operation, it changes to the cam No. changed in the "stroke amount/cam No. switching position" set at the cam creating.





However, since the cam shaft operation continues, execute the error processing by user side.

8 - 30

8 OUTPUT MODULE

(4) Output unit

(a) This device is used to set the unit ([mm]/[inch]/[degree]

QDS

/[PLS]) of cam.

(b) Set the same unit as used in the real mode (unit in the fixed parameters) for the cam shaft.

(5) Stroke amount setting device (2 words)

(a) This device is used to set the cam stroke amount.

(b) The following devices can be set as the stroke amount setting device.

Name

Data register

Link register

Motion register


Setting range

(Note--1)

D0 to D8191

(Note--2)

W0 to W1FFF

#0 to #7999

U \G10000 to U \G(10000+p-1)

(Note-3)





(c) Set the stroke amount within the following range.

• Setting range in the two-way cam mode mm inch

Lower stroke limit value + Stroke amount  2147483647 10

-1

[µm]


-5

[inch] degree

QDS


-5

[degree]

PLS Lower stroke limit value + Stroke amount  2147483647 [PLS]

• Setting range in the feed cam mode mm inch

0 < Stroke amount  2147483647 10

-1

[µm]

0 < Stroke amount  2147483647 10

-5

[inch] degree QDS 0 < Stroke amount  2147483647 10

-5

[degree]

PLS 0 < Stroke amount  2147483647 [PLS]

8 - 31

8 OUTPUT MODULE

POINT

When the cam reference position setting command (M3214+20n) is OFF, a position of cam axis is restored in the range of 0 to 359.99999[degree]. If the cam stroke amount is lager than 360.00000[degree], the current value within 1 cam shaft revolution different from the previous virtual mode might be restored.

(Example) When cam position is restored by switching to virtual mode in the following conditions, the current value within 1 cam shaft revolution corresponding to "current feed value: 80[degree]" is restored.

• Stroke amount : 720[degree]

• Lower stroke limit value : 0[degree]

• Current value : Lower stroke limit value + 440[degree]

(Current feed value: 80[degree])


(a) This device is used to set the torque limit value for cam shaft.





Data register

Link register

Motion register


D0 to D8191

(Note-1)

W0 to W1FFF

#0 to #7999

U \G10000 to U \G(10000+p-1)

(Note-2)





(7) Comment

(a) This device is used to create a comment such as purpose of cam shaft.



8 - 32

8 OUTPUT MODULE

(8) Lower stroke limit value storage device (2 words)

(a) This device is used to store the cam lower stroke limit value.

The current lower stroke limit value is stored.

(b) The following devices can be set as the lower stroke limit value storage device.

Name

Data register

Link register

Motion register


Setting range

(Note-1)

D0 to D8191

(Note-2)

W0 to W1FFF

#0 to #7999

U \G10000 to U \G(10000+p-1)

(Note-3), (Note-4)


(Note-2): D800 to D1559 are dedicated devices of the virtual servomotor axis, synchronous encoder axis and output module "Cam" in the virtual mode.

The unused areas of the virtual servomotor axis and cam axis can be used as a user device.



(c) The lower stroke limit value is range of -2147483648 (-2 31 ) to 2147483647

(2 31 -1).

• The lower stroke limit value is determined as follows for each unit setting. mm inch

Lower stroke limit value 10

-1

[µm]


-5

[inch] degree

QDS


-5

[degree]

PLS Lower stroke limit value 1 [PLS]



This parameter is set when the address mode clutch is set at the cam main shaft side.

Drive module


Address mode clutch


= (Drive module travel value gear) %Nc

(% : Remainder operator)

(Nc-1)

PLS

0 0 0 0

Cam

(a) The current value within 1 virtual axis revolution of cam main shaft side is stored in the preset device.

8 - 33

8 OUTPUT MODULE


Name Setting range

(Note-1)

D0 to D8191

(Note-2)

Data register

Link register

Motion register

W0 to W1FFF


#0 to #7999

U \G10000 to U \G(10000+p-1)

(Note-3), (Note-4)






(c) The current value within 1 virtual axis revolution is the range of 0 to (N C -1)

[PLS].

(N C : Number of pulses per cam shaft revolution)

(d) The address mode clutch is turned on/off with the specified address of the current value within 1 virtual axis revolution range of 0 to (N C -1) [PLS].

Therefore, set the address value within the range of 0 to (N C -1) [PLS] in the clutch ON/OFF address setting device.






8 - 34

8 OUTPUT MODULE


Operation example



1 axis


Cam

Virtual servomotor current value






Cam pattern(Stroke amount)


0

0 0

10000

0 0 0 0 0

0

10000

0 0

8 - 35

8 OUTPUT MODULE


(Auxiliary input axis side) (2 words)

This parameter is set when the address mode clutch is set at the cam auxiliary input axis side.

Drive module


Address mode clutch

Cam

Drive module

(a) By setting the current value within 1 virtual axis revolution of auxiliary input axis side, for the current value within 1 virtual axis revolution is stored in the preset device.


=

Drive module travel value of auxiliary input axis side

Gear ratio

Number of pulses per cam revolution

(Note): Current value within 1 virtual axis revolution of auxiliary input axis side is updated regardless of clutch ON/OFF.


Name Setting range

(Note-1)

D0 to D8191

(Note-2)

Data register

Link register

Motion register


W0 to W1FFF

#0 to #7999

U \G10000 to U \G(10000+p-1)

(Note-3), (Note-4)






(c) The current value within 1 virtual axis revolution is the range of 0 to (N C -1)

[PLS].

8 - 36

8 OUTPUT MODULE

(d) The address mode clutch is turned on/off with the specified address of the current value within 1 virtual axis revolution range of 0 to (N C -1) [PLS].

Therefore, set the address value within the range of 0 to (N C -1) [PLS] in the clutch ON/OFF address setting device.






8 - 37

8 OUTPUT MODULE


Operation example

Main shaft side clutch OFF



2 axes


Cam

Virtual servomotor current value of auxiliary input axis side





Cam pattern(Stroke amount)

0

0

20000

0 10000 0


0 0

20000

(Note): The rotation of output axis is reversed by differential gear.

8 - 38

8 OUTPUT MODULE

(11) Cam/ball screw switching command device

(a) This parameter is used to set cam operation.

(b) The following devices can be used as the cam/ball screw switching command device.

Input X0 to X1FFF

(Note-1)

Internal relay

Link relay

Annunciator


M0 to M8191

(Note-2), (Note-3)

B0 to B1FFF

F0 to F2047

U \G10000.0 to U \G(10000+p-1).F

(Note-4)


(DI). (n: First input No.)

QDS




Q17 CPUN/Q17 HCPU.


(c) The following operation is executed depending on the setting unit by turning the cam/ball screw switching command on corresponding to each output axis No. mm : Same operation as ball screw. inch : Same operation as ball screw.

degree : Same operation as rotary table.

PLS : Same operation as ball screw.

QDS

(d) Operation of output axis by cam/ball screw switching command is shown below.

Operation details Items

Cam/ball screw switching command : OFF

Specified cam pattern operation

Cam/ball screw switching command : ON

• Unit: mm, inch, PLS

Same operation as ball screw.

• Unit: degree QDS

Same operation as rotary table.

Command to servo amplifier = Preset command to servo amplifier +

Drive module travel value[PLS] Gear ratio

(Note): Feed current value is calculated based on the travel value per pulse set in the fixed parameter.

8 - 39

8 OUTPUT MODULE

(e) The current value within 1 cam shaft revolution is calculated based on the feed current value, lower stroke limit value, stroke amount and cam No.

(cam pattern) by turning off the cam/ball screw switching command.

If the cam/ball screw switching command is turned off outside the range of

"lower stroke limit value to stroke amount" for cam, a minor error (error code: 5000) will occur.

(f) "Continue Virtual Mode" is set for operation on servo error, if the feed current value of output axis is outside the range of cam operation ("Lower stroke limit value to Stroke amount") by servo error for two-way cam, return the output axis to within cam operation range.

1) Remove servo error cause.

2) Turn the cam/ball screw switching command ON.

3) Execute the servo error reset (M3208+20n).

4) Return the output axis position within cam operation range to within stroke range by JOG operation, etc.

5) Turn the cam/ball screw switching command OFF.

6) Re-start virtual mode.

8 - 40

8 OUTPUT MODULE

8.4.4 Cam curve list

Class

Discontinuity curves

This section describes the cam curves which can be used in the virtual mode.

(1) Cam curve characteristics comparison

The cam curve characteristics comparison is shown below.

Table 8.6 Cam Curve Characteristics Comparison Table

Cam curve name

Constant - speed

Constantacceleration

Acceleration curve shape

Vm

2.00

Am

± 4.00

(A • V)m (V • V)m (S • V)m Remark

± 8.00 4.00 1.09

5 th curve 1.88 ± 5.77 ± 6.69 3.52 1.19

Two- dwelling curve

Symmetrical curves

Asymmetrical curves

One-dwelling curve

Non-dwelling curve

Cycloid

Distorted trapezoid

Distorted sine

Distorted constant- speed

Trapecloid

Reverse trapecloid

Double hypotenuse

Single hypotenuse

2.00

2.00

1.76

1.28

2.18

2.18

2.04

1.57

± 6.28

± 4.89

± 5.53

± 8.01

± 8.16

± 8.09

± 5.46

± 5.73

± 6.17 ± 10.84

± 6.17

+ 5.55

- 9.87

± 4.93

± 10.84

+ 7.75

- 9.89

± 3.88

4.00

4.00

3.10

1.63

4.76

4.76

2.47

1.26

1.20

1.13

1.07

1.28

1.28

1.02

Ta = 1 / 8

Ta = 1 / 8

Ta = 1 / 16

Ta = 1 / 4 m = 1 m = 1

4.16 1.39

(2) Free-form curve

The spline interpolation function can be used to create free-form cam curves.

8 - 41

8 OUTPUT MODULE

8.5 Phase Compensation Function

When carrying out a position follow-up control (synchronous operation) by synchronous encoder, delays in the progresses, etc. cause the phase to deviate at servomotor shaft end in respect to the synchronous encoder. The phase compensation function compensates in this case so that the phase does not deviate.

(1) Parameter list

Set the following devices for axes to execute the phase compensation function.

(Set in the output module parameter.)

Table 8.7 Phase Compensation Function Parameter List

Number of

No. Item device words

1 Phase advance time

2

3

4

Phase compensation time constant

Phase compensation processing valid flag

Compensation amount monitor device

2

1

Bit

2

Device setting range

D0 to D8191

(Note-1), (Note-2)

W0 to W1FFF

(Note-2)

U \G10000 to U \G(10000+p-1)

(Note-2) , (Note-3)

D0 to D8191

(Note-1)

W0 to W1FFF

U \G10000 to U \G(10000+p-1)

(Note-3)

X0 to X1FFF

(Note-4)

Y0 to Y1FFF

M0 to M8191

(Note-5)

F0 to F2047

B0 to B1FFF

U \G10000.0 to U \G(10000+p-1).F

(Note-3)

D0 to D8191

(Note-1), (Note-2)

W0 to W1FFF

(Note-2)

U \G10000 to U \G(10000+p-1)

(Note-2), (Note-3), (Note-6)

Setting range

-2147483648 to

2147483647[µs]

0 to 32767[times]

—

—









8 - 42

8 OUTPUT MODULE

(a) Phase advance time

It is used to set whether a phase is advanced/delayed.

Phase advance time is calculated in the formula below.

Phase advance time = Delay time peculiar to system [s] + 1/PG1 [rad/s]

Delay time peculiar to system [t] : Refer to Table 8.8

: Model control gain

"Command speed[PLS/s] Phase advance time[s]" is added to the servo command value as an amount of compensation.

Table 8.8 Delay time peculiar to system

Operation cycle

[ms]

Incremental synchronous encoder use

[µs]

Q171ENC-W8/Q170ENC use

[µs]

0.22 QDS 681

0.44 1088

0.88 2376

1.77 4165

3.55 7715

7.11 18378

14.2 QD 32613

612

1271

2611

4388

7943

18608

32829

(b) Phase compensation time constant

It is used to set to execute leading edge/trailing edge smoothly so that a servomotor does not make rapid acceleration/deceleration at phase compensation.

Set the number of operation cycles as setting unit.

<Example>

For operation cycle is 0.88[ms] and phase compensation time constant is

50[times].

The phase compensation time constant becomes "0.88 50 = 44[ms] "

Phase compensation time constant is input at the phase compensation processing valid flag ON.

(c) Phase compensation processing valid flag

It is used to set whether the phase compensation function is "Valid/Invalid".

• ON……Phase compensation function "Valid"

• OFF…. Phase compensation function "Invalid"

(d) Compensation amount monitor

The compensation amount under compensating is stored to the preset register.

• Except cam axis…Compensation amount of servomotor shaft [PLS]

• Cam axis…………Compensation amount of current value within 1 virtual axis revolution

8 - 43

8 OUTPUT MODULE

(2) Operating method

Operating method for phase compensation function is shown below.

(a) Set a phase advance time.

(b) Set a suitable time constant as a phase compensation time constant.

(c) Turn the phase compensation processing valid flag on for every axis before the servomotor start.

(d) For cam axis, make a gain adjustment in the servo amplifier side to improve the flattery for cam pattern. In this case, advance to the phase of cam axis compared with axis of other roller or rotary table, etc.

Therefore, if the phase of cam axis is delayed in the phase advance time setting, a phase with the axis of a roller or rotation table, etc. can be set.

(3) Errors at phase compensation

(a) When the phase compensation time constant is outside the setting range, a minor error [6300] will occur for applicable axis, a phase compensation is executed without soothing processing.

POINT

(1) It must be reduced a phase compensation time constant to use for delay compensation of synchronous encoder.

(2) When driving 2 axes synchronizing with virtual servomotor, even if the position control gains 1 of each axis differ, it can be compensated to eliminate a phase discrepancy by the following setting.

<Example>

For Axis 1: PG1= 50[rad/s] and Axis 2: PG1=100[rad/s],

Phase advance time = 1/50 – 1/100

= 0.01[s] (=10000[µs])

Therefore, -10000[µs] is set as a phase advance time of axis 2, a phase of axis 2 can be set with a phase of axis 1.

(3) For cam axis, if it switches from the virtual mode to real mode in compensation amount except "0", it switches to the real mode with a phase shifted to other axes for compensation amount of remainder. In this case, switch to the real mode after setting "0" as a compensation amount.

8 - 44

9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START

9. REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START

This section describes the check details and switching method for the real mode/virtual mode switching.

(1) Real mode/virtual mode switching

Real mode/virtual mode switching is executed by turning the real mode/virtual mode switching request flag (M2043) ON/OFF.

• Real mode ......... Switching request to the real mode by turning the M2043 OFF.

• Virtual mode ...... Switching request to the virtual mode by turning the M2043 ON.

(2) Real mode/virtual mode confirmation

The current control mode state (real or virtual) can be confirmed by turning the real mode/virtual mode switching status flag (M2044) ON/OFF.

• M2044 : OFF ................ Real mode state

• M2044 : ON .................. Virtual mode state

9.1 Switching from the Real Mode to Virtual Mode

When the real mode to virtual mode switching is requested (M2043 OFF ON), the following check is executed. (Confirm the check items in Table 9.1 to 9.3 for switching from real mode to virtual mode, and execute with all normal state.)

• Check to determine if switching to the virtual mode is possible.... Refer to Table 9.1

• Output module check .................................................................... Refer to Table 9.2

• Synchronous encoder axis check ................................................. Refer to Table 9.3

9

9 - 1


(1) Check to determine if switching to the virtual mode is possible

(a) The items in Table 9.1 are checked to determine if switching to the virtual mode is possible.

When all check items of Table 9.1 are normal, switching to the virtual mode is executed.

(b) If an error of at least one item of Table 9.1, the real mode/virtual mode switching error detection flag (M2045) turns on, and the error code is stored in the real mode/virtual mode switching error information storage register

(SD504 to SD506).

Refer to APPENDIX 1.7 for the error codes which are stored in the SD504 to

SD506.

Check sequence

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

Table 9.1 Check Items List for Real Mode to Virtual Mode Switching

Applicable output module

Check item

Roller

Ball screw

Rotary table

Cam

Real mode axis

(Note-1)

Normal condition

Abnormal condition

• Are PLC ready flag (M2000) and PCPU

READY complete flag (SM500) ON ?

• Have all axes stopped ?

(M2001 to M2032 : OFF)

• Has cam data using the Motion SFC program changed ?

• Has the mechanical system program been registered ?

• Does the axis No. set in the system settings match the output axis set in the mechanical system program ?

• Is the all axes servo ON command

(M2042) ON ?

• Does not the servo start processing by the servo error reset executed at the servo amplifier (axis used) ?

• Is the external encoder normal ?

• Is the external forced stop inputted ?

• Are the all axes servo error detection signal (M2408+20n) ON ?

• Are the home position return request flag

(M2409+20n) OFF ? (Excluding roller axis)

• Does the units set in the fixed parameters match that set in the output module ?

• Has the cam data been registered?

• Has the cam No. been set at the "cam No. setting device" set in the cam parameter ?

• Has the stroke amount (1 to 2147483647) been set at the "stroke amount setting device" set in the cam parameter ?

• Is the cam "stroke amount setting device" an even number ?

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

ON OFF

YES NO

—

NO YES

YES NO

YES NO

ON OFF

Completion

During processing

YES NO

NO YES

—

ON even if 1 axis

—

YES NO

—

YES NO

—

YES NO

—

YES NO

—

YES NO

(Note-1): It is not check target for the operating system software version "00H or later".

9 - 2


(2) Output module check

(a) The items in Table 9.2 below are checked to determine the output module state.

If an error is detected, it switches to the virtual mode, but the applicable system cannot be started. Correct the error cause in the real mode, and switch to virtual mode again.

(b) When an error is detected, the error detection signal (M2407+20n) of applicable output module turns on, and the error code is stored in the minor/major error code storage register.

Check sequence

1

2

3

4

5

6

Table 9.2 Check Items List for Output Module

Check item


Roller

Ball screw

Rotary table

Cam

• Is the feed current value within the stroke limit range ?

• Is the feed current value within the range of "[lower stroke limit value] to [stroke amount]" ?

• Does not "[lower stroke limit value] +

[stroke amount]" exceed 2147483647 (2 31 -

1) in the two-way cam mode ?

• When the clutch connected to between the drive module and synchronous encoder is

"external input mode", are the clutch

ON/OFF device the same device ?

• When the clutch connected to between the drive module and synchronous encoder is

"external input mode", are the encoder I/F the manual pulse generator input ?

• Is the output module where either a "no clutch" or "clutch ON command" in effect for the virtual main shaft or the virtual auxiliary input axis the servo ready

(M2415+20n : ON)?

• Is the external input signal "STOP" of output module where either a "no clutch" or

"clutch ON command" in effect for the main shaft or the auxiliary input axis OFF ?

• Can the current value within 1 cam revolution be calculated in the two-way cam mode ?

• Is the clutch ON/ OFF address setting device for address mode clutch an even number ?

— —

— — —

Normal condition

YES

Abnormal condition

NO

YES NO

NO

YES

(Serial encoder

(ABS) input)

ON OFF

OFF ON

YES NO

9 - 3


(3) Synchronous encoder axis check

(a) The items in Table 9.3 below are checked to determine the synchronous encoder state.

If an error is detected, it switches to the virtual mode, but the applicable system cannot be started. Correct the error cause in the real mode, and switch to virtual mode again.

(b) When an error is detected, the error detection signal (M2407+20n) of the applicable output module turns on, and the error code is stored in the minor/major error code storage register.

Table 9.3 Check Items List for Synchronous Encoder Axis

Check sequence

1

Check item

• Is the synchronous encoder connected to the Q172DEX ?

Applicable synchronous encoder

External synchronous encoder

Output module

Normal condition

Abnormal condition

—

Not connected

Connected

Cable break

9 - 4


9.2 Switching from the Virtual Mode to Real Mode

There are following methods for switching from the virtual mode to real mode.

• Switching by user

• Switching automatically by the operating system software

9.2.1 Switching by user

(1) When the virtual mode to real mode switching is requested (M2043 ON OFF), the item in Table 9.4 is checked. If normal, it switches to the real mode.

(Confirm the check items in Table 9.4 for the switching from virtual mode to real mode, and execute with all normal state.)

(2) The real mode/virtual mode switching error detection flag (M2045) turns on at the error detection, and the error code is stored in the real mode/virtual mode switching error information (SD504 to SD506). (Refer to APPENDIX 1.7)

Table 9.4 Check Items for VIRTUAL Mode to REAL Mode Switching

Check item

• Is the virtual axis stopped? (M2001 to M2032 of virtual axis: OFF)

• Virtual axis and real mode axis stopped? (M2001 to

M2032 : OFF)

(Operating system software version "00G" or before in the Q17 DCPU(-S1))

9.2.2 Switching by the operating system software

Normal condition Abnormal condition

Virtual axis

OFF

Virtual axis

ON even if 1 axis

OFF ON even if 1 axis

(1) If the following items are detected in the virtual mode operation, the operating system software automatically switches back to the real mode.

• The forced stop is input.

• PLC ready flag (M2000) turns off.

• When "Return to Real Mode" is set as an operation on servo error, the servo error detection signal (M2408+20n) turns on even if 1 axis.

(2) The error code is stored in the real mode/virtual mode switching error information

(SD504 to SD506) at the switching back from virtual mode to real mode. However, the real mode/virtual mode switching error detection flag (M2045) does not turn on.

9 - 5


9.2.3 Continuous operation on servo error in virtual mode

Set the processing on servo error in virtual mode on the mechanical system screen of

MT Developer2.

(Default: "Return to real mode")

Refer to the help of MT Developer2 for the setting method.

• Mechanical system screen

[Operation on Servo Error] menu

• Operation on servo error setting screen

Operation conditions for continuous operation on servo error in virtual mode are shown below.

Operation mode

Return to real mode

Details

Motion CPU switches to real mode.

Continue virtual mode Virtual mode continues.

Operation on servo error

Only axis on servo error is servo OFF, and servomotor coasts.

Operation for other axes

Rapid stop

Operation continues

Return condition to virtual mode

After error release in real mode

After error release in virtual mode

POINT

When "Continue virtual mode" is selected, be sure to use a clutch in the mechanical system program.

In addition, the drive module connected to output axis on servo error is also continuing operation. Be sure to release a servo error after clutch OFF.

9 - 6


9.3 Precautions at Real Mode/Virtual Mode Switching

This section describes the precautions at real mode/virtual mode switching.

(1) The motion control step and the torque limit value change instruction/speed change instruction during mode switching processing execution impossible

The motion control step and the torque limit value change instruction/speed change instruction during the from real mode to virtual mode/from virtual mode to real mode switching processing (part of timing chart (Note-1)) cannot execute.

The real mode/virtual mode switching request flag (M2043) and real mode/virtual mode switching status flag (M2044) should be used as an interlock.

[Timing Chart]

Real mode to virtual mode switching request

ON


(M2043)

OFF

ON

Real mode/virtual mode switching status

(M2044)

OFF

(Note-1) : Real mode to

virtual mode

switching processing

Real mode

Virtual mode to real mode switching request

(Note-1) : Virtual mode to

real mode switching

processing

Virtual mode Real mode

Motion SFC program for which executes the motion control step of real mode and virtual mode is shown below.

[Program Example]

(a) Motion control step in the virtual mode

Example of Motion SFC program is shown below.

Virtual mode example

Virtual mode

G10

PX000*M2043*M2044*!M2001

PX000, real mode/virtual mode switching request and switching status turn on, and axis 1 start accept flag turn off.

K10

ABS-1

Axis 1, 10000PLS

Speed 1000PLS/s

G20

!PX000*!M2001

1 axis linear control

Axis used................ Axis 1

End address............ 10000[PLS]

Positioning speed......... 1000[PLS/s]


END


9 - 7


(b) Motion control step in the real mode

Example of Motion SFC program is shown below.

Real mode example

Real mode

G10

PX000*!M2043*!M2044*!M2001

PX000 turn on, real mode/virtual mode switching request and switching status turn off, and axis 1 start accept flag turn off.

K10

ABS-1

Axis 1, 20000PLS

Speed 2000PLS/s

G20

!PX000*!M2001

1 axis linear control

Axis used................ Axis 1

End address............ 20000[PLS]

Positioning speed......... 2000[PLS/s]


END


(2) M2043 processing during the TEST mode using MT Developer2

M2043 ON/OFF (Real mode/virtual mode switching request) is ignored during the test mode using MT Developer2.

Real mode/virtual mode switching can be executed using MT Developer2, during

TEST mode operation using MT Developer2.

The real mode/virtual mode switching status flag (M2044) is turned off/on with the real mode/virtual mode.

REMARK

The same check as the "M2043 (OFF ON/ON OFF)" is also executed at the real mode/virtual mode switching using MT Developer2.

(Refer to Sections 9.1 and 9.2)

9 - 8


9.4 Stop and Re-start

The basic method for stopping the system (output module) in the virtual mode operation is to stop the main shaft. If an auxiliary input axis is used, also stop the auxiliary input axis.

(1) Virtual axis stop

The stop operation or causes of virtual axis, the stop processing and re-start after stop are shown below. The following three methods for the virtual servomotor axis stop processing. This processing is also valid for interpolation axes during the interpolation operation.

• Deceleration stop ..... Deceleration stop based on the "stop deceleration time" of parameter block.

• Rapid stop ................ Deceleration stop based on the "rapid stop deceleration time" of parameter block.

• Immediate stop .…… Immediate stop without deceleration.

Because the synchronous encoder axis becomes the input immediate stop, operation should be executed after the synchronous encoder axis has been stopped from the external input, except for abnormal stops such as the forced stop or a servo error occurrence, etc.

(Example : M2000 is OFF, All axes servo OFF command, etc.)

(The servo error occurs by the immediate stop of output module connected to the synchronous encoder axis, and the synchronization discrepancy may occurs.)

When the synchronization discrepancy occurs by the stop cause, the synchronization discrepancy warning (M2046) turns on. In this case, re-align the axes in the real mode, turn M2046 off, then continue the virtual mode operation.

The stop operation/stop causes during operation and re-starting operation after stop are shown in the next page.

9 - 9


9.4.1 Stop operation/stop causes during operation and re-starting operation list

Table 9.5 Stop Operation/stop Causes during Operation and Re-starting Operation List

No.

Stop operation or stop causes during operation

1 Stop command ON

2 Rapid stop command ON

3

4

6

7

9

11

12

13

14

All-axes servo OFF command

(M2042 OFF, Command using MT Developer2 in the TEST mode)

PLC ready flag (M2000)

OFF

All-axes rapid stop from

MT Developer2

Stop from

MT Developer2 in the

TEST mode

Servo error at output module even if 1 axis

Multiple CPU system reset

Multiple CPU system power OFF

Other errors during virtual axis operation

Error detection at absolute synchronous encoder axis

(Applicable axis)

(Applicable axis)

—

(All axes)

—

—

—

Affected virtual axis

Virtual servomotor axis

Synchronous encoder axis

—

—

—

All axes batch

Stop processing

Virtual servomotor axis

Synchronous encoder axis

Immediate input stop

(Note-1)

Return to Real mode by operating system software after all virtual axes stop completion

— —

—

Synchronization discrepancy warning

(M2046) set

—

—

— —


(Note-1)


(Note-1)


(Note-1)

—


(Note-1)


(Note-1)

—

—

— —

— —

— —

— —

— —

Deceleration

— —


— —

— —

9 - 10


Error set Output module operation

Operation continuation enabled ( )/ disabled ( )

Re-start operation after stop

—

—

—

• Deceleration stop based on the smoothing time constant.


• Servo OFF state after deceleration stop based on the smoothing time constant.

Minor error

(200) set

(virtual axis)

Minor error

(200) set

(virtual axis)



—


• Continuous operation is possible by turning the stop command off (not necessary when on) and starting.

• Continuous operation is possible by turning the stop command off (not necessary when on) and starting.

• Continuous operation is possible by turning the all clutch off all axes servo on clutch on.

(However, when the servomotor does not operate during the servo OFF.

Also, the clutch OFF/ON is switched as required by the user side.)

• For synchronous encoder axes, switch to the real mode, then back to the

virtual mode to resume inputs.

(Note-1)

• Operation is possible by executing the real mode to virtual mode switching request (M2043 ON), after turning the PLC ready flag (M2000) on.

• Operation is possible by executing the real mode to virtual mode switching request (M2043 ON), after starting the Motion CPU.

• Continuous operation is possible by starting after stop.

• For synchronous encoder axes, switch to the real mode, then back to the

virtual mode to resume inputs.

(Note-1)

—


• Continuous operation is possible by starting after stop.

— • Servo OFF state after immediate stop.

• Continuous operation is not possible due to a synchronization discrepancy between the virtual axis and output module, and stop.

• After release the forced stop, re-align the output module in the real mode, switch the synchronization discrepancy warning (M2046) OFF, then switch back to the virtual mode to resume operation.


(Servo error,

Servo error code set)

SM512

(Motion CPU

WDT error flag) ON

• Servo OFF state after immediate stop for error axis only.

• Operation is different according to the setting at error occurrence.

• Servo OFF state after immediate stop.

—

—



• After executing a servo error reset in the real mode, re-align the axes, switch the synchronization discrepancy warning (M2046) OFF, then switch back to the virtual mode to resume operation.


• After resetting the Multiple CPU system, re-align the output module, then switch to the virtual mode to resume operation.





• Operation is possible by release the error cause.

Applicable error set


Applicable error set


• Return to the real mode, re-align the axes, then switch to the virtual mode to resume operation.

(Note-1): It is input continuously for the version (Refer to Section 1.4) that supports "synchronous encoder current value monitor in real mode".

9 - 11


MEMO

9 - 12

10 AUXILIARY AND APPLIED FUNCTIONS

10. AUXILIARY AND APPLIED FUNCTIONS

This section describes the auxiliary and applied functions for positioning control in the

Multiple CPU system.

Items Details Applications

Mixed function of virtual mode/real mode

Positioning control for preset axis is executed during synchronous control/cam control in the mechanical system program.

10.1 Mixed Function of Virtual Mode/Real Mode

It is used in the system for which conveys while executing synchronous control.

<Virtual mode>

When the output axis No. to execute positioning control directly is selected in the mixed function of virtual mode/real mode, a positioning control of axis which is not used in the mechanical system program can be executed simultaneously during the mechanical system program.

Example of program is shown below.

<Real mode>


Drive module (Virtual servomotor)

Motion SFC program

Transfer

[G200]

M2044//on virtual mode?

Servo program

[K100 : Virtual]

1 VF

Axis 1,

Speed D 0 PLS/s

(Axis 1)

Transmission module

Motion SFC program

Transfer

[G100]

M2049//Servo ON accept?

Servo program

[K10 : Real]

1 INC-1

Axis 5, 20000 PLS

Speed 200000 PLS/s

Servo amplifier

(Axis 5)

Servomotor

END

END

Output module

Servo amplifier

(Axis 2)

Servomotor

Servo amplifier

(Axis 3)

Servomotor

(Note): Motion SFC program can also be started automatically


10

10 - 1


Set the axis to control as real mode axis on the mechanical system screen of

MT Developer2.

Refer to the help of MT Developer2 for the setting method.

• Mechanical system screen

[Real Mode Axis Setting] menu

• Real mode axis setting screen

POINT

(1) Execute "Mechanical System Program Conversion" after setting "Real mode axis setting" in the mechanical system program editor.

(2) When a fixed parameter of each axis is changed, be sure to execute

"Mechanical System Program Conversion".

(3) Axis No. set in the "Real mode axis setting" cannot be set as virtual servomotor axis No. And, the output axis No. set in the mechanical system program cannot be also set as real mode axis No.

(4) Operation cycle over may occur for default operation cycle depending on the number of axes for real mode axis. In this case, change an operation cycle to a large value in the system setting.

10 - 2


(1) Usable instructions and controls

Servo instructions

Items

Linear positioning control

Linear interpolation control

Circular interpolation control

Helical interpolation control

Fixed-pitch feed control

Speed control ( )

Speed control ( )

Speed-position switching control

Position follow-up control

Constant-speed control

Simultaneous start

Speed control with fixed position stop

Home position return (ZERO)

High-speed oscillation (OSC)

Usable/unusable

Ver.!

Remarks

Positioning control with the torque limit value set in the servo program (parameter block)

JOG operation

Speed-torque control QDS

Ver.!

Control with JOG operation data

Control with speed-torque control data

Manual pulse generator operation


(D(P).CHGA Jn

(Note)

, CHGA)

Speed change (D(P).CHGV, CHGV)

Torque limit value change (D(P).CHGT, CHGT)

Torque limit value individual change

(D(P).CHGT2, CHGT2) QDS

Target position change (CHGP) QDS

: Usable : Unusable

(Note): "n" shows the numerical value (axis No. 1 to 32) correspond to axis No.

Ver.!


10 - 3


(2) Control methods

Remarks

Servo program start

Stop

JOG operation


QDS


Speed change

Torque limit value change

Torque limit value individual change QDS

Target position change

QDS

• Use a Motion SFC program start or

D(P).SVST instruction

• Set a real mode axis No. as axis No.

• Use D(P).CHGV, CHGV instruction.


• Use D(P).CHGT, CHGT instruction.


• Use D(P).CHGT2, CHGT2 instruction.


• Use CHGP instruction.


• When the real mode axis is set to the virtual servo program and it starts, "Servo program setting error"

(error code: 906) occurs.

• When the real mode axis and virtual axis are set together to the interpolation axis if it starts, "Servo program setting error" (error code: 906) occurs.

• Turn the stop command (M3200+20n) or rapid stop command (M3201+20n)

ON in real mode.

• Turn the external signal (STOP) ON.

• Use the deceleration stop or all axes rapid stop (Test mode ON) from

MT Developer2.

• Change speed to "0".

Use the forward rotation JOG start command (M3202+20n) or reverse rotation JOG start command

(M3203+20n).

• Set the parameter required at Motion

SFC program to switch the mode.

• Set a real mode axis No. as axis No. for parameter setting.

Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL

MODE)" for details.

Control with parameter JOG operation data.

Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL

MODE)" for details.

• Use D(P).CHGA Jn instruction.

(Note)

, CHGA


• When the D(P).CHGA Cn

(Note) instruction is executed, the instruction is ignored.

• When the CHGA-C instruction is executed to real mode axis, the instruction is ignored.

Torque limit value of real mode axis at switching from real mode to virtual mode continues the state in real mode.

(Note): "n" shows the numerical value (axis No. 1 to 32) correspond to axis No.

(3) Error codes in real mode axis

Error codes at positioning control in the mixed function of virtual mode with real mode are shown below.

(a) Minor error (1 to 999)

(b) Major error (1000 to 1299)

Minor error (4000 to 9990)/major error (10000 to 12990) code of output module in virtual mode are not set in minor/major error code storage register

(D6+20n/D7+20n).

10 - 4


(4) Difference for operation between the output axis of mechanical system program and real mode axis

Operation details for "output axis of mechanical system program" and "real mode axis" on error are shown below.

Items

Operation for output axis of mechanical system program

Operation for real mode axis

Feed current value exceeds the stroke limit range at switching from real mode to virtual mode.

• Minor error (error code: 5000) occurs.

• Related system cannot be started.

Feed current value exceeds the stroke limit range during operation.


• Operation continues.

Output speed exceeds the speed limit value.

Stop signal (STOP) is ON.

External upper LS signal

(FLS) turns off during travel to forward direction

(address increase direction).

External lower LS signal

(RLS) turns off during travel to reverse direction

(address decrease direction).

Change the torque limit value.


• Speed cramp does not process by speed limit value.

• Major error (error code: 11020) occurs.

• Operation continues for axis without clutch.

• Operation is controlled based on the operation mode on error for axis with clutch.







• Minor error (error code: 105) occurs at servo program start, and operation does not start.

• Minor error (error code: 207) occurs, and deceleration stop is executed.

• Servo program setting error or minor error occurs. Speed is controlled by speed limit value.

• Major error (error code: 1000) occurs by turning the stop signal (STOP) on at start, and operation does not start.

• Operation stops based on "deceleration processing at stop" of parameter block by turning the stop signal (STOP) on during operation.

• Major error (error code: 1001) occurs by turning the external upper LS signal

(FLS) off at start to forward direction, and operation does not start.

• Major error (error code: 1101) occurs by turning the external upper LS signal

(FLS) off during start to forward direction, operation stops based on

"deceleration processing at stop" of parameter block.

• Major error (error code: 1002) occurs by turning the external lower LS signal

(RLS) off at start to reverse direction, and operation does not start.

• Major error (error code: 1102) occurs by turning the external lower LS signal

(RLS) off during start to reverse direction, operation stops based on

"deceleration processing at stop" of parameter block.

• Any time valid by setting the torque limit value setting device of output axis and changing preset value.

• Torque limit value individual change request instructions (D(P).CHGT2,

CHGT2) are valid.

QDS

• Torque limit value change request instructions (D(P).CHGT, CHGT) and torque limit value individual change request instructions (D(P).CHGT2,

CHGT2)

QDS

are valid.

10 - 5


(5) Difference for operation between the real mode axis in virtual mode and real mode

When the servo OFF command (M3215+20n) turns on at using the mixed function of virtual mode with real mode in virtual mode, positioning control stops.

Items

Servo OFF command

(M3215+20n)

Operation for real mode axis in virtual mode

Invalid during positioning control.

Any time valid.

(Operating system software version

"00G" or before in the Q17 DCPU(-S1))

Operation for axis in real mode

Invalid during positioning control.

(6) Cautions

(a) For the operating system software version "00G or before" in the

Q17 DCPU(-S1), axis operation, current value, speed and torque limit value cannot be changed for all axes during mode switching.

(b) When the feed current value of real mode axis is outside the stroke limit range at virtual mode switching, an error will occur at start of real mode axis.

Use the JOG operation to reverse within the stroke limit range.

POINT

For the operating system software version "00G or before" in the Q17 DCPU(-S1), switching from virtual mode to real mode cannot be executed during positioning control of real mode axis. Switch a mode after stop the real mode axis.

10 - 6


10.2 Speed-Torque Control

QDS

Control mode can be switched for output axis of mechanical system and real mode axis during virtual mode.

(1) Speed-torque control in output axis of mechanical system

(a) The speed-torque control can be executed for output axis of roller, ball screw and rotary table as output module. When the control mode switching is executed for output axis of cam, a minor error (error code: 6240) will occur, and the control mode is not switched. When switching the mode to speed control mode or torque control mode, the control mode switching is possible during motor stop. When the motor is operating at control mode switching request, a minor error (error code: 6200) will occur, and the control mode is not switched. The mode can be switched to continuous operation to torque control mode even when the motor is operating.

(b) In the speed-torque control in output axis of mechanical system, the setting value of "Speed command device" is not referred, and the command speed to output axis is the value of command speed. Command speed acceleration time, command speed deceleration time and initial speed selection at control mode switching are also invalid. (For speed limit value, the value set in each output axis module is valid.)

(c) Control the command torque by setting torque command value in the torque command device set in speed-torque control data same as real mode.

Torque limit value change request (D(P).CHGT, CHGT) is invalid (no operation), and the torque limit value to servo amplifier can be changed within the range of torque limit value at speed-torque control by the value of torque limit value setting device. (If the value is outside the range, a minor error (error code: 6250) will occur.)

Only when the torque limit value setting device of output module is not set, the torque limit value to servo amplifier can be changed within the range of torque limit value at speed-torque control by the torque limit value individual change request (D(P).CHGT2, CHGT2). If the value exceeds the torque limit value at speed-torque control is set in positive direction torque limit value or negative direction torque limit value, a minor error (error code: 6250) will occur, and the torque limit value is not changed.

(2) Cautions at control mode switching

(a) When using continuous operation to torque control mode, use servo amplifiers that support continuous operation to torque control. When using servo amplifiers that do not support continuous operation to torque control, a major error (error code: 11050) will occur at switching to continuous operation to torque control mode request, and the operation continues based on the parameter settings at major error occurrence, or the clutch is

OFF.

10 - 7


(b) When the mode is switched from virtual mode to real mode, return all output axes to position control mode. If output axis except position control mode exists when the mode is switched from virtual mode to real mode, an error at real mode/virtual mode switching (error code: 256) will occur, and the mode is not switched to real mode.

(3) Stop causes during virtual mode

Operations of stop causes during "speed-torque control" in the output module during virtual mode are shown below.

Item

The PLC ready flag (M2000) turned OFF.

The forced stop input to Motion CPU.

The emergency stop input to servo amplifier.

The servo error occurred.

The servo amplifier's power supply turned OFF.

Operation during speed-torque control mode

The stop command (M3200+20n) turned ON.

The rapid stop command (M3201+20n) turned ON.

Command is ignored, and operation continues.

The external stop input turned ON.

The all axes servo ON command (M2042) turned

OFF.

The position of motor reached to hardware stroke limit

• A major error (error code: 10030) will occur, and related system cannot be started at virtual servo motor start

• A major error (error code: 11020) will occur, and operation continues for axis without clutch during command. Operation is controlled based on the operation mode on error for axis with clutch.

During virtual mode, OFF of the all axes servo ON command is not accepted, and the command is ignored.

When the mode is returned to position control mode and switched to real mode, command status at the time is valid.

Servo OFF command (M3215+20n) turned ON.

• During no-clutch/clutch ON/clutch status ON, a minor error (error code: 6000) will occur.

• When the control mode is speed control, torque control or continuous operation to torque control during clutch OFF, servo OFF is not executed. When the mode is switched to position control mode, command status at the time is valid.

The current value reached to software stroke limit. A minor error (error code: 6030) will occur.

A major error (error code: 11030, 11040) will occur, and operation continues for axis without clutch. Operation is controlled based on the operation mode on error for axis with clutch.

An error at real mode/virtual mode switching (error code: -4094(F002)) will occur, and the mode is returned to real mode.

After that, the control mode is switched to position control mode, and the operation immediately stops.


The control mode switches to position control mode at servo OFF.

• During no-clutch/clutch ON/clutch status ON, a major error (error code: 11010) will occur, and operation continues for axis without clutch. Operation is controlled based on the operation mode on error for axis with clutch.

• When the control mode is speed control, torque control or continuous operation to torque control during clutch OFF, the mode is switched to position control mode at servo OFF.


The control mode switches to position control mode at servo OFF.

• During no-clutch/clutch ON/clutch status ON, a major error (error code: 11010) will occur, and operation continues for axis without clutch. Operation is controlled based on the operation mode on error for axis with clutch.

• When the control mode is speed control, torque control, or continuous operation to torque control during clutch OFF, the mode switches to position control mode at the servo amplifier's power supply ON again.

10 - 8


(4) Speed-torque control in the real mode axis

The speed-torque control can be executed in the real mode axis.

In this case, the control follows the control during real mode.

The real mode axis can be switched from virtual to real mode during speedtorque control.


Programming Manual (REAL MODE)" for details of operation during real mode.

10 - 9


MEMO

10 - 10

APPENDICES

APPENDICES

APPENDIX 1 Error Codes Stored Using the Motion CPU

The following errors are detected in the Motion CPU.

• Servo program setting error

• Positioning error

• Control mode switching error

• Motion SFC error

(Note-1)

• Motion SFC parameter error

(Note-1)

• Multiple CPU related error

(Note-2)

(Note-1): Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual

(Motion SFC)" for details.

(Note-2): Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)" for details.

(1) Servo program setting errors

These are positioning data errors set in the servo program, and it checks at the start of each servo program.

They are errors that occur when the positioning data is set indirectly.

The operations at the error occurrence are shown below.

• The servo program setting error flag (SM516) turns on.

• The erroneous servo program is stored in the error program No. storage register (SD516).

• The error code is stored in the error item information register (SD517).

(2) Positioning error

(a) Positioning errors occurs at the positioning start or during positioning control.

There are minor errors, major errors and servo errors.

1) Minor errors ....... These errors occur in the Motion SFC program or servo program, and the error codes (drive module : 1 to 999, output module : 4000 to 9990) are used.

Check the error code, and remove the error cause by correcting the Motion SFC program or servo program.

2) Major errors ....... These errors occur in the external input signals or control commands from the Motion SFC program, and the error codes (drive module : 1 to 1999, output module : 10000 to 11990) are used.

Check the error code, and remove the error cause of the external input signal state or Motion SFC program.

3) Servo errors....... These errors detected in the servo amplifier, and the error codes 2000 to 2999 are used.

Check the error code, and remove the error cause of the servo amplifier side.

APP.

APP - 1

APPENDICES

The error applicable range for each error class are shown below.

Error class

Minor error

Major error

Servo error

Erroneous category

Setting data

At start

During operation

At control change

At start

During operation

System

Servo amplifier

Servo amplifier power supply module

Drive module

Error module

Output module

1 to 99

100 to 199

200 to 299

300 to 399

1000 to 1099

1100 to 1199

—

4000 to 4990

5000 to 5990

6000 to 6990

—

10000 to 10990

11000 to 11990

15000 to 15990

2000 to 2799

(2100 to 2499 : warning)

—

2800 to 2999

(2900 or later : warning)

(b) The error detection signal of the erroneous axis turns on at the error occurrence, and the error codes are stored in the minor error code, major error code or servo error code storage register.

Device

Error class

Error code storage register

Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Axis 9 Axis10 Axis11 Axis12

Virtual servomotor

Synchronous encoder

Output module

Minor error code D802 D812 D822 D832 D842 D852 D862 D872 D882 D892 D902 D912

Major error code D803 D813 D823 D833 D843 D853 D863 D873 D883 D893 D903 D913



Minor error code D6

Major error code D7

Servo error code D8

D26

D27

D28

D46

D47

D48

D66

D67

D68

D86

D87

D88

D106 D126 D146 D166 D186 D206 D226

D107 D127 D147 D167 D187 D207 D227

D108 D128 D148 D168 D188 D208 D228

Device

Error class


Axis13 Axis14 Axis15 Axis16 Axis17 Axis18 Axis19 Axis20 Axis21 Axis22 Axis23 Axis24

Virtual servomotor

Synchronous encoder

Output module

Minor error code D922 D932 D942 D952 D962 D972 D982 D992 D1002

Major error code D923 D933 D943 D953 D963 D973 D983 D993 D1003

Minor error code

Major error code



Servo error code D248 D268 D288 D308 D328 D348 D368 D388 D408 D428 D448 D468

Virtual servomotor

Synchronous encoder

Device

Error class

Output module


Axis25 Axis26 Axis27 Axis28 Axis29 Axis30 Axis31 Axis32


Error reset command

Minor error code D1042 D1052 D1062 D1072 D1082 D1092 D1102 D1112

Major error code D1043 D1053 D1063 D1073 D1083 D1093 D1103 D1113

Minor error code

Major error code

M4007+20n M4807+20n

M4640+4n M5440+4n

Minor error code D486 D506 D526 D546 D566 D586 D606 D626

Major error code D487 D507 D527 D547 D567 D587 D607 D627

M2407+20n M3207+20n

Servo error code D488 D508 D528 D548 D568 D588 D608 D628 M2408+20n M3208+20n

APP - 2

APPENDICES

(c) If another error occurs after an error code has been stored, the existing error code is overwritten, deleting it.

However, the error history can be checked using MT Developer2.

(d) Error detection signals and error codes are held until the error reset command (M3207+20n) or servo error reset command (M3208+20n) turns on.

POINT

(1) Even if the servo error reset (M3208+20n) turns on at the servo error occurrence, the same error code might be stored again.

(2) Reset the servo error after removing the error cause of the servo amplifier side at the servo error occurrence.

(3) Error at the real mode/virtual mode switching

These errors are checked when the real mode/virtual mode switching request flag (M2043) turns off to on/on to off.

When the check shown in Section 9.1 and 9.2 is executed, and if error is detected, it is as follows.

• It remains the current mode without the real mode/virtual mode switching.

• The real mode/virtual mode switching error detection flag (M2045) turns on.

• The error codes are stored in the real mode/virtual mode switching error information (SD504 to SD506).

POINT

• The axis error code among the error codes stored in the SD504 to SD506 is shown below. b15 b0

SD504 Error



Erroneous axis bit "1"

<Example> For 8 axes error



and the error code is stored in the SD504.

APP - 3

APPENDICES

APPENDIX 1.1 Expression method for word data axis No.

The axis No. may be expressed to correspond to each bit of word data for the positioning dedicated signal.

Example of the TEST mode request error information (SD510, SD511) is shown below. b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0






Stores the during operation/stop data of each axis

0 : During stop

1 : During operation

(1) Axis 8 : Test mode request error

The controlling signal "1" is stored in SD510 "b7 (axis 8)".

SD510

SD511 b15 b14 b13 b12 b11 b10 b9 b8

0 0 0 0 0 0 0 0

0 0 0 0 0 0 0 0 b7

1

0 b6

0

0 b5

0

0 b4 b3

0 0

0 0 b2 b1

0 0

0 0 b0

0

0

Decimal Hexadecimal

SD510 128 0080H

SD511 0 0000H

(2) Axis 12, 20 : Test mode request error

The controlling signal "1" is stored in SD510 "b11 (axis 12)" and SD511 "b3 (axis 20)".

SD510

SD511 b15 b14 b13 b12 b11 b10 b9

0 0 0 0 1 0 0

0 0 0 0 0 0 0 b8

0

0 b7

0

0 b6 b5

0 0

0 0 b4 b3

0 0

0 1 b2

0

0 b1

0

0 b0

0

0

Decimal Hexadecimal

SD510 2048 0800H

SD511 8 0008H

(3) Axis 4, 10 : Test mode request error

The controlling signal "1" is stored in SD510 "b3 (axis 4)" and SD511 "b9 (axis 10)".

SD510

SD511 b15 b14 b13 b12 b11 b10 b9

0 0 0 0 0 0 1

0 0 0 0 0 0 0 b8

0

0 b7 b6

0 0

0 0 b5

0

0 b4 b3

0 1

0 0 b2 b1

0 0

0 0 b0

0

0

Decimal Hexadecimal

SD510 520 0208H

SD511 0 0000H

APP - 4

APPENDICES

APPENDIX 1.2 Related systems and error processing

There are following 2 types for the related systems of virtual mode.

• System consisting of a drive module and output module.

• Multiple systems used the same drive module.

The following processing occurs, when the error is detected at an output module.

• If an error is detected at least one output module, a drive module cannot start and that system cannot be operate.

The auxiliary input axis operation for the erroneous output module also cannot operate.

• Other systems which use the drive module which could not start by the output module error also cannot operate.

[System 1]

Drive module

A

Start impossible

Differential gear

Clutch

Output module a

Output module b

Drive module

B

Start impossible

Output module c

Errors

[System 2]

Drive module

C

Clutch

[System 3]

Drive module

B

Drive module

A

Start impossible

Differential gear

Output module d

Output module e

(1) If an error occurs at any of the output module

"a", "b", "c" for system 1, a drive module "A"

cannot start and system 1 cannot operate.

The drive module "A" at system 2 cannot

also start.

(2) If an error occurs at the output module "c"

for system 1, a drive module cannot also

start. Since the drive module "B" for system 3

cannot also start, the system 3 cannot also

start.

(3) The drive module "C" for system 2 can start.

Output module f

Output module g

APP - 5

APPENDICES

APPENDIX 1.3 Servo program setting errors (Stored in SD517)

The error codes, error contents and corrective actions for servo program setting errors are shown in Table 1.1.

In the error codes marked with "Note" indicates the axis No. (1 to 32).

Table 1.1 Servo program setting error list

Error code stored in SD517

1 n03

(Note)

4

5

6

7

Error name Error contents Error processing Corrective action

Parameter block No. setting error

The parameter block No. is outside Execute the servo program the range of 1 to 64. with the default value "1" of parameter block.

Address (travel value) setting error

(Except the speed control and speed/position control.)

(Setting error for linear axis at the

(1) The address is outside the setting range at the positioning start for absolute data method.

Unit Address setting range degree

0 to

35999999

10 –5

[degree] helical-interpolation.) (2) The travel value is set to

-2147483648 (H80000000) at the positioning start for incremental data method.

Command speed error

(1) The command speed is outside the range of 1 to the speed limit value.

Set the parameter block No. within the range of 1 to 64.

(1) Positioning control does not start. (All interpolation

(1) If the control unit is

[degree], set the address control at the interpolation control.) within the range of 0 to

35999999.

(2) If the error is detected during the speed- switching control or constant-speed control, a deceleration stop is made.

(2) Set the travel value within the range of "0 to (2 31 -1)".

(3) If an error occurs in one servo program, all servo programs do not execute during the simultaneous start.

(1) Positioning control does not start if the command speed is "0" or less.

(2) If the command speed exceeds the speed limit value, control with the speed limit value.

Set the command speed within the range of 1 to the speed limit value.

(2) The command speed is outside the setting range.

Unit Speed setting range mm inch

1 to

600000000

1 to

600000000 degree

1 to

2147483647

10 -2

[mm/min]

10 -3

[inch/min]

10 -3

[degree

/min]

(Note-1)

PLS

1 to

2147483647

[PLS/s]

Dwell time setting error

The dwell time is outside the range of 0 to 5000.

M-code setting error The M-code is outside the range of 0 to 32767.

Torque limit value setting error

The torque limit value is outside the range of 1 to 1000.

Control with the default value Set the dwell time within the

"0". range of 0 to 5000.

Control with the torque limit value of the specified parameter block.

Set the M-code within the range of 0 to 32767.

Set the torque limit value within the range of 1 to 1000.

(Note-1): When the "speed control 10 multiplier setting for degree axis" is set to "valid", the setting range is 0.01 to

21474836.47 [degree/min].

APP - 6

APPENDICES

Table 1.1 Servo program setting error list (Continued)

Error code stored in SD517 n08

(Note) n09

(Note) n10

(Note)

11

12

13

14


Auxiliary point setting error

(At the auxiliary

(1) The auxiliary point address is outside the setting range at the positioning start for absolute point-specified data method. circular interpolation. )

(At the auxiliary point-specified helical interpolation.)


0 to

35999999

10 -5

[degree]

(2) The auxiliary point address is set to -2147483648

(H80000000) at the positioning start for incremental data method.

Radius setting error

(At the radiusspecified circular interpolation.)

(At the radiusspecified helical interpolation.)

(1) The radius is outside the setting range at the positioning control for absolute data method.


0 to

35999999

10 -5

[degree]

(2) The radius is set to "0" or negative setting at the positioning start for incremental data method.

Positioning control does not start.


[degree], set the auxiliary point address within the range of 0 to 35999999.

(2) Set the auxiliary point address within the range of

0 to (2 31 -1).


[degree], set the radius within the range of 0 to

35999999.

(2) Set the radius within the range of 1 to (2 31 -1).

Central point setting error

(At the central pointspecified circular interpolation.)

(At the central pointspecified helical interpolation.)

Interpolation control unit setting error

Speed limit value setting error

(1) The central point address is outside the setting range at the positioning start for absolute data method.


0 to

35999999

10 -5

[degree]

(2) The central point is set to

-2147483648 (H80000000) at the positioning start for incremental data method.


[degree], set the central point address within the range of 0 to 35999999.

(2) Set the central point address within the range of

0 to (2 31 -1).

The interpolation control unit is set Control with the default value outside the range of 0 to 3. "3".

Set the interpolation control unit within the range of 0 to 3.

The speed limit value is set outside the setting range.

Control with the default value

200000[PLS/s].

Set the speed limit value within the setting range.

[For PLS]

1 to 2147483647[PLS/s]

Acceleration time setting error

FIN acceleration/ deceleration setting error

Fixed position stop acceleration/ deceleration time setting error

Deceleration time setting error

The acceleration time is set to "0".

The FIN acceleration/deceleration time is set except 1 to 5000.

Control with the default value Set the acceleration time

"1000". within the range of 1 to 65535.

The FIN acceleration/ deceleration time within the range of 1 to 5000.

The fixed position stop acceleration/deceleration time is set to "0".

Set the fixed position stop acceleration/deceleration time within the range of 1 to 65535.

The deceleration time is set to "0".

Set the deceleration time within the range of 1 to 65535.

APP - 7

APPENDICES



15

16

17

18

19

20

21

22

23

24


Rapid stop deceleration time setting error

Torque limit value setting error

Allowable error range for circular interpolation setting error

The rapid stop deceleration time is set to "0".

The torque limit value is outside the range of 1 to 1000.

Control with the default value Set the rapid stop deceleration

"1000". time within the range of 1 to

65535.


"300[%]".

Set the torque limit value within the range of 1 to 1000.

The allowable error range for Control with the default value circular interpolation is outside the "100[PLS]".

Set the allowable error range for circular interpolation within the setting range. setting range.

Unit Address setting range mm

inch degree

0 to

100000

10 -1 [µm]

10 -5 [inch]

10 -5

[degree]

PLS [PLS]

START instruction setting error

Repeat count error The repeat count is outside the range of 1 to 32767.

(1) The servo program specified with the START instruction does not exist.

(2) There is a START instruction in the specified servo program.

Control the repeat count with

"1".


Set the repeat count within the range of 1 to 32767.

(1) Create the servo program specified with the START instruction.

(2) Delete the servo program specified with the START instruction.

(3) Do not overlap the starting axis.

(3) The starting axis of the specified servo program overlap.

(4) The real mode program and virtual mode program are mixed.

(5) The real axis program and command generation axis program are mixed.

(4) Do not allow mixture of the real mode program and virtual mode program.

(5) Do not allow mixture of the real axis program and command generation axis program.

Set a point between CPSTART and CPEND.

Point setting error Point is not specified in the instruction at the constant-speed

Reference axis speed setting error control.

The axis except interpolation axis is set as the reference axis at the linear interpolation of the reference axis speed-specified method.

S-curve ratio setting error

VSTART setting error

S-curve ratio is set outside the range of 0 to 100[%] at the Scurve acceleration/deceleration.

Not even one speed-switching point has been set between a

VSTART and VEND instruction, or between FOR and NEXT instruction.

Cancel function start The start program No. for the program No. error cancel function is set outside the range 0 to 4095.

Set one of the interpolation axes as the reference axis.

Control the S-curve ratio with

0[%] (Trapezoidal

Set the S-curve ratio within the range of 0 to 100[%]. acceleration/deceleration).


Set the speed switching point between the VSTART and

VEND instructions or the FOR and NEXT instructions.

Start after set the start program No. within the range of 0 to 4095.

APP - 8

APPENDICES



25

26

27

28

41

45

46

47

48

49

50

51

900

901

902


High-Speed Operation cannot be started oscillation command amplitude error because the amplitude specified with the high-speed oscillation function is outside the range 1 to

2147483647.

High-Speed oscillation command

Operation cannot be started because the starting angle starting angle error specified with the high-speed oscillation function is outside the range of 0 to 3599

( 0.1[degree]).


Start after set the command amplitude within the range of 1 to 214783647.

Start after set the starting angle within the range of 0 to 3599

( 0.1 [degree]).

High-Speed oscillation command

Operation cannot be started because the frequency specified frequency error with the high-speed oscillation function is outside the range of 1

Number of helical interpolation pitches error to 5000[CPM].

The specified number of pitches of helical interpolation is outside the range of 0 to 999.

Start after set the frequency within the range of 1 to

5000[CPM].

Set the specified number of pitches within the range of 0 to

999.

Device error of the Any unauthorized devices are set home position return in the home position return data data for indirect for indirect setting. setting

Advanced S-curve acceleration/ deceleration setting error

The acceleration section 1 ratio is outside the range of 0.0 to

100.0[%].

The acceleration section 2 ratio is outside the range of 0.0 to

100.0[%].

The deceleration section 1 ratio is outside the range of 0.0 to

100.0[%].


Control with acceleration section 1 ratio =

0.0 acceleration section 2 ratio =

0.0 deceleration section 1 ratio =

0.0 deceleration section 2 ratio =

0.0

Review the devices of home position return data for indirect setting.

Set the each ratio within the range of 0.0 to 100.0[%].

Rapid stop deceleration time setting error



Servo program instruction code error

The deceleration section 2 ratio is outside the range of 0.0 to

100.0[%].

(Acceleration section 1 +

Acceleration section 2) > 100.0[%]

(Deceleration section 1 +

Deceleration section 2) >

100.0[%]

The rapid stop deceleration time is bigger than the setting value of deceleration time.

Control the rapid stop deceleration time with the setting value of deceleration time.


The servo program specified with the servo program start does not exist.

The axis No. set in the servo program start is different from the axis No. set in the servo program.

The instruction code cannot be decoded.

(A non-existent instruction code has been specified.)

Set the rapid stop deceleration time within the range of 1 to deceleration time setting value.

Set the correct servo program

No.

Set the correct axis No.

Set the correct instruction code

APP - 9

APPENDICES



903

Error name

Start error

Error contents Error processing

905

906

907

908

Start error

Axis No. setting error

Start error

Start error

Corrective action

A virtual mode program was started in the real mode.

(1) Operation disable instructions

(VPF, VPR, VPSTART, PVF,

PVR, ZERO, VVF, VVR, OSC)

Positioning control does not start. was started in virtual mode.


(ZERO, OSC, CHGA-C) was started in real mode axis.


(CHGA-C, CHGA-E) from the

D(P).SVST instruction of

Motion dedicated instruction was started.

(1) Unused axis of the system setting is set in the servo program start.

(2) It was started by setting the real mode axis in the virtual servo program.

(3) It was started in the condition that the real mode axis had been mixed with virtual axis in the interpolation axis.

(4) It was started by setting the virtual axis in the real mode program in virtual mode.

It was started during processing for switching from real mode to virtual mode.

It was stated during processing for switching from virtual mode to real mode.

Check the program mode allocation.

Correct the servo program.

Use the D(P).CHGA instruction of Motion dedicated instruction.

Set the axis No. set in the system setting or mechanical system program.

Use M2043 (real mode/virtual mode switching request),

M2044 (real mode/virtual mode switching status) as interlocks for start.

APP - 10

APPENDICES

APPENDIX 1.4 Drive module errors

Table 1.2 Drive module error (100 to 1199) list

Control mode of virtual servo axis

Error class

Error code

Error cause

Error processing

Corrective action

Minor error

100

101

103

104

105

(Note)

106

(Note)

107

(Note)

• The PLC ready flag (M2000) or


(SM500) is OFF.

• The start accept flag (M2001 to

M2032) for applicable axis is ON.

• Set the Motion CPU to RUN.

• Turn the PLC ready flag

(M2000) on.

• Take an interlock in the program not to start the starting axis. (Use the start accept flag

OFF of the applicable axis as the starting condition).

• The stop command (M4800+20n) for applicable axis is ON.

• The rapid stop command

(M4801+20n) for applicable axis is

ON.

• The feed current value is outside the range of stroke limit at the start.

• Turn the stop command

(M4800+20n) off and start.

• Turn the rapid stop command

(M4801+20n) off and start.

• Positioning is outside the range of stroke limit.

Positioning control does

• The address that does not generate an arc is set at auxiliary pointnot start. specified circular interpolation or auxiliary point-specified helical interpolation.

(Relationship between the start point, auxiliary point and end point.)

• Set within the stroke limit range by the JOG operation.

• Set within the stroke limit range by the home position return or current value change.

• Perform the positioning within the range of stroke limit.

• Correct the addresses of the servo program.

• The auxiliary point-specified circular interpolation or auxiliary pointspecified helical interpolation was started in the control unit degree axis which is "stroke limit invalid".

• Make the stroke limit valid for the control unit degree axis starts the auxiliary pointspecified circular interpolation or auxiliary point-specified helical interpolation.

• The auxiliary point-specified circular interpolation or auxiliary pointspecified helical interpolation was started in the axis which is "stroke limit invalid".

• Make the stroke limit valid for the axis starts the auxiliary point-specified circular interpolation or auxiliary pointspecified helical interpolation.

(Note): This error code is stored at all relevant interpolation axis storage areas at the interpolation operation.

APP - 11

APPENDICES

Error class

Error code

Table 1.2 Drive module error (100 to 1199) list (Continued)


Error cause

Error processing

Corrective action

Minor error

108

(Note)

• The address that does not generate an arc is set at R(radius) specified circular interpolation or R(radius) specified helical interpolation.

(Relationship between the start point, radius and end point.)

• The radius-specified circular interpolation or radius-specified helical interpolation was started in the control unit degree axis which is

"stroke limit invalid".

• The radius-specified circular interpolation or radius-specified helical interpolation was started in the axis which is "stroke limit invalid".

• The address that does not generate an arc is set at central pointspecified circular interpolation or central point-specified helical interpolation.


(Relationship between the start point, central point and end point.)

• The central point-specified circular interpolation or central pointspecified helical interpolation was started in the control unit degree axis which is "stroke limit invalid".


• Make the stroke limit valid for the control unit degree axis starts the radius-specified circular interpolation or radiusspecified helical interpolation.

• Make the stroke limit valid for the axis starts the radiusspecified circular interpolation or radius-specified helical interpolation.


109

(Note)

• The central point-specified circular interpolation or central pointspecified helical interpolation was started in the axis which is "stroke limit invalid".

• Make the stroke limit valid for the control unit degree axis starts the central point-specified circular interpolation or central point-specified helical interpolation.

• Make the stroke limit valid for the axis starts the central pointspecified circular interpolation or central point-specified helical interpolation.

110

(Note)

116

• The difference between the end point address and ideal end point is outside the allowable error range for circular interpolation at the circular interpolation.

• The setting JOG speed is "0".

• The setting JOG speed exceeded the JOG speed limit value.

• The setting JOG speed limit value exceeded the setting range.


Control with the JOG speed limit

• Set the correct speed (within the setting range). value.

Control with the maximum setting range of each control unit.

• Set the correct JOG speed limit value (within the setting range).

(Note): This error code is stored at all relevant interpolation axis storage areas at the interpolation operation.

APP - 12

APPENDICES

Error class

Error code



Error cause

Error processing

Corrective action

Minor error

117

119

• Both of forward and reverse rotation Only the were set at the simultaneous start for the JOG operation. applicable axis set to the forward direction starts.

• In the real mode or at the real mode axis, the instruction to specify the end point address by absolute data method in speed switching control was executed for the axis with unit

[PLS/mm/inch] where the stroke limit is disabled.

140

• The travel value of the reference axis is set at "0" in the linear interpolation for reference axis specification.

141

• The position command device of position follow-up control is set the odd number.

151

• Not allowed axis started in the virtual mode. (It cannot be started with error at real mode/virtual mode switching.)


• Set a correct data.

• When specifying the end point address by absolute data method in speed switching control, make the stroke limit valid.

• Do not set axis of travel value

"0" as the reference axis.

• Set the even number for the position command device of position follow-up control.

• Start in the virtual mode again after correct the error cause in the real mode.

152

153

200

204

207

• It started at the virtual mode and during deceleration by all axes servo OFF (M2042 OFF).

• It started at the virtual mode and during deceleration by occurrence of the output module servo error.

• The PLC ready flag (M2000) turned off during the control by the servo program.

• The PLC ready flag (M2000) turned off to on again during deceleration by turning off the PLC ready flag

(M2000).

• The feed current value exceeded the stroke limit range during positioning control. Only the axis exceed the stroke limit range is stored at the circular/helical interpolation.

All interpolation axes are stored in the linear interpolation.

Deceleration

• Turn the PLC ready flag stop

(M2000) on after all axes have stopped.

No operation

• Turn the PLC ready flag

(M2000) off to on after all axes have stopped.

(Turn the PLC ready flag

(M2000) off to on during deceleration is "no operation".)

Deceleration stop

• Correct the stroke limit range or travel value setting so that positioning control is within the range of the stroke limit.

APP - 13

APPENDICES

Error class

Error code



Error cause

Error processing

Corrective action

Minor error

208

211

214

• The feed current value of another axis exceeded the stroke limit value during the circular/helical

• Correct the stroke limit range or travel value setting so that positioning control is within the range of the stroke limit. interpolation control or simultaneous manual pulse generator operation.

(For detection of other axis errors).

• During positioning control, an

Deceleration stop • Set the speed setting so that overrun occurred because the deceleration distance for the output speed is not attained at the point where the final positioning address was detected.

• The manual pulse generator was overrun does not occur.

• Set the travel value so that overrun does not occur. enabled during the start of the applicable axis, the manual pulse generator operation was executed.

Manual pulse generator input is ignored until the axis stops.

• Execute the manual pulse generator operation after the applicable axis stopped.

• The speed switching point address exceed the end point address.

• Set the speed-switching point between the previous speed

215

• The positioning address in the reverse direction was set during the Rapid stop switching point address and the end point address.

220 speed switching control.

• The same servo program was executed again.

• When the control unit is "degree"

• Correct the Motion SFC program.

• When the control unit is during the position follow-up control, the command address exceeded the range of 0 to 35999999.

Deceleration stop

• The command address for the position follow-up control exceeded

"degree", set the command address within the range of 0 to

35999999.

• Set the address within the stroke limit range. the stroke limit range.

• The speed at the pass point exceeded the speed limit value during constant-speed control.

225 • The speed at the pass point is 0 or less.

230

• When the skip is executed in the constant-speed control, the next interpolation instruction is an absolute circular interpolation or absolute helical interpolation.

• After the skip is executed in the constant-speed control, an absolute circular interpolation or absolute helical interpolation is executed while passing through only the positioning point for incremental method.

Control with the speed limit value.

Control with the speed of last pass point

Immediate stop

Deceleration stop

• Set the speed command value within the range of 1 to speed limit value.

• If absolute circular interpolation or absolute helical interpolation is designated at a point after the skip designation point, set an absolute linear interpolation in the interval.

APP - 14

APPENDICES

Error class

Error code



Error cause

Error processing

Corrective action

Minor error

260

261

262

263

264

300

305

• The target position change request

(CHGP) specifying the address where the target position is outside the range of 0 to 35999999 is executed to the axis whose unit is

[degree].

• At the target position change request (CHGP), since the travel to the target position after the change was shorter than the deceleration distance, an overrun occurred.

• At the target position change request (CHGP), the target position after the change exceeds the range of the stroke limit.


(CHGP) is executed to the program where the following acceleration/deceleration system is set.

(1) FIN acceleration/deceleration

(2) Advanced S-curve acceleration/ deceleration

• When executing the target position change request specifying the address to the axis whose unit is [degree], set the target position within the range of 0 to 35999999.

• Set the speed so that an overrun will not occur.

•Set the target position so that an overrun will not occur.

• Set the stroke limit range or the target position after the change so that the positioning control is performed within the stroke limit range.

Deceleration stop

• Do not execute the target position change to the program where the FIN acceleration/deceleration or the advanced S-curve acceleration/deceleration is set.

• Set the acceleration/deceleration system of the parameter block or the servo program to the trapezoid/S-curve acceleration/deceleration.

• Set a target position so that the travel of the reference axis or the long axis after the target position change is not 0.

• In reference axis-specified linear interpolation or the long axisspecified linear interpolation, the travel of the reference axis or the long axis after the target position change request (CHGP) is 0.

• The current value was changed during positioning control of the applicable axis.

• The current value was changed for the axis that had not been started.

• The current value was changed for the servo OFF axis.

• The speed after speed change is set outside the range of 0 to speed limit value.

• The absolute value of speed after speed change is set outside the range of 0 to speed limit value.

Current value is not changed.

Control with the speed limit value.

• Use the following devices as interlocks not to change the current value for the applicable axis.

(1) The start accept flag (M2001 to M2032) OFF for applicable axis.

(2) The servo READY signal

(M2415+20n) ON.

• Set the speed after speed change within the range of 0 to speed limit value.

• Set the absolute value of speed after speed change within the range of 0 to speed limit value.

APP - 15

APPENDICES

Error class

Error code



Error cause

Error processing

Corrective action

Minor error

Major error

310

330

1151

• Change speed to negative speed in the invalid axis of stroke limit.


(CHGP) was executed for the axis which was executing a servo instruction which was not compatible with target position change.

• Q172DEX or encoder hardware error.

• Disconnected encoder cable

• A synchronous encoder set in the system setting differs from a synchronous encoder actually connected.

1152 • Low voltage at Q172DEX.

1153

• No battery or disconnected battery at Q172DEX.

Speed is not changed.

• Do not change speed to negative speed in the invalid axis of stroke limit.

Target position is not changed.

• Change the target position for the axes operated by the following servo instructions.

(1) Linear interpolation control

(2) Fixed-pitch feed operation

(3) Constant-speed control


• Check (replace) the Q172DEX or encoder.

• Check the encoder cable

Input from synchronous

• Set a synchronous encoder actually connected in the encoder does not system setting. accept.

• Replace the battery.

Operation is continued.

• Replace the battery or check

(replace) the Q172DEX.

APP - 16

APPENDICES

APPENDIX 1.5 Servo errors

(1) Servo errors (2000 to 2999)

These errors are detected by the servo amplifier, and the error codes are [2000] to [2999].

The servo error detection signal (M2408+20n) turns on at the servo error occurrence. Eliminate the error cause, reset the servo amplifier error by turning on the servo error reset command (M3208+20n) and perform re-start. (The servo error detection signal does not turn on because the codes [2100] to [2599] are for warnings.)

(Note-1): As for the regenerative alarm (error code [2030]) or overload 1 or 2

(error codes [2050], [2051]), the state at the operation is held also for after the protection circuit operation in the servo amplifier. The memory contents are cleared with the external power supply off, but are not cleared by the reset signal.

(Note-2): If resetting by turning off the external power supply is repeated at the occurrence of error code [2030], [2050] or [2051], it may cause devices to be destroyed by overheating. Re-start operation after eliminating the cause of the error certainly.

The hexadecimal display of servo amplifier display servo error code

(#8008+20n) is the same as the LED of servo amplifier. Ver.!

CAUTION

If a controller, servo amplifier self-diagnosis error occurs, check the points stated in this manual and clear the error.

List of servo errors are shown in next page or later.

Refer to the "Servo amplifier Instruction Manual" for details.

Servo amplifier type Instruction manual name

MR-J4- B SSCNET /H interface MR-J4- B Servo amplifier Instruction Manual (SH-030106)

MR-J4W- B

SSCNET /H interface Multi-axis AC Servo MR-J4W- B Servo amplifier Instruction

Manual (SH-030105)

MR-J3- B SSCNET interface MR-J3- B Servo amplifier Instruction Manual (SH-030051)

MR-J3W- B

SSCNET interface 2-axis AC Servo Amplifier MR-J3W- B Servo amplifier Instruction

Manual (SH-030073)

MR-J3- B-RJ004 SSCNET Compatible Linear Servo MR-J3- B-RJ004 Instruction Manual (SH-030054)

MR-J3- B-RJ006

SSCNET Compatible Fully Closed Loop Control MR-J3- B-RJ006 Servo amplifier

Instruction Manual (SH-030056)

MR-J3- B-RJ080

MR-J3- B Safety

SSCNET interface Direct Drive Servo MR-J3- B-RJ080W Servo amplifier Instruction

Manual (SH-030079)

SSCNET interface Drive Safety integrated MR-J3- B Safety Servo amplifier

Instruction Manual (SH-030084)

Ver.!


APP - 17

APPENDICES

Error code

2010

2011

2012

2013

2014

2015

2016

(a) MR-J4(W)- B

Table 1.3 Servo error (2000 to 2999) list (MR-J4(W)- B)

Servo amplifier

LED display

10.1

10.2

13.2

14.1

14.2

14.3

14.4

14.5

14.6

14.7

11.1

11.2

12.1

12.2

12.3

12.4

12.5

13.1

14.8

14.9

14.A

15.1

15.2

16.1

16.2

16.3

16.5

16.6

16.7

16.A

16.B

16.C

16.D

16.E

16.F

Name Details name

Undervoltage

Switch setting error

Memory error 1 (RAM)

Clock error

Control process error

Memory error 2 (EEP-ROM)

Encoder initial communication error 1

Voltage drop in the control power

Voltage drop in the main circuit power

Axis number setting error

Disabling control axis setting error

RAM error 1

RAM error 2

RAM error 3

RAM error 4

RAM error 5

Clock error 1

Clock error 2

Control process error 1










EEP-ROM error at power on

EEP-ROM error during operation

Encoder initial communication - Receive data error 1



Encoder initial communication -

Transmission data error 1





Encoder initial communication - Process error 1






Remarks

MR-J4W- B use

APP - 18

APPENDICES

Error code

2017

2019

2020

2021

2024

2025

2027

2028

Table 1.3 Servo error (2000 to 2999) list (MR-J4(W)- B) (Continued)

Servo amplifier

LED display

17.1

17.3

17.4

17.5

17.6

19.1

19.2

20.1

20.2

20.3

20.5

20.6

20.7

20.9

20.A

21.1

21.2

21.3

21.4

21.5

21.6

21.9

24.1

24.2

25.1

27.1

27.2

27.3

27.4

27.5

27.6

27.7

28.1

Board error

Name

Memory error 3 (Flash-ROM)

Encoder normal communication error 1


Main circuit error

Absolute position erased

Initial magnetic pole detection error

Linear encoder error 2

Details name

Board error 1

Board error 2

Board error 3

Board error 4

Board error 5

Flash-ROM error 1

Flash-ROM error 2

Encoder normal communication -

Receive data error 1















Encoder error 1

Encoder data update error

Encoder data waveform error

Encoder non-signal error

Encoder hardware error 1

Encoder hardware error 2

Encoder error 2

Ground fault detected at hardware detection circuit

Ground fault detected at software detection function

Servo motor encoder - Absolute position erased

Magnetic pole detection - Abnormal termination

Magnetic pole detection - Time out error

Magnetic pole detection - Limit switch error

Magnetic pole detection - Estimated error

Magnetic pole detection - Position deviation error

Magnetic pole detection - Speed deviation error

Magnetic pole detection - Current error

Linear encoder - Environment error

Remarks

APP - 19

APPENDICES

Error code

2030

2032

2033

2034

2035

2036

2037

(Note-1)

2042

2045


33.1

34.1

34.2

34.3

34.4

35.1

36.1

37.1

37.2

42.1

42.2

Servo amplifier

LED display

30.1

30.2

30.3

32.1

32.2

32.3

32.4

42.3

42.8

42.9

42.A

45.1

46.1

46.2

Name Details name

Regenerative error

Regeneration heat error

Regeneration signal error

Regeneration feedback signal error

Overcurrent

Overvoltage

SSCNET receive error 1

Command frequency error


Parameter error

Servo control error

Fully closed loop control error

Overcurrent detected at hardware detection circuit (during operation)

Overcurrent detected at software detection function (during operation)

Overcurrent detected at hardware detection circuit (during a stop)

Overcurrent detected at software detection function (during a stop)

Main circuit voltage error

SSCNET receive data error

SSCNET connector connection error

SSCNET communication data error

Hardware error signal detection


Continuous communication data error

Parameter setting range error

Parameter combination error

Servo control error by position deviation

Servo control error by speed deviation

Servo control error by torque/thrust deviation

Fully closed loop control error by position deviation

Fully closed loop control error by speed deviation

Fully closed loop control error by position deviation (during command stop)

Main circuit device overheat Main circuit device overheat error

Abnormal temperature of servo motor 1


Remarks

2046

2047

2050

2051

46.5

46.6

47.1

47.2

50.1

50.2

50.3

50.4

50.5

50.6

51.1

51.2

Cooling fan error

Overload 1

Overload 2



Cooling fan stop error

Cooling fan speed reduction error

Thermal overload error 1 during operation



Thermal overload error 1 during a stop





(Note-1): Refer to the parameter No. stored in the parameter error No. (#8009+20n) for details of the erroneous parameter.

APP - 20

APPENDICES

Error code

2052

2054

2056

2060

2061


Servo amplifier

LED display

Name Details name

52.1

52.3

52.4

52.5

54.1

56.2

56.3

1A.1

1A.2

2A.1

2A.2

2A.3

2A.4

2A.5

Error excessive

Excess droop pulse 1


Error excessive during 0 torque limit


Oscillation detection Oscillation detection error

Over speed during forced stop

Forced stop error Estimated distance over during forced stop

Servo motor combination error

Servo motor combination error Servo motor control mode combination error


Linear encoder error 1-1





2A.6

2A.7



2A.8 Linear encoder error 1-8

63.1 STO1

STO timing error

63.2 STO2 off

Remarks

2063

1E.2 error 2 Load-side encoder malfunction

2064

2070

1F.2

70.1

70.2

70.3

70.5

70.6

70.7

70.A

70.B

70.C

70.D

70.E

70.F error 3

Load-side encoder initial communication error 1

Incompatible load-side encoder

Load-side encoder initial communication -













Process error 1


Process error 2


Process error 3


Process error 4


Process error 5


Process error 6

APP - 21

APPENDICES


Error code

Servo amplifier

LED display

Name Details name Remarks

2071

71.1

71.2

71.3

71.5

71.6

71.7

Load-side encoder normal communication error 1

Load-side encoder communication -












71.9

71.A





Load-side encoder data error 1

Load-side encoder data update error

Load-side encoder data waveform error

Load-side encoder non-signal error

Load-side encoder hardware error 1

Load-side encoder hardware error 2

2072

72.1

72.2

72.3

72.4

72.5

72.6

Load-side encoder normal communication error 2

72.9 Load-side encoder data error 2

Watchdog

Servo amplifier overheat

2091 91.1 warning

2095

2102

2106

95.1

95.2

92.1

92.3

96.1

96.2

STO warning

Main circuit device overheat warning

STO1 off detection

STO2 off detection

Battery cable disconnection warning

Encoder battery cable disconnection warning

Battery degradation

In-position warning at home positioning

Home position setting warning Command input warning at home positioning

2116

9F.1 Low

Battery warning

9F.2 Battery degradation warning

Excessive regeneration

2140 E0.1 warning

Excessive regeneration warning

2141

E1.1

E1.2

E1.3

E1.4

Overload warning 1

Thermal overload warning 1 during operation




E1.5

E1.6

E1.7

E1.8





APP - 22

APPENDICES


Error code

Servo amplifier

LED display

E2.1


2142

2143

2144

(Note-1)

2146

2147

2148

2149

2151

2152

2153

E3.2

E3.5

E4.1

E6.1

E7.1

E8.1

E8.2

E9.1

E9.2

E9.3

EB.1

EC.1

ED.1

Servo motor overheat warning Servo motor temperature warning

Absolute position counter warning

Parameter warning

Servo forced stop warning

Encoder absolute positioning counter warning


Parameter setting range error warning

Forced stop warning

Controller forced stop warning Controller forced stop warning

Cooling fan speed reduction warning

Main circuit off warning

2922 3E.1 Operation mode error

USB communication time-out

2948 8A.1 error

2952

8E.1

8E.2

8E.3

8E.4

8E.5

USB communication error

Decreased cooling fan speed warning

Cooling fan stop

Servo-on signal on during main circuit off

Bus voltage drop during low speed operation

Ready-on signal on during main circuit off

The other axis error warning The other axis error warning

Overload warning 2

Output watt excess warning

Overload warning 2


2160

2162

F0.1

F0.3

F2.1

Tough drive warning

Instantaneous power failure tough drive warning

Vibration tough drive warning

Drive recorder - Miswriting warning

Drive recorder - Area writing time-out warning

Drive recorder - Data miswriting warning

Oscillation detection warning Oscillation detection warning 2163

2913

F2.2

F3.1

2B.1

2B.2

Encoder counter error

Inrush current suppression

2918 3A.1 circuit error

Encoder counter error 1


Inrush current suppression circuit error

Operation mode error

USB communication time-out error

USB communication receive error

USB communication checksum error

USB communication character error

USB communication command error

USB communication data number error

MR-J4W- B use

(Note-1): Refer to the parameter No. stored in the parameter error No. (#8009+20n) for details of the erroneous parameter.

APP - 23

APPENDICES

(b) MR-J3- B

Table 1.4 Servo error (2000 to 2999) list (MR-J3- B)

Error code

Servo amplifier

LED display

Name Remarks

2012 12 Memory error 1 (RAM)

2013 13 error

2034

2035

2036

2045

2046

2047

2016 16 Encoder error 1 (At power on)

2017 17 error

2019

2020

2021

2024

19

20

21

24

Memory error 3 (Flash ROM)

Encoder error 2 (During runtime)


Main circuit error

2025 25 Absolute position erase

2060

2082

2102

2106

2143

2146

2147

2148

2149

2153

2301 to 2599

2601 to 2899

2921

2948

2952

1A

82

92

96

E3

E6

E7

E8

E9

34

35

36

45

46

47

ED

E4

37

3D

8A

8E

Receive error 1


Receive error 2

Main circuit device overheat

Servo motor overheat

Cooling fan error

Motor combination error

Master/slave operation error 1


Home position setting warning



Controller forced stop warning




Parameter warning (Refer to the table 1.5)

Parameter error (Refer to the table 1.5)

Driver communication parameter setting error



(Note): The LED display is different when using the servo amplifiers with a large capacity.


APP - 24

APPENDICES

Table 1.5 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail

Error code

Parameter

No.

2301 2601 PA01 Control mode

2302 2602 PA02 Regenerative option

2303 2603 PA03 Absolute position detection system

2304 2604 PA04

2305 2605 PA05

2306 2606 PA06 For manufacturer setting

2307 2607 PA07

2308 2608 PA08 Auto tuning mode

Parameter

Error

No.

Function selection A-1

2340 2640 PB21

2341 2641 PB22

Name

For manufacturer setting

2342 2642 PB23 Low-pass filter selection

2343 2643 PB24

Slight vibration suppression control selection

2344 2644 PB25 For manufacturer setting

2345 2645 PB26 Gain changing selection

2309 2609

2310 2610

2311 2611

2314 2614

PA09

PA10

PA11

2312 2612 PA12

2313 2613 PA13

PA14

Auto tuning response

In-position range


Rotation direction selection

2346 2646 PB27 Gain changing condition

2347 2647 PB28 Gain changing time constant

2348 2648 PB29

Gain changing ratio of load inertia moment to servo motor inertia moment

2349 2649 PB30 Gain changing position loop gain

2350 2650 PB31 Gain changing speed loop gain

2351 2651 PB32

Gain changing speed integral compensation

2352 2652 PB33

Gain changing vibration suppression control vibration frequency setting

2353 2653 PB34

Gain changing vibration suppression control resonance frequency setting

2315 2615 PA15 Encoder output pulse

2316 2616 PA16


2354 2654

2355 2655

PB35

PB36

2318 2618 PA18

2356 2656 PB37

2357 2657 PB38

2319 2619 PA19 Parameter write inhibit 2358 2658 PB39

2320 2620 PB01 Adaptive tuning mode (adaptive filter ) For manufacturer setting

2321 2621 PB02

Vibration suppression control tuning mode

(advanced vibration suppression control)


2360 2660

2361 2661

PB41

PB42

2362 2662 PB43

2363 2663 PB44

2323 2623 PB04 Feed forward gain


2325 2625 PB06

Ratio of load inertia moment to servo motor inertia moment

2326 2626 PB07 Model loop gain

2327 2627 PB08 Position loop gain

2328 2628 PB09 Speed loop gain

2329 2629 PB10 Speed integral compensation

2330 2630 PB11 Speed differential compensation

2364 2664

2365 2665

2369 2669

PB45

PC01

PC05

Vibration suppression control filter 2

Error excessive alarm level

2366 2666 PC02 Electromagnetic brake sequence output

2367 2667 PC03 Encoder output pulse selection

2368 2668 PC04 Function selection C-1

Function selection C-2

2331 2631 PB12 Overshoot amount compensation

2332 2632 PB13 Machine resonance suppression filter 1

2333 2633 PB14 Notch shape selection 1



2336 2636 PB17 Automatic setting parameter

2337 2637 PB18 Low-pass filter setting

2338 2638 PB19

Vibration suppression control vibration frequency setting

2339 2639 PB20

Vibration suppression control resonance frequency setting


2371 2671 PC07 Zero speed

2372 2672 PC08 For manufacturer setting

2373 2673 PC09 Analog monitor 1 output


2375 2675 PC11 Analog monitor 1 offset


2377 2677 PC13

Analog monitor feedback position output standard data Low

2378 2678 PC14

Analog monitor feedback position output standard data High

(Note): The details are different when using the servo amplifiers with a large capacity.


APP - 25

APPENDICES

Table 1.5 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail (Continued)

Error code

Parameter

No.

2377 2677 PC13

2378 2678 PC14

Parameter

Error

No.




2380 2680 PC16 Function selection C-3A


2382 2682 PC18


2383 2683 PC19


2385 2685 PC21 Alarm history clear

2386 2686 PC22

2416 2716 PD20

Driver communication setting

Master axis No. selection1 for slave

2417 2717

2418 2718

2419 2719

2420 2720

2421 2721

2422 2722

2423 2723

2424 2724

2425 2725

PD21

PD22

PD23

PD24

PD25

PD26

PD27

PD28

PD29

Name


2387 2687 PC23

2388 2688 PC24

2389 2689 PC25

2426 2726

2427 2727

2428 2728

PD30

PD31

PD32

Master-slave operation - Torque command coefficient on slave

Master-slave operation - Speed limit coefficient on slave

Master-slave operation - Speed limit adjustment value on slave

2390 2690 PC26 2429 2729 PE01

2391 2691 PC27

2392 2692 PC28

2393 2693 PC29

2394 2694 PC30

2395 2695 PC31

2396 2696 PC32

2397 2697 PD01

2398 2698 PD02


2430 2730 PE02

2431 2731 PE03

2432 2732 PE04

2433 2733 PE05

2434 2734 PE06

2435 2735 PE07

2436 2736 PE08

2437 2737 PE09

2399 2699 PD03

2400 2700 PD04

2401 2701 PD05

2402 2702 PD06

2438 2738 PE10

2439 2739 PE11

2440 2740 PE12

2441 2741 PE13

2403 2703 PD07 Output signal device selection 1 (CN3-13) 2442 2742 PE14



2406 2706 PD10 For manufacturer setting 2445 2745 PE17


2407 2707 PD11 Input filter setting

2408 2708 PD12


2409 2709 PD13

2410 2710 PD14 Function selection D-3

2411 2711 PD15 Driver communication setting

2412 2712 PD16

2413 2713 PD17


Master transmit data selection1


Master transmit data selection2

2414 2714 PD18


2415 2715 PD19

2446 2746 PE18

2447 2747 PE19

2448 2748 PE20

2449 2749 PE21

2450 2750 PE22

2451 2751 PE23

2452 2752 PE24

2453 2753 PE25

2454 2754 PE26 Filter coefficient 2-1



APP - 26

APPENDICES


Error code

Parameter

No.

Parameter

Error

No.







2462 2762

2463 2763

2464 2764

2465 2765

2466 2766

2467 2767

PE34

PE35

PE36

PE37

PE38

PE39

Name


2461 2761 PE33 Filter coefficient 2-8 2468 2768 PE40



APP - 27

APPENDICES

Error code

2010

2011

2012

2013

2015

2016

2017

2019

2020

2021

2024

2025

20.1

20.2

20.3

20.5

20.6

20.7

21.1

21.2

17.1

17.2

17.3

17.4

17.5

17.6

19.1

19.2

21.3

12.1

12.2

12.3

13.1

15.1

15.2

16.1

16.2

16.3

16.5

16.6

16.7

(c) MR-J3W- B

Table 1.6 Servo error (2000 to 2999) list (MR-J3W- B)

Servo amplifier

LED display

Name Details name

10.1

10.2

11.1

11.2

11.3

11.4

24.1

24.2

25.1

Remarks

Undervoltage

Switch setting error

Memory error 1 (RAM)

Clock error

Memory error 2 (EEP-ROM)

Encoder initial communication error 1

Board error




Main circuit error

Absolute position erase

Voltage drop in the control circuit power supply

Voltage drop in the main circuit power

Rotary switch setting error

DIP switch setting error

Servo motor selection switch setting error

Servo motor selection switch setting error

2

CPU built-in RAM error

CPU data RAM error

Custom IC RAM error

Clock error

EEP-ROM error at power on

EEP-ROM error during operation

Encoder receive data error 1



Encoder transmission data error 1



AD converter error

Current feedback data error

Custom IC error

Amplifier detection signal error

Rotary switch error

DIP switch error

Flash-ROM error 1

Flash-ROM error 2




Encoder data error

Encoder data update error

Encoder waveform error




Ground fault detected at hardware detection circuit

Ground fault detected at software detection function

Absolute position data erase

Direct drive motor use

(Note-1): The name is different when using the linear servo motors.


(Note-2): The name is different when using the direct drive motors.


APP - 28

APPENDICES

Error code

2027

2028

2030

2032

2033

2034

2035

2036

2042

2045

Table 1.6 Servo error (2000 to 2999) list (MR-J3W- B) (Continued)

Servo amplifier

LED display


27.1

27.2

27.3

27.4

27.5

27.6

27.7

28.1

30.1

30.2

30.3

32.1

32.2

32.3

32.4

33.1

34.1

34.2

34.3

34.4

35.1

36.1

42.1

42.2

42.3

45.1

45.2



Regenerative error

Overcurrent

Overvoltage




Linear servo control error

Servo control error


Servo control error


Servo control error


Magnetic pole detection abnormal termination

Magnetic pole detection time out error

Magnetic pole detection limit switch error

Magnetic pole detection estimated error

Magnetic pole detection position deviation error

Linear servo motor/ direct drive motor use

Magnetic pole detection speed deviation error

Magnetic pole detection current error

Linear encoder environment error

Linear servo motor use

Regeneration heat error

Regenerative transistor error

Regenerative transistor feedback data error

Abnormal motor speed

(Note-1), (Note-2)

Overcurrent detected at hardware detection circuit (during operation).

Overcurrent detected at software detection function (during operation).

Overcurrent detected at hardware detection circuit (during a stop).

Overcurrent detected at software detection function (during a stop).

Main circuit voltage error

SSCNET receive data error

SSCNET communication connector connection error

Communication data error

Hardware error signal detection



Continuous communication data error

Linear servo control error on the positioning detection

Servo control error due to position deviation

Linear servo control error on the speed detection

Servo control error due to speed deviation

Linear servo control error on the thrust detection

Servo control error due to torque detection

Main circuit abnormal temperature

Board temperature error










APP - 29

APPENDICES

Error code

2046

2047

2050

2051

2052


Servo amplifier

LED display

46.1

Name Details name

46.2

46.3

47.1

47.2

50.1

50.2

50.3

50.4

50.5

50.6

51.1

51.2

52.3

52.4


(Note-2)

Cooling fan error

Overload 1

Overload 2

Error excessive

Remarks

Abnormal temperature of servo motor

Linear servo motor thermal sensor error


Direct drive motor thermal sensor error Direct drive motor use

Thermistor wires are not connected error

Linear servo motor/ direct drive motor use

Cooling fan stop error

Decreased cooling fan speed error









Excess droop pulse

(Note-1), (Note-2)

Maximum deviation at 0 torque limit

(Note-1), (Note-2)

2060

2061

1A.1

2A.1

2A.2

2A.3

2A.4

2A.5



2A.6

2A.7

2A.8

Encoder initial communication

2063 1E.1 error 2

Encoder initial communication

2064 1F.1 error 3


Linear encoder side error 1








Encoder failure

Incompatible encoder


2101

91.1

91.2


Battery cable disconnection

2102 92.1 warning

2106

96.1

96.2


2116 9F.1 Battery warning

Excessive regeneration

2140 E0.1 warning

—


Board temperature warning

Encoder battery disconnection warning signal detection

In-position error at home positioning

Command input error at home positioning

Low battery

Excessive regeneration warning





APP - 30

APPENDICES


Error code

2601 to 2899

2913

USB communication time-out

2948 8A.1 error

2952

Servo amplifier

LED display

37.1

37.2

2B.1

2B.2

8E.1

8E.2

8E.3

8E.4

8E.5

Name

Parameter error

(Refer to the table 1.7)



Details name

Parameter setting range error

Parameter combination error




USB communication receive error

USB communication checksum error

USB communication character error

USB communication command error

USB communication data No. error

Remarks

2141

E1.1

E1.2

E1.3

E1.4

E1.5

E1.6

Overload warning 1





Thermal overload warning 1 during a stop


E1.7

E1.8

Linear servo motor overheat warning

2142 E2.1

Direct drive motor overheat warning

2143

2146

2147

E3.1

E3.2

E6.1

E7.1






The multi-revolution counter travel distance excess warning


Absolute positioning counter error


Controller forced stop warning Controller forced stop warning



Cooling fan speed reduction

2148 E8.1 warning

E9.1

Decreased cooling fan speed warning

2149

2151

2152

2153

2301 to 2599

E9.2

E9.3

EB.1

EC.1

ED.1

E4.1


The other axis fault warning

Overload warning 2


Parameter warning

(Refer to the table 1.7)

Ready-on signal on at main circuit off

Bus voltage drop during low speed operation

(Note-1)

Servo-on signal on at main circuit off

The other axis fault warning

Overload warning 2

Output watt excess

Parameter setting range error warning






APP - 31

APPENDICES


Error code

Parameter

No.




2304 2604 PA04

2305 2605 PA05


2307 2607 PA07


Parameter

Error

No.


2340 2640 PB21

2341 2641 PB22

Name



2343 2643 PB24




2309 2609

2310 2610

2311 2611

2314 2614

PA09

PA10

PA11

2312 2612 PA12

2313 2613 PA13

PA14


In-position range





2348 2648 PB29




2351 2651 PB32


2352 2652 PB33


2353 2653 PB34



2316 2616 PA16 Encoder output pulse 2

2317 2617 PA17

2318 2618 PA18


2354 2654

2355 2655

2356 2656

2357 2657

PB35

PB36

PB37

PB38


2320 2620 PB01 Adaptive tuning mode (adaptive filter ) PB40

2321 2621 PB02



2360 2660 PB41


2322 2622 PB03 For manufacturer setting 2361 2661 PB42

2362 2662 PB43

2363 2663 PB44



2325 2625 PB06







2364 2664

2365 2665

2369 2669

PB45

PC01

PC05







2332 2632

2333 2633

2334 2634

2335 2635

2336 2636

PB13

PB14

PB15

PB16

PB17

Machine resonance suppression filter 1

Notch shape selection 1



Automatic setting parameter


2338 2638 PB19


2339 2639 PB20









2377 2677

2378 2678

PC13

PC14


APP - 32

APPENDICES


Error code

Parameter

No.

Parameter

Error

No.

2379 2679 PC15 Station number selection



2382 2682 PC18

2383 2683 PC19

2384 2684 PC20


2412 2712

2413 2713

2414 2714

2415 2715

2416 2716

2417 2717

PD16

PD17

PD18

PD19

PD20

PD21


2386 2686 PC22

2387 2687 PC23

2388 2688 PC24

2389 2689 PC25

2390 2690 PC26

2391 2691 PC27

2392 2692 PC28

2393 2693 PC29

2394 2694 PC30

2395 2695 PC31

2396 2696 PC32


2397 2697 PD01

2398 2698 PD02

2418 2718 PD22

2419 2719 PD23

2420 2720 PD24

2421 2721 PD25

2422 2722 PD26

2423 2723 PD27

2424 2724 PD28

2425 2725 PD29

Name

2426 2726 PD30

2427 2727 PD31

2428 2728 PD32

2485 2785 Po01 Function selection O-1

2486 2786

2487 2787

Po02

Po03

Axis selection for graphing analog data

(MR Configurator)

Axis selection for graphing digtal data

(MR Configurator)

2488 2788 Po04 Function selection O-2

2489 2789 Po05

2490 2790 Po06

2491 2791 Po07


2399 2699 PD03

2400 2700 PD04

2401 2701 PD05

2402 2702 PD06

2403 2703 PD07

Output signal device selection 1

(CN3-12 for A-axis and CN3-25 for B-axis)

2404 2704 PD08 For manufacturer setting

2405 2705 PD09

Output signal device selection 3

(CN3-11 for A-axis and CN3-24 for B-axis)



2408 2708 PD12


2409 2709 PD13



2492 2792

2493 2793

2494 2794

2495 2795

2496 2796

2497 2797

Po08

Po09

Po10

Po11

Po12

Po13

2498 2798 Po14

2499 2799 Po15

2500 2800 Po16


APP - 33

APPENDICES

Error code

2034

2035

2036

2042

2045

2046

2047

(d) MR-J3- B-RJ004 (For linear servo)

Table 1.8 Servo error (2000 to 2999) list (MR-J3- B-RJ004)

Servo amplifier

LED display

Name Remarks


2013 13 error


2017 17 error

2019

2020

2021

2024

19

20

21

24


Encoder error 2

Encoder error 3

Main circuit error

2027

2028

27

28



2061

2106

2142

2146

2147

2148

2149

2153

2301 to 2599

2601 to 2899

2948

2952

2A

96

E2

E6

E7

E8

E9

34

35

36

42

45

46

47

ED

E4

37

8A

8E

Receive error 1

Command frequency alarm

Receive error 2



Linear servo motor overheat

Cooling fan alarm


Home position setting error



Controller emergency stop warning








APP - 34

APPENDICES


Error code

Parameter

No.

Parameter

Error

No.


2303 2603

2304 2604

2305 2605

2306 2606

PA03

PA04

PA05

PA06

Absolute position detection system



Name


2342 2642 PB23 Low-pass selection

2343 2643 PB24





2307 2607 PA07

2308 2608

2309 2609

2310 2610



2355 2655 PB36

2356 2656 PB37

2317 2617 PA17

2318 2618 PA18


2357 2657 PB38

2358 2658 PB39

2319 2619 PA19 Parameter write inhibit 2359 2659 PB40 For manufacturer setting


2321 2621 PB02




2361 2661

2362 2662

PB42

PB43

2332 2632

2333 2633

2334 2634

2335 2635

2336 2636

PA08

PA09

PA10

2311 2611 PA11

2312 2612 PA12

2313 2613 PA13

PB13

PB14

PB15

PB16

PB17

Auto tuning mode


In-position range


2314 2614 PA14 Moving direction selection



2325 2625 PB06

Load mass ratio to the linear servo motor primary side (coil)








Notch form selection 1


Notch form selection 2



2338 2638 PB19



2348 2648 PB29

Gain load mass ratio to the linear servo motor primary side (coil)



2351 2651

2352 2652

PB32

PB33



2353 2653 PB34


2354 2654 PB35

2363 2663 PB44

2364 2664 PB45 Vibration suppression control filter 2

2365 2665

2378 2678

PC01

PC14




2368 2668 PC04

2369 2669 PC05

2370 2670 PC06








2377 2677 PC13


2339 2639 PB20



2379 2679

2380 2680

PC15

PC16

APP - 35

APPENDICES


Error code

Parameter

No.

Parameter

Error

No.


2382 2682 PC18


2384 2684 PC20


2386 2686 PC22

2427 2727

2428 2728

2429 2729

2430 2730

2431 2731

2432 2732

PD31

PD32

PE01

PE02

PE03

PE04

2387 2687 PC23

2388 2688 PC24


2389 2689 PC25



2392 2692 PC28

2393 2693 PC29

2394 2694 PC30


2395 2695 PC31

2396 2696 PC32

2397 2697 PD01

2398 2698 PD02 Input signal automatic ON selection

2399 2699 PD03

2400 2700 PD04


2401 2701 PD05

2402 2702 PD06

2433 2733 PE05

2434 2734 PE06

2435 2735 PE07

2436 2736 PE08

2437 2737 PE09

2438 2738 PE10

2439 2739 PE11

2440 2740 PE12

2441 2741 PE13

2442 2742 PE14

2443 2743 PE15

2444 2744 PE16

2445 2745 PE17

2446 2746 PE18

2447 2747 PE19

2448 2748 PE20

Name







2408 2708 PD12


2409 2709 PD13


2453 2753

2454 2754

2455 2755

2456 2756

PE25

PE26

PE27

PE28

Filter coefficient 2-1



2411 2711 PD15

2412 2712 PD16

2413 2713 PD17

2414 2714 PD18

2415 2715 PD19

2416 2716 PD20

2417 2717 PD21

2418 2718 PD22

2419 2719 PD23

2420 2720 PD24

2421 2721 PD25

2422 2722 PD26

2423 2723 PD27

2424 2724 PD28

2425 2725 PD29

2426 2726 PD30







2462 2762 PE34

2463 2763 PE35

2464 2764 PE36

2465 2765 PE37

2466 2766 PE38

2467 2767 PE39

2468 2768 PE40


2501 2801 PS01 Linear function selection 1

2502 2802 PS02

Linear encoder resolution setting

Numerator

2503 2803 PS03

Linear encoder resolution setting

Denominator


APP - 36

APPENDICES


Error code

Parameter

No.

2505 2805 PS05

2506 2806 PS06

Linear servo motor control position deviation error detection level

Linear servo motor control speed deviation error detection level

2507 2807 PS07

2510 2810 PS10

Linear servo motor control thrust deviation error detection level


2509 2809 PS09 Magnetic pole detection voltage level

At magnetic pole detection current detection method

Identification signal frequency

2511 2811 PS11

Parameter

Error

No.

At magnetic pole detection current detection method

Identification signal amplitude

2519 2819

2520 2820

2521 2821

2522 2822

2523 2823

2524 2824

2525 2825

PS19

PS20

PS21

PS22

PS23

PS24

PS25

Name


2512 2812 PS12

2513 2813 PS13

2514 2814 PS14

2515 2815 PS15

2516 2816 PS16

2517 2817 PS17

2518 2818 PS18


2526 2826 PS26

2527 2827 PS27

2528 2828 PS28

2529 2829 PS29

2530 2830 PS30

2531 2831 PS31

2532 2832 PS32

APP - 37

APPENDICES

Error code

2034

2035

2036

2042

2045

2046

2047

(e) MR-J3- B-RJ006 (For fully closed control)

Table 1.10 Servo error (2000 to 2999) list (MR-J3- B-RJ006)

Servo amplifier

LED display

Name Remarks


2013 13 error


2017 17 error

2019

2020

2021

2024

19

20

21

24




Main circuit error

2028 28 Linear encoder error 2

2060

2061

2070

2071

2106

2146

2147

2148

2149

2153

2301 to 2599

2601 to 2899

2948

2952

1A

2A

70

71

34

35

36

42

45

46

47

96

ED

E4

37

8A

8E

E6

E7

E8

E9

Receive error 1


Receive error 2

Fully closed control error detection



Cooling fan alarm



Load side encoder error 1












APP - 38

APPENDICES


Error code


2303 2603

2304 2604

2305 2605

2306 2606

Parameter

No.

PA03

PA04

PA05

PA06

2307 2607 PA07

Parameter

Error

No.

Absolute position detection system



Name


2342 2642 PB23 Low-pass selection

2343 2643 PB24





2308 2608

2309 2609

2310 2610

2314 2614

PA08

PA09

PA10

2311 2611 PA11

2312 2612 PA12

2313 2613 PA13

PA14

Auto tuning mode


In-position range




2348 2648 PB29




2351 2651

2352 2652

PB32

PB33



2353 2653 PB34


2354 2654 PB35



2355 2655 PB36

2356 2656 PB37

2317 2617 PA17

2318 2618 PA18


2357 2657 PB38

2358 2658 PB39

2319 2619 PA19 Parameter write inhibit 2359 2659 PB40 For manufacturer setting


2321 2621 PB02




2361 2661

2362 2662

PB42

PB43



2325 2625 PB06







2331 2631

2332 2632

2333 2633

2334 2634

2335 2635

2336 2636

PB12

PB13

PB14

PB15

PB16

PB17

Overshoot amount compensation







2338 2638 PB19


2363 2663 PB44

2364 2664 PB45 Vibration suppression control filter 2

2365 2665

2366 2666

2367 2667

2368 2668

2369 2669

2370 2670







2377 2677 PC13

2378 2678

PC01

PC02

PC03

PC04

PC05

PC06

PC14


Electromagnetic brake sequence output

Encoder output pulse selection





2339 2639 PB20



2379 2679

2380 2680

PC15

PC16 Function selection C-3A

APP - 39

APPENDICES


Error code

Parameter

No.

Parameter

Error

No.


2382 2682 PC18


2383 2683 PC19



2386 2686 PC22

2422 2722

2423 2723

PD26

PD27

2424 2724 PD28

2425 2725 PD29

2426 2726

2427 2727

PD30

PD31

Name


2387 2687 PC23

2388 2688 PC24


2389 2689 PC25


2391 2691 PC27

2392 2692 PC28

2393 2693 PC29

2394 2694 PC30


2428 2728 PD32

2429 2729 PE01 Fully closed loop selection 1

2430 2730 PE02 For manufacturer setting


2432 2732

2433 2733

2434 2734

2435 2735

PE04

PE05

PE06

PE07

Fully closed loop feedback pulse electronic 1 gear numerator

Fully closed loop feedback pulse electronic gear 1 denominator

Fully closed loop control speed deviation error detection level

Fully closed loop control position deviation error detection level

2395 2695 PC31

2396 2696 PC32

2397 2697 PD01

2398 2698 PD02

2399 2699 PD03

2400 2700 PD04

2401 2701 PD05

2402 2702 PD06


2436 2736 PE08 Fully closed loop dual feedback filter



2439 2739 PE11

2440 2740 PE12

2441 2741 PE13

2442 2742 PE14

2443 2743 PE15






2408 2708 PD12


2409 2709 PD13


2448 2748

2449 2749

2450 2750

2451 2751

PE20

PE21

PE22

PE23


2411 2711 PD15

2412 2712 PD16

2413 2713 PD17

2414 2714 PD18

2415 2715 PD19

2416 2716 PD20

2417 2717 PD21

2418 2718 PD22

2419 2719 PD23

2420 2720 PD24

2421 2721 PD25


2452 2752

2453 2753

2454 2754

2455 2755

2456 2756

2457 2757

2458 2758

2459 2759

2460 2760

2461 2761

PE24

PE25

PE26

PE27

PE28

PE29

PE30

PE31

PE32

PE33









2462 2762 PE34

Fully closed loop feedback pulse electronic gear 2 numerator

APP - 40

APPENDICES


Error code

Parameter

No.

2463 2763 PE35

2464 2764 PE36

2465 2765 PE37

Parameter

Error

No.



2466 2766 PE38

Name

2467 2767 PE39

2468 2768 PE40


APP - 41

APPENDICES

Error code

2034

2035

2036

2042

2045

2046

2047

(f) MR-J3- B-RJ080W (For direct drive motor)

Table 1.12 Servo error (2000 to 2999) list (MR-J3- B-RJ080W)

Servo amplifier

LED display

Name Remarks


2013 13 error

2016 16 Encoder error 1

2017 17 error

2019

2020

2021

2024

19

20

21

24


Encoder error 2

Encoder error 3

Main circuit error

2025

2027

25

27



2060

2064

2102

2106

2142

2143

2146

2147

2148

2149

2153

2301 to 2599

2601 to 2899

2913

2948

2952

1A

1F

92

96

ED

E4

37

2B

8A

8E

34

35

36

42

45

46

47

E2

E3

E6

E7

E8

E9

Receive error 1


Receive error 2

Servo control error


Direct drive motor overheat

Cooling fan alarm


Encoder combination error















APP - 42

APPENDICES


Error code

Parameter

No.




2304 2604 PA04

2305 2605 PA05


2307 2607 PA07


Parameter

Error

No.


2340 2640 PB21

2341 2641 PB22

Name



2343 2643 PB24




2309 2609

2310 2610

2311 2611

2314 2614

PA09

PA10

PA11

2312 2612 PA12

2313 2613 PA13

PA14


In-position range





2348 2648 PB29

Gain changing ratio of load inertia moment to direct drive motor inertia moment



2351 2651 PB32


2352 2652 PB33


2353 2653 PB34



2316 2616 PA16


2354 2654

2355 2655

PB35

PB36

2318 2618 PA18

2356 2656 PB37

2357 2657 PB38



2321 2621 PB02




2360 2660

2361 2661

PB41

PB42

2362 2662 PB43

2363 2663 PB44



2325 2625 PB06

Ratio of load inertia moment to direct drive motor inertia moment






2364 2664

2365 2665

2369 2669

PB45

PC01

PC05














2338 2638 PB19


2339 2639 PB20









2377 2677 PC13


2378 2678 PC14


APP - 43

APPENDICES


Error code

Parameter

No.

Parameter

Error

No.

2379 2679 PC15

2380 2680 PC16

2381 2681 PC17

2382 2682 PC18


2383 2683 PC19


2426 2726

2427 2727

2428 2728

2429 2729

2430 2730

2431 2731

PD30

PD31

PD32

PE01

PE02

PE03


2386 2686 PC22

2387 2687 PC23

2388 2688 PC24

2389 2689 PC25

2390 2690 PC26

2391 2691 PC27

2392 2692 PC28

2393 2693 PC29

2394 2694 PC30

2395 2695 PC31

2396 2696 PC32

2397 2697 PD01

2398 2698 PD02

2399 2699 PD03

2400 2700 PD04


2432 2732

2433 2733

2434 2734

2435 2735

2436 2736

2437 2737

2438 2738

2439 2739

2440 2740

2441 2741

2442 2742

2443 2743

2444 2744

2445 2745

2446 2746

2447 2747

PE04

PE05

PE06

PE07

PE08

PE09

PE10

PE11

PE12

PE13

PE14

PE15

PE16

PE17

PE18

PE19

Name


2401 2701 PD05

2402 2702 PD06

2448 2748 PE20

2449 2749 PE21






2408 2708 PD12


2409 2709 PD13

2410 2710

2412 2712

2414 2714

PD14

2411 2711 PD15

PD16

2413 2713 PD17

PD18

2415 2715 PD19

2416 2716 PD20

Function selection D-3

2454 2754

2455 2755

2456 2756

2462 2762

PE26

PE27

PE28

PE34

2463 2763 PE35





2458 2758


2460 2760

PE30

PE32




2417 2717 PD21

2418 2718 PD22

2419 2719 PD23

2420 2720 PD24

2421 2721 PD25

2422 2722 PD26

2423 2723 PD27

2424 2724 PD28


2464 2764 PE36

2465 2765 PE37

2466 2766 PE38

2467 2767 PE39


2468 2768 PE40

2501 2801 PS01 Special function selection 1

2502 2802 PS02

2503 2803 PS03


2425 2725 PD29 2504 2804 PS04 Special function selection 2

APP - 44

APPENDICES


Error code

Parameter

No.

2511 2811 PS11

2512 2812 PS12

2513 2813 PS13

2514 2814 PS14

2515 2815 PS15

2516 2816 PS16

Parameter

Error

No.

2505 2805 PS05

2506 2806 PS06

Servo control position deviation error detection level

Servo control speed deviation error detection level

2507 2807 PS07

2508 2808 PS08 Special function selection 3

2509 2809 PS09 Magnetic pole detection voltage level

2510 2810 PS10

Servo control torque deviation error detection level


2519 2819

2520 2820

2521 2821

2522 2822

2523 2823

2524 2824

PS19

PS20

PS21

PS22

PS23

PS24

Name

2525 2825 PS25

2526 2826 PS26

2527 2827 PS27

2528 2828 PS28

2529 2829 PS29

2530 2830 PS30


2517 2817 PS17

2518 2818 PS18

Minimal position detection method function selection

Minimal position detection method identification signal amplitude

2531 2831

2532 2832

PS31

PS32

APP - 45

APPENDICES

(g) MR-J3- B Safety (For safety servo)

Error code

Table 1.14 Servo error (2000 to 2999) list (MR-J3- B Safety)

Servo amplifier

LED display

Name Remarks


2013 13 error

2056

2070

2071

2060

2061

2063

2034

2035

2036

2042

2045

2046

2047


2017 17 error

2019

2020

2021

2024

2025

2028

19

20

21

24

25

28


Encoder error 2 (during runtime)

Encoder error 3 (during runtime)

Main circuit error



2102

2106

2143

2146

2147

2148

2149

2153

2301 to 2599

56

70

71

1A

2A

63

34

35

36

42

45

46

47

92

96

E3

E6

E7

E8

E9

ED

E4

Receive error 1


Receive error 2

Fully closed control error detection



Cooling fan error

Forced stop error





STO timing error





Controller forced stop warning





APP - 46

APPENDICES

Table 1.14 Servo error (2000 to 2999) list (MR-J3- B Safety) (Continued)

Error code

2601 to 2899

2948

2952

Servo amplifier

LED display

37

8A

8E

Name Remarks




APP - 47

APPENDICES


Error code

Parameter

No.




2304 2604 PA04

2305 2605 PA05


2307 2607 PA07


Parameter

Error

No.


2340 2640 PB21

2341 2641 PB22

Name



2343 2643 PB24




2309 2609

2310 2610

2311 2611

2314 2614

PA09

PA10

PA11

2312 2612 PA12

2313 2613 PA13

PA14


In-position range





2348 2648 PB29




2351 2651 PB32


2352 2652 PB33


2353 2653 PB34




2317 2617 PA17

2318 2618 PA18


2354 2654

2355 2655

2356 2656

2357 2657

PB35

PB36

PB37

PB38



2321 2621 PB02




2360 2660

2361 2661

PB41

PB42

2362 2662 PB43

2363 2663 PB44



2325 2625 PB06







2364 2664

2365 2665

2369 2669

PB45

PC01

PC05







2331 2631 PB12 Overshoot amount compensation







2338 2638 PB19


2339 2639 PB20









2377 2677 PC13


2378 2678 PC14


APP - 48

APPENDICES


Error code

Parameter

No.

Parameter

Error

No.


2380 2680 PC16 Function selection C-3A


2382 2682 PC18


2383 2683 PC19


2421 2721

2422 2722

2423 2723

PD25

PD26

PD27

2424 2724 PD28

Name

2425 2725 PD29


2426 2726 PD30


2386 2686 PC22

2387 2687 PC23

2388 2688 PC24


Forced stop deceleration time constant


2390 2690

2391 2691

PC26

PC27

2392 2692 PC28



2427 2727 PD31

2428 2728 PD32




2432 2732 PE04


2433 2733

2434 2734

PE05

PE06


Fully closed loop speed deviation error detection level

2393 2693 PC29

2394 2694 PC30


2435 2735 PE07

Fully closed loop position deviation error detection level

2436 2736 PE08 Fully closed loop dual feedback filter

2395 2695 PC31

Vertical axis freefall prevention compensation amount


2396 2696 PC32

2397 2697 PD01

2398 2698 PD02

2399 2699 PD03

2400 2700 PD04

2420 2720 PD24



2439 2739 PE11

2440 2740 PE12

2441 2741 PE13

2442 2742 PE14

2401 2701 PD05

2402 2702 PD06

2443 2743 PE15

2444 2744 PE16


2404 2704 PD08 Output signal device selection 2 (CN3-9) 2446 2746 PE18 For manufacturer setting




2408 2708 PD12


2409 2709 PD13

2410 2710 PD14

2411 2711 PD15

2412 2712 PD16

2413 2713 PD17

2414 2714 PD18

2415 2715 PD19

2416 2716 PD20

Function selection D-3


2449 2749

2450 2750

2451 2751

2452 2752 PE24

2453 2753 PE25


2455 2755


2457 2757

PE21

PE22

PE23

PE27

PE29




2417 2717 PD21

2418 2718 PD22

2419 2719 PD23




2462 2762 PE34


APP - 49

APPENDICES


Error code

Parameter

No.

2463 2763 PE35

2464 2764 PE36

2465 2765 PE37

Parameter

Error

No.



2466 2766 PE38

Name

2467 2767 PE39

2468 2768 PE40


APP - 50

APPENDICES

APPENDIX 1.6 Output module errors

(1) Output module errors at real mode/virtual mode switching

(4000 to 5990)

Error class

Table 1.16 Output Module Error List (4000 to 5990)

Error code Roller

Output module

Ball screw

Rotary table

Cam

Error cause Processing

4050

4060

4070

Minor error

5000

5060

5080

5200

5210

Corrective action

• The "lower stroke limit setting device value + stroke amount setting device value" exceeded "2147483647 (setting unit)".

(At the two-way cam mode.)

• When the drive module is the synchronous encoder connected to the manual pulse generator inputs, and the connected clutch is the

"external input mode", multiple

ON/OFF command bit devices are set.

Or, the external input mode clutch setting is fault.

• The clutch of the external input mode is set at the Q173DPX or Q172DEX set for high-speed reading.

• Since the current value within 1 cam shaft revolution cannot be calculated, return to the real mode and set the correct No. in the device.

• Set a one-to-one setting for the external input mode clutch and synchronous encoder.

• Return to the real mode, turn the PLC ready flag off, then correct and write the clutch setting.

• The "feed current value" is outside the stroke limit range.

• For cam, the feed current value is outside the range of "lower stroke limit value to stroke amount", when the cam/ball screw switching command device is turned ON to OFF at real/virtual mode switching or in virtual

Related system cannot be started. mode. (The current value within 1 cam shaft revolution cannot be calculated at the two-way cam mode.)

• For cam, the feed current value is outside the range of "lower stroke limit value to stroke amount" at the servo amplifier's power supply ON. (In this case, the servo amplifier does not change into servo ON status.)

• The "feed current value" is within the stroke limit range, but the current value within 1 cam shaft revolution cannot be calculated.

(Cam table fault)

• Torque limit value setting outside range error.

• The first lower stroke limit value storage device is an odd number.


"300[%]".

Operation is possible, but monitoring is impossible.

• The first clutch ON address setting device is an odd number.

Related system cannot be started.

• Do not use the clutch of the external input mode at the

Q173DPX or Q172DEX set for high-speed reading.

• Return to the real mode and position within the stroke limit range.

• Correct the cam table.

Set the cam table by the stroke ratio "0 to 7FFFH" of lower stroke value and stroke amount.

• Set the torque limit value within the setting range.

• Set an even numbered the first device.

APP - 51

APPENDICES

Error class

Table 1.16 Output Module Error List (4000 to 5990) (Continued)

Error code Roller

Output module

Ball screw

Rotary table

Cam

Error cause Processing Corrective action

5220

5230

5240

5250

5260

5270

5280

5290

5300

Minor error

5310

5320

5330

5340

5350

5360

5370

5380

• The first clutch OFF address setting device is an odd number.


• The first current value within 1 virtual axis revolution storage device (main shaft side) is an odd number.

• The first current value within 1 virtual axis revolution storage device

(auxiliary input shaft side) is an odd number.

• When the amount of slip is set as the clutch smoothing method, the amount of slip setting device value is outside the range (0 to 2147483647).

• The device set to "Stroke amount setting device" is outside the range.

• The device set to "Cam No. setting device" is outside the range.

Operation is possible, but monitoring is impossible.

Amount of slip =

0 (control as the direct clutch).

• The device set to "Clutch mode setting device" is outside the range.

• The device set to "Clutch ON address setting device" is outside the range.

Related system cannot be

• The device set to "Clutch OFF address started. setting device" is outside the range.

• The device set to "Clutch ON/OFF command setting device" is outside the range.

• Set an even numbered the first device.

• Set a value within the range of 0 to 2147483647.

• Correct the device set to

"Stroke amount setting device".

• Correct the device set to Cam

No.

• Correct the device set to clutch mode.

• Correct the device set to clutch

ON address.


OFF address.


ON/OFF command.

• The device set to "Speed change ratio setting device" is outside the range.

• The device set to "Amount of slip setting device" is outside the range.

Amount of slip =

0 (control as the direct clutch).

• Correct the device set to speed change ratio.

• Correct the device set to amount of slip.

• The device set to "Torque limit value setting device" is outside the range.

Related system cannot be started

• Correct the device set to torque limit value.

• The device set to "Current value within Current value

1 virtual axis revolution storage device

(main shaft side)" is outside the range.

within 1 virtual axis revolution

(main shaft side) cannot be

• Correct the device set to current value within 1 virtual axis revolution (main shaft side).

• The device set to "Current value within

1 virtual axis revolution storage device

(auxiliary input axis side) storage device" is outside the range. monitored.


(auxiliary input axis side) cannot

• Correct the device set to current value within 1 virtual axis revolution (auxiliary input axis side).

• The device set to "Lower stroke limit value storage device" is outside the range. be monitored.

Lower stroke limit value cannot be

• Correct the device set to lower stroke limit value.

• The device set to "Number of input axis side gear tooth count setting device" is outside the range. monitored.


• Correct the device set to number of input axis side gear tooth count.

APP - 52

APPENDICES

Error class


Error code Roller

Output module

Ball screw

Rotary table

Cam


5390

5400

5410

5420

5430

5440

5450

Minor error

5460

5480

5490

5500

5510

5520

• The device set to "Number of output axis side gear tooth count setting device" is outside the range.

• Number of input axis side gear tooth count setting device is set to "0".

• Number of output axis side gear tooth count setting device is set to "0".


• The device set to "Slippage in-position range setting device" is outside the range.

• Slippage in-position range setting device is outside the range (0 to

2147483647).

Control with the setting value "0".

• Either of "phase advance time" of

"phase compensation processing valid flag" or "phase compensation time

Control as the phase constant" of the phase compensation setting devices is outside the setting range. compensation processing invalid.

• Correct the device set to number of output axis side gear tooth count.

• Correct the number of input axis side gear tooth count.

• Correct the number of output axis side gear tooth count.

• Correct the device set to slippage in-position range setting device.

• Correct the phase advance time.

• Correct the phase compensation processing valid flag.

• Correct the phase compensation time constant.


"Smoothing clutch complete signal device".

• Correct the device set to "Clutch status device".


"Cam/ball screw switching command device".

• The device set to "Smoothing clutch complete signal device" is outside the range.

• The device set to "Clutch status device" is outside the range.

• The device set to "Cam/ball screw switching command device" is outside the range.

• When the address mode clutch control system is the current value within 1 virtual axis revolution, the setting value set to "Clutch ON address setting device" is outside the range of "0 to

Related system number of pulses within 1 output axis cannot be revolution –1[PLS]".

• When the address mode clutch control started. system is the current value within 1 virtual axis revolution, the setting value set to "Clutch OFF address setting device" is outside the range of "0 to number of pulses within 1 output axis revolution –1[PLS]".

• The device set to "Number of pulses per cam shaft revolution" is outside the range.

• The value of "Number of pulses per cam shaft revolution" is outside the range.

• Correct the setting value set to

"Clutch ON address setting device" with in the range of "0 to number of pulses within 1 output axis revolution –1[PLS]".

• Correct the setting value set to

"Clutch OFF address setting device" with in the range of "0 to number of pulses within 1 output axis revolution –1[PLS]".


"Number of pulses per cam shaft revolution".

• Correct the setting of "Number of pulses per cam shaft revolution".

APP - 53

APPENDICES

(2) Output module errors (6000 to 6990)

Error class

Minor error


Error code Roller

Output module

Ball screw

Rotary table

Cam


6000

6010

6020

6030

6040

6050

6060

6080

6090

6120

6130

6140

Corrective action

• The servo OFF command

(M3215+20n) turned ON during operation.

• The servo amplifier's power supply is turned ON during operation.

• Execute the servo OFF after clutch OFF command.

• The output speed exceeded the speed limit value during operation. (Speed clamp processing by the speed limit value is not executed.)

• The deviation counter value exceeded the permissible droop pulse value during operation.

Operation continues.

• The feed current value exceeded the stroke limit range during operation.

• The cam No. setting device value is outside the "used cam No." range.

(Operation continues with the current cam No.)

• The stroke amount setting device value is outside the range of "1 to

2147483647".

• "Lower stroke limit value stroke amount  2147483647" is outside the range. (Operation continues with the

Operation continues with the current cam

No. and stroke amount. current stroke amount.)

• A control mode (feed/two-way) does not match at cam No. switching.

• The torque limit value setting device is outside the range.



"300[%]".

• The servo OFF command

(M3215+20n) turned on at servo OFF in operation.

• The servo ON is executed by turning

ON the servo amplifier’s power supply in operation.

• The current value within 1 cam axis revolution was changed to the outside the range.

Servo ON is not executed.

The current value is not changed.

• Number of input axis side gear tooth count is set by indirect device setting, and the current value for the drive module was changed to the device value "0".

• Number of output axis side gear tooth count is set by indirect device setting, and the current value for the drive module was changed to the device value "0".

The gear ratio of applicable gear is not changed.

• Correct the speed, gear ratio and speed change ratio of drive module within the speed limit value.

• Correct the speed, gear ratio and speed change ratio of drive module within the permissible droop pulse value after stopping the drive module.

• Control within the stroke limit value.

• Correct the cam No. setting.

• Correct the stroke amount setting.

• Correct the control mode after stopping the drive module.

• Set the torque limit value within the setting range.

• Execute the servo ON after clutch OFF command.

• Set a value within the range of 1 to "number of pulses 1 cam shaft revolution – 1".

• Set the value within the range of

1 to 65535.

APP - 54

APPENDICES

Error class


Error code Roller

Output module

Ball screw

Rotary table

Cam


6160

6170

6180

Minor error

6190

6200

6210

6220

6240

• Current value was changed for the axis that had not been started. Or, the current value within 1 cam shaft revolution was changed for the servo

OFF axis.

• The current value within 1 cam shaft revolution was changed during cam/ball screw switching processing.

Do not change the current value within 1 cam shaft revolution.

• Use the following device as interlock not to change the current value within 1 cam shaft revolution for applicable axis.

(Servo READY signal

(M2415+20) ON)

• Do not change the current value within 1 cam shaft revolution during cam/ball screw switching or cam/ball screw switching command ON.

• Slippage in-position range setting device value is outside the range (0 to

2147483647).

• One of the devices set in the speedtorque control operation data is outside the range.

• The control mode switching was executed with an invalid value specified in the control mode setting device.

Control with the setting value "0".

• The control mode switching request was executed during the zero speed was OFF.

• Set the device value within the range of 0 to 2147483647.

• Correct the speed-torque control operation data device.

• Correct the value of the control mode setting device.

• When switching the mode from the continuous operation to

Operation continues without switching the control mode. torque control mode to another, return the mode to the previous one.

• Switch the control mode while the output axis is stopped and the zero speed is turned on.

• Make "Invalid selection during zero speed at control mode switching" valid when not waiting for the stop of the servo motor.

• At the control mode switching, a value set to the torque limit value at speedtorque control is outside the range.


"300[%]".

• Set the torque limit value to 0.1 to 1000.0[%].

• During torque control or continuous operation to torque control, the absolute value of the command torque

Control with the torque limit value is outside the range of 0 to the torque limit value at speed-torque control. at speed-torque control.

• Set the torque after torque change within the range of 0 to the torque limit value at speedtorque control.

• The control mode switching request of speed-torque control was executed to the cam axis.

The control mode is not switched.

• Do not execute the speedtorque control mode switching request to the cam axis.

APP - 55

APPENDICES

Error class

Minor error


Error code Roller

Output module

Ball screw

Rotary table

Cam


6250

6260

6270

6280

6300

6500

6530

6540

• During the speed-torque control, the change value by the torque limit value setting device exceeds the torque limit value at speed-torque control.

• During the speed-torque control, the change value by the torque limit value individual change request

(D(P).CHGT2, CHGT2) exceeds the torque limit value at speed-torque control.

• Control with the • Set the torque limit value after torque limit value at speedtorque control.

• The torque limit torque change within the range of 1 to the torque limit value at speed-torque control. value by the torque limit value individual change request

(D(P).CHGT2,

CHGT2) is not changed.

• The torque limit value individual change request (D(P).CHGT2,

CHGT2) was executed with the setting of the torque limit value setting device of the mechanical system output module.

• The positive direction torque limit value or the negative direction torque limit value outside the range of 0.1 to

1000.0[%] was set in the torque limit value individual change request

(CHGT2).

• The torque limit value individual change request (D(P).CHGT2,

CHGT2) was made for the axis that had not been started.

• Phase compensation time constant is outside the range.

The torque limit value is not changed.

Control with the phase compensation time constant

"0".

• When executing the torque limit value individual change request

(D(P).CHGT2, CHGT2), do not set the torque limit value setting device of the mechanical system output module.

• Set the change request within the range of 0.1 to 1000.0[%] for the positive direction torque limit value or the negative direction torque limit value.

• Request the torque limit value individual change for the starting axis.

• Set the phase compensation time constant within the range of 0 to 32767 (times).

• A servo OFF state at a clutch ON command.

• The home position return request signal (M2409+20n) is turning on at a clutch ON command. (Incremental axis servo amplifier power from off to

ON.)

Clutch remains

OFF.

• Return to the clutch OFF command, and repeat the clutch

ON command after executing a servo ON command.

• Return to the real mode, back to the virtual mode after home position return.

• Although the feed current value is within the stroke limit value, the current value within 1 cam shaft revolution cannot be calculated.

Servo remains

ON.

(Cam table error)

• Return to the real mode, correct the cam data settings.

• Set the cam table by the stroke ratio "0 to 7FFFH" of lower stroke value and stroke amount.

APP - 56

APPENDICES

(3) System errors (9000 to 9990)

Error class


Error code Roller

Output module

Ball screw

Rotary table

Cam


Minor error

9010

Corrective action

• The motor travel value while the power is off exceeded the "System setting mode-allowable travel value during power off" set in the system settings at the turning on of the servo amplifier.

Virtual mode • Check the position. continuation operation disable

• Check the battery of encoder. warning signal turns on.

Further operation is possible.

(4) Output module errors at virtual servomotor axis start

(10000 to 10990)


Error class

Error code Roller

Output module

Ball screw

Rotary table

Cam


10000

Major error

10010

10020

10030

• The home position return request signal (M2409+20n) is ON.

• The servo error detection signal

(M2408+20n) is ON.

• A servo OFF (M2415+20n OFF) status

Related system cannot be start. exists at an output module where a

"clutch ON" or "no clutch" setting is set at either the main shaft or auxiliary input axis.

• An external input signal (STOP) is turning on at an output module where a "clutch ON" or "no clutch" setting is set at either the main shaft or auxiliary input axis.

• Return to the real mode and execute a home position return.

• If position is not established after executing a home position return at all axes, the virtual mode operation cannot be executed.

• Execute a servo error reset in the real mode.

• Turn the servo on after clutch

OFF command.

• Turn the stop signal (STOP) off.

APP - 57

APPENDICES

(5) "No-clutch/clutch ON/clutch status ON" output module errors

(11000 to 11990)


Error class

Major error

Error code Roller

Output module

Ball screw

Rotary table

Cam

11000

11010

11020

11030

11040

11050


• The servo error detection signal

(M2408+20n) turned on during operation.

• A servo OFF state (M2415+20n

OFF) during operation.

• Servo amplifier power supply was

OFF.

• The stop signal (STOP) turned on.

• The upper limit switch signal (FLS) turned off during forward (address increase direction) travel.

• The lower limit switch signal (RLS) turned off during reverse (address decrease direction) travel.

• At the switching request to the continuous operation to torque control, the servo amplifier is not compatible with the continuous operation to torque control.

After an immediate stop • Release the servo error at the applicable output module, and the servo

OFF state. causes.

(Refer to APPENDIX 1.5).

• Operation continues at "no-clutch" axes.

• At axes with clutches, control is executed based on the operation mode at the time of the error.

• When the "operation continuation" setting is set, execute the stop processing using the user's Motion

SFC program.

• Operation continues.

• All clutches turns off at the applicable systems.

APP - 58

APPENDICES

(6) Errors when using an absolute position system (12000 to 12990)

Error class

Major error


Error code Roller

Output module

Ball screw

Rotary table

Cam


12010

12020

12030

12040

12050

Corrective action

• The error causes why the home position return is required in the absolute position system are as follows:

(1) The home position return has never been executed after the system start.

(2) The home position return is started, but not completed correctly. Home position

(3) Absolute data in the Motion CPU is erased due to causes such as a return signal turns ON. battery error.

(4) Servo error [2025], [2143], or

[2913] occurred.

(5) Major error [1202], [1203], [1204],

[12020], [12030] or [12040] occurred.

(6) "Rotation direction selection" of the servo parameter is changed.

• Execute the home position return in real mode after checking the batteries of the

Motion CPU module and servo amplifier.

• A communication error between the servo amplifier and encoder occurred at the servo amplifier power supply on.

Depending on the version of amplifier, home position return signal turns ON.

• Check the motor and encoder cables. operating system • If the home position return and servo request signal is turning ON, execute a home position return in the real mode.

• Check the motor and encoder cables.

• The amount of change in encoder current value during operation holds the following expression:

"Amount of change in encoder current value / 3.5[ms] >180° of motor revolution"

It is always checked after the servo amplifier power supply on (in both servo ON and OFF states).

(Q17 DCPU(-S1) use)

• During operation, the following expression holds:

"Encoder current value [PLS] feedback current value [PLS] (number of bits in encoder enable range)".


(Q17 DCPU(-S1) use)

Home position return signal turns ON.

• During operation, the following expression holds:

"Encoder current value [PLS] feedback current value [PLS] (number of bits in encoder enable range)".



(Home position return signal does not turn

ON.)

APP - 59

APPENDICES

APPENDIX 1.7 Errors at real mode/virtual mode switching

Table 1.22 Real Mode/Virtual Mode Switching Error Code List

Error codes stored in SD504

Decimal display

Hexadecimal display

Error description Corrective action

• Real mode/virtual mode switching request flag (M2043) turned OFF ON in the state which all axes have not stopped.

(Operation system software version "00G" or before)

• Real mode/virtual mode switching request flag (M2043) the mechanical system program has not stopped.

(Operation system software version "00H" or later)

• Turn real mode/virtual mode switching request flag (M2043) OFF ON when start accept flag

(M2001 to M2032) are all OFF.


• Turn real mode/virtual mode switching request flag (M2043) OFF ON when start accept flag

(M2001 to M2032) of output axis set in the mechanical system program are all OFF.

(The real mode axis can be switched in even operation.)

(Operation system software version "00H" or later)

• Real mode/virtual mode switching request flag (M2043) turned ON OFF in the state which all axes have not stopped.


• Turn real mode/virtual mode switching request flag (M2043) ON OFF when start accept flag

(M2001 to M2032) are all OFF.

(Operation system software version "00G" or

• Real mode/virtual mode switching request flag (M2043) turned ON OFF in the state which virtual axis has not stopped.

(Operation system software version "00H" or later) before)

• Turn real mode/virtual mode switching request flag (M2043) ON OFF when start accept flag

(M2001 to M2032) of virtual axis are all OFF.


256 0100 (Operation system software version "00H" or later)

• Real mode/virtual mode switching request flag (M2043) turned ON OFF in the state which virtual axis has not

• Turn real mode/virtual mode switching request flag (M2043) ON OFF when start accept flag stopped.

• Real mode/virtual mode switching request flag (M2043)

(M2001 to M2032) of output axis set in the mechanical system program are all OFF. turned ON OFF in the state which output module is speed-torque control".


• Turn real/virtual mode switching request flag

(M2043) ON OFF when all output modules are in the position control.

513

(Note)

514

(Note)

• Real mode/virtual mode switching request flag (M2043) turned OFF ON in the state which mechanical system program has not registered.

• Write the mechanical system program to the

Motion CPU. turned OFF ON in the state which the axis No. set in the system setting does not match the output axis No. set in the mechanical system program.


• Set the same axis No. at both the system settings and mechanical system program, then write the data to the Motion CPU.

• After turning the PLC ready flag and PCPU

READY flags on, turn real mode/virtual mode switching request flag (M2043) OFF ON.

OFF.


0202

• Turn all axes servo ON command (M2042) on, turn the all-axes servo ON accept flag on, then turn real mode/virtual mode switching request flag (M2043) OFF ON.

(Note): Error axis No. information is not set to SD505, SD506 in this error.

APP - 60

APPENDICES

Table 1.22 Real Mode/Virtual Mode Switching Error Code List (Continued)

Error codes stored in SD504

Decimal display

Hexadecimal display

Error description Corrective action

515

(Note)

516

(Note)

• Real mode/virtual mode switching request flag (M2043) stop input signal (EMG) is ON.

• Real mode/virtual mode switching request flag (M2043) turned OFF ON during the servo start processing by

• Turn the external forced stop signal off, then turn real mode/virtual mode switching request flag (M2043) OFF ON switching.

• When the servo error reset is executed by turning servo error reset command

(M3208+20n) on, turn the servo error detection signal (M2408+20n) off, then turn real mode/virtual mode switching request flag

(M2043) OFF ON.

• Real mode/virtual mode switching request flag (M2043) turned OFF ON in the state which the home position than the roller.


• Execute the home position return (execute

ZERO in the servo program), and turn real mode/virtual mode switching request flag

(M2043) OFF ON after home position return request signal (M2409+20n) has turned OFF.

• Check the servo amplifier, servomotor and wiring, etc. servo error.

• Real mode/virtual mode switching request flag (M2043) turned OFF ON in the state which the units set in the fixed parameter and output module are different for the

• Correct the setting unit of the fixed parameter or output module, and write to the Motion CPU. output module is other than the roller.

• Real mode/virtual mode switching request flag (M2043) • Write the cam data to the Motion CPU. registered although the cam is set to the output module.


2048 0800 cam No. setting device.

(Cam No. setting device is "0").

• Turn real mode/virtual mode switching request flag (M2043) OFF ON after writing the cam

No. set in the cam No. used of cam parameter to the cam No. setting device.

• The setting value of cam stroke amount setting device is outside the range of 1 to (2

2304 0900

31

-1).

• Turn real mode/virtual mode switching request flag (M2043) OFF ON after setting the value within the range of 1 to (2

31

-1) to the cam stroke amount setting device.

• Set an even number to the cam stroke amount setting device.

• Setting for real mode axis is not correct.

3072 0C00

• The number of pulses per revolution of the rotary table is outside the range of 1 to 1073741824.

3328 0D00

• Execute "conversion and save" after setting real mode axis setting in the mechanical system program editor.

• Correct the number of pulses per revolution and the travel value per revolution in the fixed parameter within the range of 1 to 1073741824 to the number of pulses per revolution of the rotary table.

• Turn PLC ready flag (M2000) on.

• Set the Motion CPU "RUN" state.

• The PLC ready flag (M2000) turned off, and the system

-4094

(Note)

F002 returned to the real mode during virtual mode operation.

• The Motion CPU stopped during virtual mode operation.

-4095

(Note)

• The servo error detection signal (M2408+20n) turned

F001 off, and the system returned to the real mode during virtual mode operation.

• Check the servo error code register to determine the error cause at the axis in question, then release the error cause

(Refer to APPENDIX 1.5).

-4096

(Note)

F000 system returned to the real mode.

• Turn the forced stop signal off.

(Note): Error axis No. information is not set to SD505, SD506 in this error.

APP - 61

APPENDICES

APPENDIX 2 Setting Range for Indirect Setting Devices

Positioning address, command speed or M-code, etc. (excluding the axis No.) set in the servo program can be set indirectly by the word.

(1) Device range

The number of device words and device range at indirect setting are shown below.

Item

Number of device words

Device setting range Remarks

Parameter block No.

Address (travel value)

Command speed

Dwell time

1

2

2

1

Device

D

Range

0 to 8191

(Note-1)

Torque limit value

Auxiliary point

1

2

#

U \G

0 to 7999

10000 to (10000+p-1)

(Note-2)

Radius 2

Central point 2

Pitch 1

Control unit 1

Speed limit value

Acceleration time

Deceleration time

2

1

1

1

1


S-curve ratio

Acceleration/deceleration system Advanced

S-curve acceleration/ deceleration





Torque limit value

Deceleration processing on STOP input

Allowable error range for circular interpolation

Command speed (Constant speed)

FIN acceleration/deceleration

Fixed position stop acceleration/deceleration time

Repetition condition (Number of repetitions)

Repetition condition (ON/OFF)

1

1

1

1

1

1

1

2

2

1

1

1

WAIT ON/OFF

Fixed position stop

Bit

Y

M

B

0000 to 1FFF

0 to 8191 (Note-1)

0000 to 1FFF

F 0 to 2047

U \G 10000.0 to (10000+p-1).F

(Note-2)

(Note-1): Synchronous encoder axis area cannot be set.



APP - 62

APPENDICES

POINT

(1) Be sure to set even-numbered devices of the items set as 2-word.

Be sure to set as 32-bit integer type when the data is set in these devices using the Motion SFC programs. (Example : #0L, D0L)


Programming Manual (COMMON)" for the user setting area points of the Multiple

CPU high speed transmission area.

(2) Inputting device data

Indirect setting device data is inputted by the Motion CPU at the servo program start.

Do not change the applicable device before setting to device and start completion.

The procedures by start method for setting data to devices and cautions are shown below.

Start method

Start by the servo program

Set the loop (FOR - NEXT) point data for CPSTART instruction indirectly

Setting method Notes

Set data in indirect setting devices.

Start the servo program.

Do not change the indirect setting device before the "positioning start complete signal" of the starting axis turns on.

Set initial command data in the indirect setting device.

Start using the servo program (or turn the cancel command device on).

Read the value of "data set pointer for constant-speed control" of the start axis, and update the data input by

Motion CPU.

Refer to the positioning signal data register "Monitoring data area" for details.

APP - 63

APPENDICES

APPENDIX 3 Processing Times of the Motion CPU

The processing time of each signal and each instruction for positioning control in the

Multiple CPU system is shown below.

(1) Motion operation cycle [ms] (Default)

(a) Q173DSCPU/Q172DSCPU

Number of setting axes (SV22) 1 to 6 7 to 16 17 to 32 1 to 6 7 to 16

0.44 0.88 1.77 0.44 0.88

(b) Q173DCPU(-S1)/Q172DCPU(-S1)

Number of setting axes (SV22) 1 to 4 5 to 12 13 to 28 29 to 32 1 to 4 5 to 8

0.44 0.88 1.77 3.55 0.44 0.88

(2) CPU processing time [ms]

The instruction processing time means the time until the content is reflected to servo amplifier side after each instruction is executed.

(Including the transmission time between Motion controller and servo amplifier.)


Q173DSCPU/Q172DSCPU

0.22 0.44 0.88 1.77 3.55 7.11

Servo program start processing time

(Note-1)

Speed change response time

"WAIT ON/OFF"

+ Motion control step

Only Motion control step

Dedicated instruction

(D(P).SVST) from the PLC CPU

Instruction (CHGV) from the

Motion SFC


(D(P).CHGV) from the PLC CPU

Instruction (CHGT) from the

Motion SFC

0.44 0.88 1.77 2.66 4.44 7.99

0.6 to 0.9 1.0 to 1.4 1.9 to 2.8 2.8 to 4.6 4.6 to 8.2 8.1 to 15.2

1.4 to 2.3 2.2 to 3.1 3.5 to 4.4 5.3 to 6.2 8.8 to 9.7 16.0 to 16.9

0.4 to 0.9 0.8 to 1.3 1.7 to 2.6 2.6 to 4.4 4.4 to 8.0 8.0 to 15.1

1.4 to 2.3 1.7 to 2.6 2.6 to 3.5 3.5 to 4.4 5.3 to 6.2 8.9 to 9.8

Torque limit value change response time

Torque limit value individual change response time


(D(P).CHGT) from the PLC CPU

Instruction (CHGT2) from the

Motion SFC


(D(P).CHGT2) from the PLC

CPU

0.4 to 0.9 0.8 to 1.3 1.7 to 2.6 2.6 to 4.4 4.4 to 8.0 4.4 to 11.5

1.4 to 2.3 1.7 to 2.6 2.6 to 3.5 3.5 to 4.4 5.3 to 6.2 5.3 to 9.7

0.4 to 0.9 0.8 to 1.3 1.7 to 2.6 2.6 to 4.4 4.4 to 8.0 4.4 to 11.5

1.4 to 2.3 1.7 to 2.6 2.6 to 3.5 3.5 to 4.4 5.3 to 6.2 5.3 to 9.7

Target position change response time

Instruction (CHGP) from the

Motion SFC

0.4 to 0.9 0.8 to 1.3 1.7 to 2.6 2.6 to 4.4 4.4 to 8.0 8.0 to 15.1

Time from PLC ready flag (M2000) ON to

44 to 60

PCPU READY complete flag (SM500) ON

(Note-1): FEED instruction varies greatly depending on the condition (whether other axes are operating).

APP - 64

APPENDICES



0.44 0.88 1.77 3.55 7.11 14.2

Servo program start processing time

(Note-1)

Speed change response time

Torque limit value change response time

"WAIT ON/OFF"

+ Motion control step

Only Motion control step


(D(P).SVST) from the PLC CPU

Instruction (CHGV) from the

Motion SFC


(D(P).CHGV) from the PLC CPU

Instruction (CHGT) from the

Motion SFC


(D(P).CHGT) from the PLC CPU

0.88 1.77 2.66 4.44 7.99 15.11

1.0 to 1.4 1.9 to 2.8 2.8 to 4.6 4.6 to 8.2 8.1 to 15.2 15.2 to 29.4

2.2 to 3.1 3.5 to 4.4 5.3 to 6.2 8.8 to 9.7 16.0 to 16.9 30.2 to 31.1

0.8 to 1.3 1.7 to 2.6 2.6 to 4.4 4.4 to 8.0 8.0 to 15.1 15.1 to 29.3

1.7 to 2.6 2.6 to 3.5 3.5 to 4.4 5.3 to 6.2 8.9 to 9.8 16.0 to 16.9

0.8 to 1.3 1.7 to 2.6 2.6 to 4.4 4.4 to 8.0 4.4 to 11.5 4.4 to 18.6

1.7 to 2.6 2.6 to 3.5 3.5 to 4.4 5.3 to 6.2 5.3 to 9.7 5.3 to 16.0

Time from PLC ready flag (M2000) ON to

22 to 28

PCPU READY complete flag (SM500) ON

(Note-1): FEED instruction varies greatly depending on the condition (whether other axes are operating).

(3) Virtual servomotor axis/synchronous encoder axis operation cycle

[ms] (Default)


Number of setting axes (SV22) 1 to 6 7 to 16 17 to 32 1 to 6 7 to 16

0.44 0.88 1.77 0.44 0.88 encoder 0.44 0.88 1.77 0.44 0.88


Number of setting axes (SV22) 1 to 4 5 to 12 13 to 28 29 to 32 1 to 4 5 to 8

0.44 0.88 1.77 3.55 0.44 0.88

0.44 0.88 1.77 3.55 0.44 0.88

APP - 65

APPENDICES

APPENDIX 4 Device List

Axis No. Device No.

(1) Axis status list

1

2

3

4

5

M2400 to M2419

M2420 to M2439

M2440 to M2459

M2460 to M2479

M2480 to M2499

Signal name

6

7



8

9

M2540 to M2559

M2560 to M2579

2 In-position

10 M2580 to M2599 3 Command in-position


12 M2620 to M2639

13 M2640 to M2659

Speed / position switching

5 latch

14 M2660 to M2679 6 Zero pass


16 M2700 to M2719

17 M2720 to M2739

8 Servo error detection

18 M2740 to M2759

19 M2760 to M2779


9 request

20 M2780 to M2799

21 M2800 to M2819


10 complete

22 M2820 to M2839 11 FLS

23 M2840 to M2859 12 External RLS

24 M2860 to M2879 13 signals STOP

25 M2880 to M2899 14 DOG/CHANGE

26 M2900 to M2919 15 Servo ready

27 M2920 to M2939 16 Torque limiting

28 M2940 to M2959

29 M2960 to M2979 Virtual mode continuation

30 M2980 to M2999

31 M3000 to M3019 operation disable warning

(Note-1)

32 M3020 to M3039

19 M-code outputting

Real

Signal name

Virtual

Roller

Ball screw

Rotary table

Cam

Real

Mode axis

OFF

OFF

OFF

Refresh cycle

Operation cycle

Immediately

Operation cycle

Main cycle

Fetch cycle

Signal direction

Status signal

Operation cycle

Main cycle

Operation cycle

— —


Operation cycle

Status signal

: Valid


POINT









APP - 66

APPENDICES

Axis No. Device No.

(2) Axis command signal list

Signal name

1

2

3

4

5

M3200 to M3219

M3220 to M3239

M3240 to M3259

M3260 to M3279

M3280 to M3299

Signal name Real

Roller

Ball screw

Virtual

Rotary table

Cam

Real mode axis

Refresh cycle

Fetch cycle

Signal direction

6

7

M3300 to M3319 0 Stop command

M3320 to M3339 1 Rapid stop command

8

9

M3340 to M3359

M3360 to M3379

10 M3380 to M3399

11 M3400 to M3419

12 M3420 to M3439

13 M3440 to M3459

14 M3460 to M3479

15 M3480 to M3499

2

3

4

5

Forward rotation JOG start command

Reverse rotation JOG start command


Speed/position switching enable command

Operation cycle

Main cycle

Operation cycle

Command signal


17 M3520 to M3539 7 Error reset command

18 M3540 to M3559

19 M3560 to M3579

8


20

21

M3580 to M3599

M3600 to M3619

9

External stop input disable at start command

22 M3620 to M3639 10

23 M3640 to M3659 11

24 M3660 to M3679

25 M3680 to M3699

12

Feed current value update command

26 M3700 to M3719

27 M3720 to M3739

13

Address clutch reference setting command

(Note-1)

28 M3740 to M3759

29 M3760 to M3779

14

Cam reference position setting command

(Note-1)

30 M3780 to M3799

31 M3800 to M3819

15 Servo OFF command

32 M3820 to M3839 16 Gain changing command

PI-PID switching command QDS


— —

Main cycle

At start

At start


Operation cycle

Operation cycle

(Note-2)

Command signal

—

Command signal

—

Operation cycle

: Valid, : Invalid


(Note-2): Operation cycle 7.1[ms] or more: Every 3.5[ms]

POINT









APP - 67

APPENDICES

Axis No. Device No.

(3) Virtual servomotor axis status list

Signal name

1

2

3

4

5

M4000 to M4019

M4020 to M4039

M4040 to M4059

M4060 to M4079

M4080 to M4099

28 M4540 to M4559

29 M4560 to M4579

30 M4580 to M4599

31 M4600 to M4619

32 M4620 to M4639

Signal name Real

Roller

Ball screw

Virtual

Rotary table

6

7



Backup

8

9

M4140 to M4159 2 Unusable —

M4160 to M4179 3 Command in-position


Backup

11 M4200 to M4219 5

12 M4220 to M4239 6

13 M4240 to M4259

14 M4260 to M4279

15 M4280 to M4299 8

Backup

16 M4300 to M4319 9

17 M4320 to M4339 10

18 M4340 to M4359 11

19 M4360 to M4379 12

20 M4380 to M4399 13

21 M4400 to M4419 14

22 M4420 to M4439 15

23 M4440 to M4459 16

24 M4460 to M4479 17

25 M4480 to M4499 18

26 M4500 to M4519

27 M4520 to M4539

Backup

Cam

Real mode axis

Refresh cycle

Operation cycle

Operation cycle

Fetch cycle

Signal direction

Status signal

Status signal

Immediately

Status signal

— —

Operation cycle

Status signal

: Valid, : Invalid

POINT





APP - 68

APPENDICES

Axis No. Device No.

(4) Virtual servomotor axis command signal list

Signal name

1 M4800 to M4819

2 M4820 to M4839

3 M4840 to M4859

4 M4860 to M4879

5 M4880 to M4899

Signal name Real

Roller

Ball screw

Virtual

Rotary table

Cam

Real mode axis

6 M4900 to M4919 0 Stop command

7 M4920 to M4939 1 Rapid stop command

8 M4940 to M4959

9 M4960 to M4979

10 M4980 to M4999

11 M5000 to M5019

Forward rotation JOG

2 start command

Reverse rotation JOG

3 start command

12 M5020 to M5039

13 M5040 to M5059

Complete signal OFF

4 command

14 M5060 to M5079 5

15 M5080 to M5099

16 M5100 to M5119

6

7 Error reset command

17 M5120 to M5139


19 M5160 to M5179

20 M5180 to M5199

21 M5200 to M5219

22 M5220 to M5239 10

External stop input command

23 M5240 to M5259 11

24 M5260 to M5279 12

25 M5280 to M5299 13

26 M5300 to M5319 14

27 M5320 to M5339 15

28 M5340 to M5359 16

29 M5360 to M5379 17

30 M5380 to M5399 18

31 M5400 to M5419

32 M5420 to M5439

Refresh cycle

Fetch cycle

Operation cycle

Main cycle

Main cycle

At start

Command

Command

—

Operation cycle

Signal direction

Command signal signal signal

Command signal

: Valid, : Invalid

—

POINT





APP - 69

APPENDICES

Axis No. Device No.

(5) Synchronous encoder axis status list

Signal name

1 M4640 to M4643

2

3

M4644 to M4647

M4648 to M4651

Signal name


5 M4656 to M4659 1 External signal TREN

6

7

M4660 to M4663

M4664 to M4667

Virtual mode continuation operation

2 disable warning


Immediately

Main cycle

Fetch cycle

Signal direction

Status signal

8 M4668 to M4671 3 Unusable — —

9 M4672 to M4675

10 M4676 to M4679

11 M4680 to M4683

12 M4684 to M4687

: Valid

POINT


(2) The device area more than 9 axes as a user device in the Q172DCPU(-S1).

However, when the project of Q172DCPU(-S1) is replaced with

Q173DSCPU/Q172DSCPU/Q173DCPU(-S1), this area cannot be used.

Axis No. Device No.

(6) Synchronous encoder axis command signal list

Signal name

1 M5440 to M5443

2 M5444 to M5447

3 M5448 to M5451

4 M5452 to M5455

5 M5456 to M5459

6 M5460 to M5463 1

7 M5464 to M5467

8 M5468 to M5471

2

3

9 M5472 to M5475

10 M5476 to M5479

11 M5480 to M5483

12 M5484 to M5487

Signal name Real Virtual Refresh cycle

(Note-1)

Fetch cycle

Main cycle

Signal direction

Status signal

—


: Valid, : Invalid

POINT


(2) The device area more than 9 axes as a user device in the Q172DCPU(-S1).



APP - 70

APPENDICES

Device

No.

M2001 Axis 1

M2002 Axis 2

M2003 Axis 3

M2004 Axis 4

M2005 Axis 5

M2006 Axis 6

M2007 Axis 7

M2008 Axis 8

M2009 Axis 9

M2010 Axis 10

M2011 Axis 11

M2012 Axis 12

M2013 Axis 13

Signal name

M2014 Axis 14

M2015 Axis 15

M2016 Axis 16

M2017 Axis 17

Start accept flag

M2018 Axis 18

M2019 Axis 19

M2020 Axis 20

M2021 Axis 21

M2022 Axis 22

M2023 Axis 23

M2024 Axis 24

M2025 Axis 25

M2026 Axis 26

M2027 Axis 27

M2028 Axis 28

M2029 Axis 29

M2030 Axis 30

M2031 Axis 31

M2032 Axis 32

M2033

M2034

M2035

M2036

M2037

Unusable

(2 points)


Unusable

(2 points)

M2038 Motion SFC debugging flag

M2039 Motion error detection flag

M2040


M2041 System setting error flag

M2042 All axes servo ON command

M2043


M2044

Real mode/virtual mode switching status (SV22)

M2045

Real mode/virtual mode switching error detection signal (SV22)

M2046 Out-of-sync warning (SV22)

M2047 Motion slot fault detection flag

M2048


M2049 All axes servo ON accept flag

M2051


M2052


M2053



Refresh cycle

Operation cycle


Operation cycle

Fetch cycle

Command cycle

Status

Operation cycle signal

Main cycle

Signal direction

Status signal

(Note-1),

(Note-2),

(Note-3),

(Note-4)

Status signal signal

Command signal

Remark

(Note-6)

Device

No.


M3072 M2055

M2056

M2057

M2058

M2059

M2060

M2099

M2100

Signal name

Unusable

(6 points)

— —

M2088 Axis

—

M2089 Axis


— —

M2091 Axis

—

M2092 Axis

At debugging mode transition

Status signal

Immediate

Command start signal

Operation cycle

Status signal

Operation cycle


Command signal

M2093

M2094

M3073 M2095

M2096

M3074 M2097

M3075 M2098

Unusable

(8 points)


Synchronous encoder current value changing flag

(Note-5)

M2054 Operation cycle over flag Operation cycle

Status signal

Refresh cycle

Operation cycle

Operation cycle

Fetch cycle

Signal direction

Remark

(Note-6)

Status signal

(Note-1),

(Note-2),

(Note-3),

(Note-4)

Status signal

(Note-2),

(Note-4)

APP - 71

APPENDICES

M2160

M2161

M2162

M2163

M2164

M2165

M2166

M2167

M2168

M2169

M2170

Unusable

(19 points)

(Note-7)

M2171

M2172

M2173

M2174

M2175

M2176

M2177

M2178

Device

No.

Signal name

10 Synchronous encoder current value changing flag

(Note-5)

M2113

M2114

M2115

M2116

M2117

M2118

M2119

M2120

Unusable

(15 points)

M2121

M2122

M2123

M2124

M2125

M2126

M2127



Refresh cycle

Operation cycle

Fetch cycle

Signal direction

Status signal

(Note-2),

(Note-4)

Remark

(Note-6)

Device

No.

M2179

M2180

M2181

M2182

M2183

M2184

M2185

M2186

M2187

M2188

— —

Operation cycle

Status signal

(Note-1),

(Note-2),

(Note-3),

(Note-4)

Signal name

M2203

M2204

M2205

M2206

M2207

M2208

M2209

M2210

M2211

M2212

M2213

M2214

M2215

M2216

M2217

M2218

M2190

M2191

M2192

M2193

M2194

M2195

M2196

M2197

M2198

M2199

M2200

M2201

M2202

Unusable

(45 points)

(Note-7)

M2219

M2220

M2221

M2222

M2223

M2224

M2225

M2226

M2227

M2228

M2229

M2230

M2231

M2232

M2233

Unusable

(16 points)

M2234

M2235

M2236

M2237

— —

M2239


Refresh cycle

Operation cycle

APP - 72

Fetch cycle

Signal direction

Remark

(Note-6)

Status signal

(Note-1),

(Note-2),

(Note-3),

(Note-4)

APPENDICES

Device

No.

M2248 Axis 9

Signal name

M2249 Axis 10

M2250 Axis 11

M2251 Axis 12

M2252 Axis 13

M2253 Axis 14

M2254 Axis 15

M2255 Axis 16

M2256 Axis 17

M2257 Axis 18

M2258 Axis 19

M2259 Axis 20 Speed change "0"

M2260 Axis 21 accepting flag

M2261 Axis 22

M2262 Axis 23

M2263 Axis 24

M2264 Axis 25

M2265 Axis 26

M2266 Axis 27

M2267 Axis 28

M2268 Axis 29

M2269 Axis 30

M2270 Axis 31

M2271 Axis 32

M2272 Axis 1

M2273 Axis 2

M2274 Axis 3

M2275 Axis 4

M2276 Axis 5

M2277 Axis 6

M2278 Axis 7


M2279 Axis 8

M2280 Axis 9

M2281 Axis 10

M2282 Axis 11

M2283 Axis 12



Signal direction

Remark

(Note-6)

Device

No.



Operation cycle

Fetch cycle

Signal direction

Remark

(Note-6)

Status signal

(Note-1),

(Note-2),

(Note-3),

(Note-4)

Operation cycle

Status signal

(Note-1),

(Note-2),

(Note-3),

(Note-4)

M2304

M2305

M2306

M2307

M2308

M2309

M2310

M2311

M2312

M2313

Unusable

(16 points)

M2314

M2315

M2316

M2317

M2318

M2319

(Note-1): The range of axis No.1 to 16 is valid in the Q172DSCPU.

(Note-2): The range of axis No.1 to 8 is valid in the Q172DCPU(-S1).

(Note-3): Device area of 17 axes or more is unusable in the Q172DSCPU.

(Note-4): Device area of 9 axes or more is unusable in the Q172DCPU(-S1).

(Note-5): It is unusable in the real mode.

(It can be used in the real mode for the version (Refer to Section 1.4) that supports "synchronous encoder current value monitor in real mode".)


(Note-7): These devices can be used as the clutch statuses.

The clutch status can also be set as the optional device at the clutch parameter.

Refer to Section 7.2.2.

APP - 73

APPENDICES

(8) Common device list (Command signal)

Device No. Signal name Refresh cycle Fetch cycle Signal direction

Remark

(Note-1), (Note-2)

M3072

M3073

M3074

M3075

M3076

M3077

M3078

M3079

M3080

M3081 to

M3135

PLC ready flag




(SV22)






Unusable

(Note-3)

(55 points)

Main cycle

At start

Operation cycle


Main cycle

Command signal

M2000

M2040

M2042

M2043

M2048

M2051

M2052

M2053

M2035

— — — —

(Note-1): The state of a device is not in agreement when the device of a remark column is turned ON/OFF directly. In addition, when the request from a data register and the request from the above device are performed simultaneously, the request from the above device becomes effective.


(Note-3): Do not use it as a user device. It can be used as a device that performs automatic refresh because of area for the reserve of command signal.

POINT

The device of a remark column turns ON by OFF to ON of the above device, and turns OFF by ON to OFF of the above device.

The command signal cannot be turned ON/OFF by the PLC CPU in the automatic refresh because the statuses and commands are mixed together in M2000 to

M2053. Use the above devices in the case.

And, it can also be turned ON/OFF by the data register. (Refer to Section 4.2.8)

APP - 74

APPENDICES

Axis No. Device No.

12

13

14

19

20

21

22

15

16

17

18

23

24

25

26

27

6

7

8

9

10

11

1

2

3

4

5

(9) Axis monitor device list

D0 to D19

D20 to D39

D40 to D59

D60 to D79

D80 to D99

Signal name

D100 to D119 0

D120 to D139 1

Feed current value/roller cycle speed

D140 to D159 2

D160 to D179 3

Real current value

D180 to D199 4

D200 to D219 5

D220 to D239

Deviation counter value

6 Minor error code

D240 to D259

D260 to D279

7 Major error code

8 Servo error code

D280 to D299

D300 to D319


9 re-travel value

D320 to D339 10

D340 to D359 11

Travel value after proximity dog ON



D400 to D419 14 Torque limit value

D420 to D439

D440 to D459

15


D460 to D479 16

D480 to D499 17

Unusable (Note-1)

D500 to D519 18

D520 to D539 19

Real current value at stop input

Real

Signal name

Virtual

Roller

Ball screw

Rotary table

Cam

Backup

Backup

Real mode axis

Backup

Refresh cycle

Operation cycle

Immediately

Main cycle

Operation cycle

At start

Operation cycle

At start/ during start

Operation cycle

Fetch cycle

Signal direction

Monitor device

Monitor device

28

29

D540 to D559

D560 to D579

: Valid, : Invalid

30

31

D580 to D599

D600 to D619

32 D620 to D639

(Note-1): It can be used as the travel value change register. The travel value change register can be set to the device optionally in the servo program.

Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details.

POINT









—

APP - 75

APPENDICES

Axis No. Device No.

(10) Control change register list

Signal name

Signal name

D647 0

D649 1

JOG speed setting

Real Virtual

Refresh cycle

Fetch cycle

At start

Signal direction

Command device

: Valid

POINT









APP - 76

APPENDICES

Axis No. Device No.

6

7

8

9

10

11

12

1

2

3

4

5

25

26

27

28

21

22

23

24

29

30

31

32

13

14

15

16

17

18

19

20

(11) Virtual servomotor axis monitor device list

Signal name

D800 to D809

D810 to D819

D820 to D829

D830 to D839

D840 to D849

Signal name Real

D850 to D859

D860 to D869

0

1

Feed current value





D910 to D919

D920 to D929

D930 to D939

D940 to D949

D950 to D959

D960 to D969

6

7



9


D970 to D979

D980 to D989

D990 to D999

D1000 to D1009

D1010 to D1019

D1020 to D1029

D1030 to D1039

D1040 to D1049

D1050 to D1059

D1060 to D1069

D1070 to D1079

D1080 to D1089

D1090 to D1099

D1100 to D1109

D1100 to D1119

Backup

Virtual

Roller

Ball screw

Rotary

Cam table

Real mode axis

Refresh cycle

Operation cycle

Immediately

At start

Operation cycle

Fetch cycle

Signal direction

Monitor device

: Valid, : Invalid

POINT





APP - 77

APPENDICES

Axis No. Device No.

8

9

10

11

12

1

2

3

4

5

6

7

(12) Synchronous encoder axis monitor device list

Signal name

D1120 to D1129

D1130 to D1139

D1140 to D1149

Signal name

D1150 to D1159 0

D1160 to D1169 1

Current value



Real

Backup

(Note-1)

Backup

Virtual

Refresh cycle

Operation cycle

Immediately

Fetch cycle

Signal direction

Monitor device

D1190 to D1199 4

D1200 to D1209 5

Unusable —

D1210 to D1219

D1220 to D1229

6

7


D1230 to D1239 8 Error search output axis No.

Backup

Operation cycle

Monitor device

— —

: Valid


POINT

(1) It is unusable in the SV22 real mode.


(3) The device area more than 9 axes as a user device.



APP - 78

APPENDICES

Axis No. Device No.

25

26

27

28

21

22

23

24

29

30

31

32

14

15

16

17

18

19

20

8

9

10

11

12

13

1

2

3

4

5

6

7

D1370 to D1379

D1380 to D1389

D1390 to D1399

D1400 to D1409

D1410 to D1419

D1420 to D1429

D1430 to D1439

D1440 to D1449

D1450 to D1459

D1460 to D1469

D1470 to D1479

D1480 to D1489

D1490 to D1499

D1500 to D1509

D1510 to D1519

D1520 to D1529

D1530 to D1539

D1540 to D1549

D1550 to D1559

(13) Cam axis monitor device list

Signal name

D1240 to D1249

D1250 to D1259

D1260 to D1269


Refresh cycle

Fetch cycle

Signal direction

D1270 to D1279 0 Unusable —

D1280 to D1289 1 Execute cam No.

D1290 to D1299

D1300 to D1309 3

D1310 to D1319

D1320 to D1329

2

4

5

Execute stroke amount

Current value within 1 cam shaft revolution

Backup

Operation cycle

Monitor device

D1330 to D1339 6

D1340 to D1349 7

D1350 to D1359 8

D1360 to D1369 9

: Valid

POINT





APP - 79

APPENDICES

Device

No.

D704

D705

D706 request

Signal name specified flag request

PLC ready flag request

Speed switching point




Main cycle

Signal direction

Command device

Device

No.

D752

D753



D754

D707

D708


JOG operation simultaneous start command request

D709 Unusable —

Signal name


D755


D756


D710

D711

D712

D713

D714

D715

D716

D717

D718

D719

JOG operation simultaneous start axis setting register







15 input magnification setting register

(Note-1), (Note-2)

At start


D758

D759

D760

D761

D762

D763

D764

D765

D766

D767

D768

D769

D770

D771

D772

D773

D774

D775

D776

D777

Command device

D778

D779

Unusable

(42 points)

D780

D781

D782

D783

D784

D785

D786

D787

D788

D789

D790

D791

D792

D793

D794

D795

D796

D797

D798

D799



Main cycle

Signal direction

Command device




(Note-2): The following device area is unusable.



APP - 80

APPENDICES

Axis

No.

Device No.

(15) Motion register list (#)

1 #8000 to #8019

2 #8020 to #8039

3 #8040 to #8059

Signal name

4 #8060 to #8079

5 #8080 to #8099

6 #8100 to #8119

7 #8120 to #8139

0 Servo amplifier type

1 Motor current

2

3

Motor speed

8 #8140 to #8159

9 #8160 to #8179

10 #8180 to #8199

11 #8200 to #8219

4

5

6

7

Command speed

Home position return retravel value

12 #8220 to #8239

13 #8240 to #8259

8

Servo amplifier display servo error code

14 #8260 to #8279 9 Parameter error No. QDS




18 #8340 to #8359 13

19 #8360 to #8379 14

20 #8380 to #8399 15

21 #8400 to #8419 16

22 #8420 to #8439 17

23 #8440 to #8459 18

24 #8460 to #8479 19

25 #8480 to #8499

26 #8500 to #8519

27 #8520 to #8539

28 #8540 to #8559

29 #8560 to #8579

30 #8580 to #8599

31 #8600 to #8619

32 #8620 to #8639

Signal name

Refresh cycle

When the servo amplifier power-on



Operation cycle

At home position return re-travel

Main cycle



Signal direction

Monitor device

(16) Product information list devices (#8736 to #8751)

Ver.!

Device No.

#8736 to

#8743

#8744 to

#8751

Signal name


Motion CPU module serial number

Refresh cycle

At power supply

ON

Fetch cycle

Monitor device

Signal direction

Ver.!


APP - 81

APPENDICES

(17) Special relay list

Device No. Signal name

SM500 PCPU READY complete flag

SM501 TEST mode ON flag

SM502 External forced stop input flag

SM503 Digital oscilloscope executing flag

SM506 External forced stop input ON latch flag Ver.!

Refresh cycle Fetch cycle Signal type

Main cycle

Operation cycle

Main cycle

Status signal

SD500

SD501

SD502

SD503

SD504

SD505

SD506

SD508

SD510

SD511

SD512

SD513

SD514

SD515

SD516

SD517

SD522

SD523

SD524

SD550

SD551

Device No.

SD803

SM512 Motion CPU WDT error flag

SM513 Manual pulse generator axis setting error flag

SM516 Servo program setting error flag

(18) Special register list


Main cycle

Fetch cycle

Main cycle

Real mode axis information register (SV22)

Servo amplifier loading information

At power supply on/ operation cycle

Real mode/virtual mode switching error information (SV22)


SSCNET control (status)

Test mode request error information

Motion CPU WDT error cause

Main cycle

At test mode request

At Motion CPU

WDT error occurrence


Manual pulse generator axis setting error information

Error program No.

Error item information

Motion operation cycle

Operation cycle of the Motion CPU setting

At start

Operation cycle

At power supply on

Maximum Motion operation cycle QDS Operation

System setting error information QDS

At System setting error occurrence method Ver.!

SSCNET control (command)

At power supply on

Main cycle

Signal direction

Monitor device

Command device

Ver.!


APP - 82

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 is 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.

Microsoft, Windows, Windows NT, and Windows Vista are registered trademarks of Microsoft Corporation in the United States and other countries.

Ethernet is a trademark of Xerox Corporation.

All other company names and product names used in this manual are trademarks or registered trademarks of their respective companies.

IB(NA)-0300137-F