Q172_173DSCPU, Q172_173DCPU(-S1) Programming Manual Common

Add to my manuals
238 Pages

advertisement

Q172_173DSCPU, Q172_173DCPU(-S1) Programming Manual Common | Manualzz

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.

Conditions

Environment

Motion controller/Servo amplifier Servomotor

Ambient temperature

Ambient humidity

According to each instruction manual.

According to each instruction manual.

0°C to +40°C (With no freezing)

(32°F to +104°F)

80% RH or less

(With no dew condensation)

-20°C to +65°C

(-4°F to +149°F)

Storage temperature

According to each instruction manual.

Atmosphere

Indoors (where not subject to direct sunlight).

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

Altitude

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

Vibration

According to each instruction manual

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

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

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

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

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

Also, execute a trial operation.

A - 6

(4) Wiring

CAUTION

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

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

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

Correctly connect the output side (terminal U, V, W) 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.

A - 7

(6) Usage methods

CAUTION

Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the

Motion controller, servo amplifier or servomotor.

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

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

Do not make any modifications to the unit.

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

Motion controller or servo amplifier.

When using the CE Mark-compliant equipment, refer to the 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

According to each instruction manual.

According to each instruction manual.

According to each instruction manual.

CAUTION

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

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

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

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

Shut off with the emergency stop signal (EMG).

Servomotor

RA1 EMG

Electromagnetic brakes

24VDC

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

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

A - 8

(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.

A - 9

(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

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

Print Date Manual Number

Sep., 2007 IB(NA)-0300134-A First edition

Revision

Sep., 2010 IB(NA)-0300134-B [Additional model/function]

Software for SV43, Amplifier-less operation function, Q10UD(E)HCPU,

Q13UD(E)HCPU, Q20UD(E)HCPU, Q26UD(E)HCPU, QX40H, QX70H,

QH80H, QX90H, MR-J3- BS

[Additional correction/partial correction]

Safety precautions, About Manuals, Restrictions by the software's version, Checking serial number and operating system software version,

Servo parameters, Warranty

Sep., 2011 IB(NA)-0300134-C [Additional model]

Q173DCPU-S1, Q172DCPU-S1, Q50UDEHCPU, Q100UDEHCPU,

GX Works2, MR Configurator2

[Additional function]

External input signal (DOG) of servo amplifier, Communication via

PERIPHERAL I/F

[Additional correction/partial correction]

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

Mar., 2012 IB(NA)-0300134-D [Additional model]

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

[Additional function]

Servo external signal parameters, Software security key, Mark detection function

[Additional correction/partial correction]

About Manuals, Manual Page Organization, Restrictions by the software's version, Programming software version, Individual parameters, Servo parameter change function, Optional data monitor function, Special relays/Special registers list, System setting errors,

Differences between Motion CPU

Japanese Manual Number IB(NA)-0300126

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

© 2007 MITSUBISHI ELECTRIC CORPORATION

A - 11

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 1-30

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

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

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

1.2.2 Basic specifications of Q173D(S)CPU/Q172D(S)CPU.................................................................... 1- 5

1.3 Hardware Configuration........................................................................................................................... 1-10

1.3.1 Motion system configuration ............................................................................................................. 1-10

1.3.2 Q173DSCPU/Q172DSCPU System overall configuration .............................................................. 1-13

1.3.3 Q173DCPU(-S1)/Q172DCPU(-S1) System overall configuration................................................... 1-14

1.3.4 Software packages............................................................................................................................ 1-15

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

1.4 Checking Serial Number and Operating System Software Version....................................................... 1-21

1.4.1 Checking serial number .................................................................................................................... 1-21

1.4.2 Checking operating system software version .................................................................................. 1-24

1.5 Restrictions by the Software's Version.................................................................................................... 1-26

1.6 Programming Software Version .............................................................................................................. 1-30

2. MULTIPLE CPU SYSTEM 2- 1 to 2-36

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

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

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

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

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

2.1.5 How to reset the Multiple CPU system............................................................................................. 2- 6

2.1.6 Operation for CPU module stop error............................................................................................... 2- 7

2.2 Starting Up the Multiple CPU System ..................................................................................................... 2-10

2.2.1 Startup Flow of the Multiple CPU system......................................................................................... 2-10

2.3 Communication Between the PLC CPU and the Motion CPU in the Multiple CPU System................. 2-12

2.3.1 CPU shared memory......................................................................................................................... 2-12

2.3.2 Multiple CPU high speed transmission............................................................................................. 2-15

2.3.3 Multiple CPU high speed refresh function........................................................................................ 2-30

2.3.4 Clock synchronization between Multiple CPU ................................................................................. 2-34

2.3.5 Multiple CPU synchronous startup ................................................................................................... 2-35

2.3.6 Control instruction from PLC CPU to Motion CPU........................................................................... 2-36

A - 12

3. COMMON PARAMETERS 3- 1 to 3-26

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

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

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

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

3.2 I/O Number Assignment. ......................................................................................................................... 3-18

3.2.1 I/O number assignment of each module .......................................................................................... 3-18

3.2.2 I/O number of each CPU modules ................................................................................................... 3-20

3.2.3 I/O number setting............................................................................................................................. 3-21

3.3 Servo Parameters .................................................................................................................................... 3-22

3.4 Servo External Signal Parameters .......................................................................................................... 3-23

4. AUXILIARY AND APPLIED FUNCTIONS 4- 1 to 4-80

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

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

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

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

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

4.3 High-Speed Reading of Specified Data .................................................................................................. 4-12

4.4 ROM Operation Function......................................................................................................................... 4-14

4.4.1 Specifications of 7-segment LED/switches ...................................................................................... 4-14

4.4.2 Outline of ROM operation ................................................................................................................. 4-16

4.4.3 Operating procedure of the ROM operation function....................................................................... 4-21

4.5 Security Function ..................................................................................................................................... 4-23

4.5.1 Protection by password..................................................................................................................... 4-23

4.5.2 Protection by software security key .................................................................................................. 4-30

4.6 All Clear Function..................................................................................................................................... 4-35

4.7 Communication Via Network ................................................................................................................... 4-36

4.7.1 Specifications of the communications via network........................................................................... 4-36

4.8 Monitor Function of the Main Cycle......................................................................................................... 4-37

4.9 Servo Parameter Read/Change Function............................................................................................... 4-38

4.10 Optional Data Monitor Function............................................................................................................. 4-40

4.11 SSCNET Control Function..................................................................................................................... 4-42

4.11.1 Connect/disconnect function of SSCNET communication ............................................................ 4-43

4.11.2 Amplifier-less operation function.................................................................................................... 4-47

4.12 Remote Operation.................................................................................................................................. 4-51

4.12.1 Remote RUN/STOP........................................................................................................................ 4-51

4.12.2 Remote latch clear .......................................................................................................................... 4-53

4.13 Communication Function via PERIPHERAL I/F.................................................................................... 4-54

4.13.1 Direct connection ........................................................................................................................... 4-54

4.13.2 Connection via HUB....................................................................................................................... 4-57

4.13.3 MC protocol communication .......................................................................................................... 4-63

4.14 Mark Detection Function ........................................................................................................................ 4-70

APPENDICES

APPENDIX 1 Special Relays/Special Registers......................................................................................APP- 1

A - 13

APP- 1 to APP-42

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

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

APPENDIX 1.3 Replacement of special relays/special registers ........................................................APP-12

APPENDIX 2 System Setting Errors ........................................................................................................APP-15

APPENDIX 3 Self-diagnosis Error............................................................................................................APP-17

APPENDIX 4 Differences Between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/Q172DCPU(-S1)/

Q173HCPU/Q172HCPU....................................................................................................APP-28

APPENDIX 4.1 Differences between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/Q172DCPU(-S1)/

Q173HCPU/Q172HCPU .............................................................................................APP-28

APPENDIX 4.2 Comparison of devices................................................................................................APP-32

APPENDIX 4.3 Differences of the operating system software ............................................................APP-40

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.

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-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.

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)

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 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-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 common items of each operating system software, such as the Multiple CPU system of the operating system software packages

"SW7DNC-SV Q " and "SW8DNC-SV Q " for Motion CPU module

(Q173D(S)CPU/Q172D(S)CPU).

In this manual, the following abbreviations are used.

Generic term/Abbreviation

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

Motion CPU (module)

Q172DLX/Q172DEX/Q173DPX/

Q173DSXY or Motion module

Description

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

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

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

SV43

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

Operating system software for machine tool peripheral use :

SW7DNC-SV43Q

Programming software package

MELSOFT MT Works2

MT Developer2

GX Works2

GX Developer

(Note-2)

MR Configurator

MR Configurator

MR Configurator2

(Note-2)

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)"

Abbreviation for "MELSEC PLC programming software package

GX Developer (Version 8.48A or later)"

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

Q170ENC)" or Q171ENC-W8/Q170ENC

SSCNET /H

(Note-3)

SSCNET

(Note-3)

High speed synchronous network between Motion controller and servo amplifier

1

1 - 1

1 OVERVIEW

Generic term/Abbreviation

SSCNET (/H)

(Note-3)

Absolute position system

Battery holder unit

Intelligent function module

Description

General name for SSCNET /H, SSCNET

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

Battery holder unit (Q170DBATC)

Abbreviation for "CC-Link IE module/CC-Link module/ MELSECNET/10(H) module/Ethernet module/Serial communication module"

(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

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

• 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

SV22

(Virtual mode)

• Design method for safety observation parameter

• Design method for user made safety sequence program

• Design method for mechanical system program

Manual relevant to each module

Help of each software

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

(SV13/SV22) Programming Manual (Motion SFC)

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

(SV13/SV22) Programming Manual (REAL MODE)

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

Programming Manual (Safety Observation)

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

Programming Manual (VIRTUAL MODE)

1 - 2

1 OVERVIEW

1.2 Features

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

1.2.1 Features of Motion CPU

(1) Q series PLC Multiple CPU system

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

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

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

Q173DSCPU : Up to 32 axes

Q172DSCPU : Up to 16 axes

Q173DCPU(-S1) : Up to 32 axes

Q172DCPU(-S1) : Up to 8 axes

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

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

(c) The device data access of the Motion CPU and the Motion SFC program

(SV13/SV22)/Motion program (SV43) start can be executed from PLC CPU by the Motion dedicated PLC instruction.

(2) High speed operation processing

(a) The minimum operation cycle of the Motion CPU is made 0.22[ms]

(Q173DSCPU/Q172DSCPU use), and it correspond with high frequency operation.

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

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

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

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

It is also realised reduce the number of wires.

(b) The maximum distance between the Motion CPU and servo amplifier, servo amplifier and servo amplifier of the SSCNET cable on the same bus was set to 100(328.08)[m(ft.)] for SSCNET /H, 50(164.04)[m(ft.)] for SSCNET , and the flexibility improved at the Motion system design.

1 - 3

1 OVERVIEW

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

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

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

(a) Conveyor assembly use (SV13)

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

(b) Automatic machinery use (SV22)

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

(c) Machine tool peripheral use (SV43)

Offer liner interpolation, circular interpolation, helical interpolation, constantspeed positioning and etc. by the EIA language (G-code). Ideal for use in machine tool peripheral.

1 - 4

1 OVERVIEW

1.2.2 Basic specifications of Q173D(S)CPU/Q172D(S)CPU

(1) Module specifications

Item Q173DSCPU Q172DSCPU Q173DCPU Q173DCPU-S1 Q172DCPU Q172DCPU-S1

Internal current consumption

(5VDC) [A]

Mass [kg]

1.75

(Note-1) (Note-1)

1.25 1.30 1.25 1.30

0.38 0.33

120.5 (4.74)(H) 27.4 (1.08)(W)

Exterior dimensions [mm(inch)] 98 (3.85)(H) 27.4 (1.08)(W) 119.3 (4.70)(D)

120.3 (4.74)(D)

(Note-1): The current consumption (0.2[A]) of manual pulse generator/incremental synchronous encoder connected to the internal I/F connector is not contained.

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

(a) Motion control specifications

Number of control axes

Operation cycle

(default)

Acceleration/ deceleration control

Compensation

Programming language

Servo program capacity

Number of positioning points

Manual pulse generator operation function

SV13

SV22

Interpolation functions

Control modes

Peripheral I/F

Home position return function

JOG operation function

Synchronous encoder operation function

(Note-3)

Up to 32 axes

0.22ms/ 1 to 4 axes

0.44ms/ 5 to 10 axes

0.88ms/ 11 to 24 axes

1.77ms/25 to 32 axes

Up to 16 axes

0.22ms/ 1 to 4 axes

0.44ms/ 5 to 10 axes

0.88ms/ 11 to 16 axes

Up to 32 axes

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 18 axes

1.77ms/19 to 32 axes

Up to 8 axes

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 8 axes

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 16 axes

1.77ms/17 to 32 axes

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 16 axes

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 12 axes

1.77ms/13 to 28 axes

3.55ms/29 to 32 axes

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 8 axes

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

Helical interpolation (3 axes)

PTP(Point to Point) control, Speed control,

Speed-position control, Fixed-pitch feed,

Constant speed control, Position follow-up control,

Speed control with fixed position stop,

Speed switching control,

High-speed oscillation control,

Speed-torque control, Synchronous control (SV22)

PTP(Point to Point) control, Speed control,

Speed-position control, Fixed-pitch feed,

Constant speed control, Position follow-up control,

Speed control with fixed position stop,

Speed switching control,

High-speed oscillation control,

Synchronous control (SV22)

Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration,

Advanced S-curve acceleration/deceleration

Backlash compensation, Electronic gear, Phase compensation (SV22)

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

16k steps

3200 points (Positioning data can be designated indirectly)

USB/RS-232/Ethernet (Via PLC CPU)

PERIPHERAL I/F (Motion CPU)

USB/RS-232/Ethernet (Via PLC CPU)

PERIPHERAL I/F (Motion CPU)

(Note-1)

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

Stopper type (2 types), Limit switch combined type, Scale home position signal detection type

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

Provided

Possible to connect 3 modules (Q173DPX use)

Possible to connect 1 module

(Built-in interface in Motion CPU use)

(Note-2)

Possible to connect 3 modules (Q173DPX use)

Possible to connect 12 module (SV22 use)

(Q172DEX + Q173DPX +

Built-in interface in Motion CPU)

Possible to connect 12 modules (SV22 use)

(Q172DEX + Q173DPX)

Possible to connect 8 modules (SV22 use)

(Q172DEX + Q173DPX)

1 - 5

1 OVERVIEW

Motion control specifications (continued)

M-code function

Limit switch output function

ROM operation function

External input signal

High-speed reading function

Forced stop

Number of I/O points

Mark detection mode setting

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

Number of output points 32 points

Watch data: Motion control data/Word device

Provided

Q172DLX, External input signals (FLS/RLS/DOG) of servo amplifier,

Built-in interface in Motion CPU (DI), Bit device

Provided

(Via built-in interface in Motion CPU,

Via input module,

Via tracking of Q172DEX/Q173DPX)

Q172DLX or External input signals

(FLS/RLS/DOG) of servo amplifier

Provided

(Via input module, Via tracking of

Q172DEX/Q173DPX)

Motion controller forced stop (EMI connector, System setting),

Forced stop terminal of servo amplifier

Total 256 points

(Built-in interface in Motion CPU (Input 4 points) +

I/O module)

Continuous detection mode,

Specified number of detection mode,

Ring buffer mode

Built-in interface in Motion CPU (4 points),

Bit device, DOG/CHANGE signal of Q172DLX

Total 256 points

(I/O module)

None

Mark detection function

Mark detection signal

Mark detection setting

32 settings

Clock function

Security function

All clear function

Remote operation

Digital oscilloscope function

Absolute position system

Provided

Provided

(Protection by software security key or password)

Provided

(Protection by password)

Provided

Remote RUN/STOP, Remote latch clear

Motion buffering method

(Real-time waveform can be displayed)

Sampling data: Word 16CH, Bit 16CH

Motion buffering method

(Real-time waveform can be displayed)

Sampling data: Word 4CH, Bit 8CH

Made compatible by setting battery to servo amplifier.

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

SSCNET communication

(Note-4)

Communication method

Number of systems

Number of

Motion related modules

Q172DLX

Q172DEX

Q173DPX

SSCNET /H, SSCNET SSCNET

2 systems

(Note-5)

4 modules usable

1

(Note-5)

2 modules usable

6 modules usable

4 modules usable

(Note-6)

2 systems

4 modules usable

1 system

1 module usable

4 modules usable

3 modules usable

(Note-6)

(Note-1): Q173DCPU-S1/Q172DCPU-S1 only

(Note-2): When the manual pulse generator is used via the built-in interface in Motion CPU, the Q173DPX cannot be used.

(Note-3): Any incremental synchronous encoder connected to the built-in interface in Motion CPU will automatically be assigned an

Axis No. one integer greater than the number of encoders connected to any Q172DEX modules and Q173DPX modules.

(Note-4): The servo amplifiers for SSCNET cannot be used.

(Note-5): SSCNET and SSCNET /H cannot be combined in the same system.

For Q173DSCPU, SSCNET or SSCNET /H can be set every system.

(Note-6): When using the incremental synchronous encoder (SV22 use), you can use above number of modules.

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

1 - 6

1 OVERVIEW

(b) Motion SFC Performance Specifications

Motion SFC program capacity

Motion SFC program

Operation control program

(F/FS)

/

Transition program

(G)

Code total

(Motion SFC chart + Operation control

+ Transition)

Text total

(Operation control + Transition)

Number of Motion SFC programs

Motion SFC chart size/program

Number of Motion SFC steps/program

Number of selective branches/branch

Number of parallel branches/branch

Parallel branch nesting

Number of operation control programs

Number of transition programs

Code size/program

Number of blocks(line)/program

Number of characters/block

Number of operand/block

( ) nesting/block

Descriptive expression

Operation control program

Transition program

652k bytes

668k bytes

543k bytes

484k bytes

256 (No.0 to 255)

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

Up to 4094 steps

255

255

Up to 4 levels

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

4096(G0 to G4095)

Up to approx. 64k bytes (32766 steps)

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

Up to 128 (comment included)

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

Up to 32 levels

Calculation expression, bit conditional expression, branch/repetition processing

Calculation expression, bit conditional expression

Calculation expression/bit conditional expression/ comparison conditional expression

Up to 256

Up to 256 steps/all programs

Execute in main cycle of Motion CPU

Number of multi execute programs

Number of multi active steps

Normal task

Execute specification

Executed task

Event task

(Execution can be masked.)

Fixed cycle

External interrupt

PLC interrupt

Execute in fixed cycle

(0.22ms, 0.44ms, 0.88ms,

1.77ms, 3.55ms, 7.11ms, 14.2ms)

Execute in fixed cycle

(0.44ms, 0.88ms, 1.77ms,

3.55ms, 7.11ms, 14.2ms)

Execute when input ON is set among interrupt module QI60

(16 points).

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

NMI task

Execute when input ON is set among interrupt module QI60

(16 points).

Number of I/O points (X/Y)

Number of real I/O points (PX/PY)

Internal relays

Link relays

(M)

(B)

8192 points

256 points

(Built-in interface in Motion CPU

(Input 4 points) + I/O module

12288 points

8192 points

Annunciators (F)

Special relays (SM)

Number of devices

(Device In the Motion CPU only)

(Included the positioning dedicated device)

Data registers

Link registers

Special registers

Motion registers

Coasting timers

(D)

(W)

(SD)

(#)

(FT)

Multiple CPU area devices (U \G)

2256 points

8192 points

8192 points

256 points

(I/O module)

2256 points

12288 points

1 point (888µs)

Up to 14336 points usable

(Note)

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

1 - 7

1 OVERVIEW

(3) SV43 Motion control specifications/performance specifications

(a) Motion control specifications

Number of control axes

Operation cycle

(default)

Interpolation functions

Control modes

Acceleration/deceleration control

Compensation

Programming language

Motion program capacity

Number of programs

Number of simultaneous start programs

Number of positioning points

Peripheral I/F

Home position return function

JOG operation function

Manual pulse generator operation function

M-code function

Limit switch output function

Skip function

Override ratio setting function

ROM operation function

External input signal

High-speed reading function

Forced stop

Number of I/O points

Clock function

Security function

All clear function

Remote operation

Digital oscilloscope function

Absolute position system

SSCNET communication

(Note-2)

Communication method

Number of systems

Q172DLX Number of

Motion related modules

Q173DPX

Up to 32 axes

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 12 axes

1.77ms/13 to 28 axes

3.55ms/29 to 32 axes

Up to 8 axes

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 8 axes

Linear interpolation (Up to 4 axes), Circular interpolation (2 axes), Helical interpolation (3 axes)

PTP (Point to Point) control, Constant speed positioning, High-speed oscillation control

Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration

Backlash compensation, Electronic gear

Dedicated instruction (EIA language)

504k bytes

1024

Axis designation program : 32

Control program : 16

Axis designation program : 8

Control program : 16

Approx. 10600 points (Positioning data can be designated indirectly)

USB/RS-232/Ethernet (Via PLC CPU)

PERIPHERAL I/F (Motion CPU)

(Note-1)

Proximity dog type (2 types), Count type (3 types), Data set type (2 types), Dog cradle type, Stopper type (2 types), Limit switch combined type, Scale home position signal detection type

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

Provided

Possible to connect 3 modules (Q173DPX use)

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

Number of output points 32 points

Watch data: Motion control data/Word device

Provided

Override ratio setting : -100 to 100[%]

Provided

Q172DLX or External input signals (FLS/RLS/DOG) of servo amplifier

Provided (Via input module, Via tracking of Q173DPX)

Motion controller forced stop (EMI connector, System setting),

Forced stop terminal of servo amplifier

Total 256 points (I/O module)

Provided

Provided (Protection by password)

Provided

Remote RUN/STOP, Remote latch clear

Provided

Made compatible by setting battery to servo amplifier.

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

SSCNET

2 systems

4 modules usable

1 modules usable

1 system

1 module usable

(Note-1): Q173DCPU-S1/Q172DCPU-S1 only

(Note-2): The servo amplifiers for SSCNET cannot be used.

1 - 8

1 OVERVIEW

Program capacity

Operation controls

Special M-codes

Variable

Functions

(b) Motion program performance specifications

Item Q173DCPU(-S1)/Q172DCPU(-S1)

Total of program files

Number of programs

Arithmetic operation

Comparison operation

Logical operation

504k bytes

Up to 1024 (No. 1 to 1024)

Unary operation, Addition and subtraction operation, Multiplication and division operation, Remainder operation

Equal to, Not equal to

Logical shift operation, Logical negation, Logical AND,

Logical OR, Exclusive OR

G00, G01, G02, G03, G04, G09, G12, G13, G23, G24, G25, G26, G28,

G30, G32, G43, G44, G49, G53, G54, G55, G56, G57, G58, G59, G61,

G64, G90, G91, G92, G98, G99, G100, G101

Program control command

Device variable

Trigonometric function

Numerical function

M****

M00, M01, M02, M30, M98, M99, M100

X, Y, M, B, F, D, W, #, U \G

SIN, COS, TAN, ASIN, ACOS, ATAN

ABS, SQR, BIN, LN, EXP, BCD, RND, FIX, FUP, INT, FLT, DFLT, SFLT

Instructions

Number of controls

Number of devices

(Device In the Motion

CPU only)

(Included the positioning dedicated device)

Home position return

Speed/torque setting

CHGA

CHGV, CHGT, TL

Motion control

Jump/repetition processing

Data operation

WAITON, WAITOFF, EXEON, EXEOFF

CALL, GOSUB, GOSUBE, IF…GOTO,

IF…THEN…ELSE IF...ELSE...END,

WHILE…DO…BREAK...CONTINUE...END

BMOV, BDMOV, FMOV, BSET, BRST, SET, RST, MULTW, MULTR,

TO, FROM, ON, OFF, IF…THEN…SET/RST/OUT, PB

Program calls (GOSUB/GOSUBE)

Program calls (M98)

Internal relays

Link relays

(M)

(B)

Annunciators (F)

Up to 8

Up to 8

8192 points

8192 points

Special relays

Data registers

Link registers

Special registers

Motion registers

Coasting timers

(SM)

(D)

(W)

(SD)

(#)

(FT)

Multiple CPU area devices (U \G)

2256 points

8192 points

8192 points

2256 points

8736 points

1 point (888µs)

Up to 14336 points usable

(Note)

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

1 - 9

1 OVERVIEW

1.3 Hardware Configuration

This section describes the Motion controller system configuration, precautions on use of system, and configured equipments.

1.3.1 Motion system configuration

(1) Equipment configuration in system

(a) Q173DSCPU/Q172DSCPU

Extension of the Q series module

(Note-2)

Power supply module/

QnUD(E)(H)CPU/ I/O module/

Intelligent function module of the Q series

Motion module

(Q172DLX, Q173DPX)

Motion module

(Q172DLX, Q172DEX, Q173DPX)

Main base unit

(Q35DB, Q38DB, Q312DB)

Extension cable

(QC B)

Q6 B extension base unit

(Q63B, Q65B, Q68B, Q612B)

Safety signal module

(Q173DSXY)

RIO cable

(Q173DSXYCBL M)

Motion CPU module

(Q173DSCPU/Q172DSCPU)

SSCNET cable

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

Forced stop input cable

(Q170DEMICBL M)

(Note-1)

M I T S U B I S H I

L I T H I U M B A T T E R Y

PROGRAMMABLE CONTROLLER

TYPE Q6BAT

Battery

(Q6BAT)

Power supply module/

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

Servo amplifier

(MR-J3(W)- B)

Servo amplifier

(MR-J4(W)- B)

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

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

It is packed together with Q173DSCPU/Q172DSCPU.

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

Install it to the main base unit.

1 - 10

1 OVERVIEW

(b) Q173DCPU(-S1)/Q172DCPU(-S1)

Power supply module/

QnUD(E)(H)CPU/ I/O module/

Intelligent function module of the Q series

Extension of the Q series module

(Note-2)

Motion module

(Q172DLX, Q173DPX)

Motion module

(Q172DLX, Q172DEX, Q173DPX)

(Note-3)

Main base unit

(Q35DB, Q38DB, Q312DB)

Safety signal module

(Note-3)

(Q173DSXY)

Motion CPU module

(Q173DCPU(-S1)/

Q172DCPU(-S1))

Extension cable

(QC B)

Forced stop input cable

(Q170DEMICBL M)

(Note-1)

RIO cable

(Q173DSXYCBL M)

Q6 B extension base unit

(Q63B, Q65B, Q68B, Q612B)

Power supply module/

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

SSCNET cable

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

(Note-1)

Battery holder unit

(Q170DBATC)

Servo amplifier

(MR-J3(W)- B)

M I T S U B I S H I

L I T H I U M B A T T E R Y

PROGRAMMABLE CONTROLLER

TYPE Q6BAT

Battery

(Q6BAT)

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

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

It is packed together with Q173DCPU(-S1)/Q172DCPU(-S1).

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

Install it to the main base unit.

(Note-3): Q173DCPU-S1/Q172DCPU-S1 only.

1 - 11

1 OVERVIEW

(2) Peripheral device configuration for the Q173D(S)CPU/

Q172D(S)CPU

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

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

PLC CPU module

(QnUD(E)(H)CPU)

PLC CPU module

(QnUD(H)CPU)

Motion CPU module

(Q17 DSCPU/Q17 DCPU-S1)

PLC CPU module

(QnUDE(H)CPU)

USB cable

RS-232 communication cable

(QC30R2)

Ethernet cable

(Note-1)

Personal computer Personal computer Personal computer

(Note-1): Corresponding Ethernet cables

1) Connected to Motion CPU module

Part name

Ethernet cable

Connection type

Direct connection

Cable type

Connection with HUB Straight cable

Crossover cable

Ethernet standard

10BASE-T

100BASE-TX

10BASE-T

100BASE-TX

Specification

Compliant with Ethernet standards, category 5 or higher.

• Shielded twisted pair cable (STP cable)

[Selection criterion of cable]

• Category : 5 or higher

• Diameter of lead : AWG26 or higher

• Shield : Copper braid shield and drain wire

Copper braid shield and aluminium layered type shield

2) Connected to PLC CPU module

Refer to the "QnUCPU User's Manual (Communication via Built-in

Ethernet Port)".

1 - 12

1 OVERVIEW

1.3.2 Q173DSCPU/Q172DSCPU System overall configuration

Motion CPU control module

Panel personal computer

Main base unit

(Q3 DB)

PERIPHERAL I/F

Q61P

PLC CPU/

Motion CPU

QnUD

CPU

Q17 DS

CPU

QI60 QX QY Q6 AD

/

Q6 DA

Q172D

LX

Q172D

EX

Q173D

PX

I/O module/

Intelligent function module

100/200VAC

IBM PC/AT

USB/RS-232/

Ethernet

Personal Computer

(Note-1)

Battery (Q6BAT)

P

Manual pulse generator 3/module

(MR-HDP01)

E

Serial absolute synchronous encoder cable

(Q170ENCCBL M)

Serial absolute synchronous encoder 2/module

(Q171ENC-W8)

External input signals

FLS : Upper stroke limit

RLS : Lower stroke limit

STOP :

DOG/CHANGE : Proximity dog/Speed-position switching

Number of Inputs

8 axes/module

Extension cable

(QC B)

Forced stop input cable

(Q170DEMICBL M)

EMI forced stop input (24VDC)

Extension base unit

(Q6 B)

UP to 7 extensions

Analogue input/output

Input/output (Up to 256 points)

Interrupt signals (16 points)

P

Manual pulse generator/

Incremental synchronous encoder

1/module

Input signal/Mark detection input signal (4 points)

External input signals

Upper stroke limit

Lower stroke limit

STOP signal

Proximity dog/Speed-position switching

SSCNET cable

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

System2 SSCNET (/H) (CN2) d01

System1 SSCNET (/H) (CN1) d16 d01 d16

M

E

M

E

M

E

M

E

MR-J3(W)- B/MR-J4(W)- B model Servo amplifier

Q173DSCPU: 2 systems (Up to 32 axes (Up to 16 axes/system))

Q172DSCPU: 1 system (Up to 16axes)

External input signals of servo amplifier

Proximity dog/Speed-position switching

Upper stroke limit

Lower stroke limit

(Note-1): QnUDE(H)CPU only

CAUTION

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

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

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

1 - 13

1 OVERVIEW

1.3.3 Q173DCPU(-S1)/Q172DCPU(-S1) System overall configuration

Motion CPU control module

Panel personal computer

Main base unit

PERIPHERAL I/F

(Q3 DB)

(Note-2)

Q61P

PLC CPU/

Motion CPU

QnUD

CPU

Q17 D

CPU

QI60 QX

/

QY

Q6 AD Q172D

/ LX

Q6 DA

Q172D

EX

Q173D

PX

I/O module/

Intelligent function module

100/200VAC

Personal Computer

IBM PC/AT

USB/RS-232/

Ethernet

Battery holder unit

Q170DBATC

(Note-2)

Forced stop input cable

(Q170DEMICBL M)

EMI forced stop input (24VDC)

P

Manual pulse generator 3/module

(MR-HDP01)

E

Serial absolute synchronous encoder cable

(Q170ENCCBL M)

Serial absolute synchronous encoder 2/module

(Q170ENC)

External input signals

FLS

RLS

STOP

: Upper stroke limit

: Lower stroke limit

: Stop signal

DOG/CHANGE : Proximity dog/Speed-position switching

Number of Inputs

8 axes/module

Analogue input/output

Input/output (Up to 256 points)

Interrupt signals (16 points)

Extension base unit

(Q6 B)

Extension cable

(QC B)

UP to 7 extensions

SSCNET cable

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

System2 SSCNET (CN2) d01

System1 SSCNET (CN1) d16 d01 d16

M

E

M

E

M

E

M

E

MR-J3(W)- B model Servo amplifier

Q173DCPU(-S1): 2 systems (Up to 32 axes (Up to 16 axes/system))

Q172DCPU(-S1): 1 system (Up to 8 axes)

External input signals of servo amplifier

Proximity dog/Speed-position switching

Upper stroke limit

Lower stroke limit

(Note-1): Q173DCPU-S1/Q172DCPU-S1 only

(Note-2): QnUDE(H)CPU only

CAUTION

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

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

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

1 - 14

1 OVERVIEW

1.3.4 Software packages

(1) Operating system software

Application

Conveyor assembly use SV13

Automatic machinery use SV22

Machine tool peripheral use SV43

Q173DSCPU

(Note-1)

Software package

Q172DSCPU

(Note-1)

Q173DCPU(-S1) Q172DCPU(-S1)

SW8DNC-SV13QJ SW8DNC-SV13QL SW8DNC-SV13QB SW8DNC-SV13QD

SW8DNC-SV22QJ SW8DNC-SV22QL SW8DNC-SV22QA SW8DNC-SV22QC

(Note-1): The operating system software (SV22) is installed at the time of product purchases.

The newest operating system software can be downloaded on MELFANSweb.

(2) Operating system software type/version

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

1)

2)

3)

1) Operating system software type

2) Operating system software version

3) Serial number

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

1) SW8DNC-SV22QA

2) 00B

(b) Confirmation method in MT Debeloper2

The operating system software type and version of connected CPU can be confirmed on the following screen.

1) Installation screen

2) CPU information screen displayed by menu bar [Help] [CPU

Information]

(OS software) S V 2 2 Q A V E R 3 0 0 B

A or B : Q173DCPU(-S1)

C or D : Q172DCPU(-S1)

J or L : Q173DSCPU

Q172DSCPU

OS version

3: Motion SFC compatibility

. : Motion SFC not compatibility

(3) Programming software packages

(a) Motion controller engineering environment

Model name Part name

MELSOFT MT Works2

(MT Developer2

(Note-1)

)

SW1DNC-MTW2-E

(Note-1): This software is included in Motion controller engineering environment "MELSOFT MT Works2".

1 - 15

1 OVERVIEW

(4) Related software packages

(a) PLC software package

Model name

GX Works2

GX Developer

(b) Servo set up software package

Model name

MR Configurator2

MR Configurator

(Note-1)

Software package

SW1DNC-GXW2-E

SW8D5C-GPPW-E

Software package

SW1DNC-MRC2-E

MRZJW3-SETUP221E

(Note-1): Q173DSCPU/Q172DSCPU is not supported.

POINTS

When the operation of Windows R is not unclear in the operation of this software, refer to the manual of Windows

R

or guide-book from the other supplier.

1 - 16

1 OVERVIEW

1.3.5 Restrictions on motion systems

(1) Combination of Multiple CPU system

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

Be sure to install the universal model PLC CPU module to CPU No.1.

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

(b) Only Multiple CPU high speed main base unit (Q35DB/Q38DB/Q312DB) can be used.

(c) The combination of Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/

Q172DCPU(-S1) and Q173HCPU(-T)/Q172HCPU(-T)/Q173CPUN(-T)/

Q172CPUN(-T) cannot be used.

The combination of Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/

Q172DCPU(-S1) can be used.

(d) Up to four modules of universal model PLC CPU modules/Motion CPU modules can be installed from the CPU slot (the slot on the right side of power supply module) to slot 2 of the main base unit. CPU modules called as CPU No.1 to CPU No.4 from the left sequentially.

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

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

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

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

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

(f) Execute the automatic refresh of the Motion CPU modules and universal model PLC CPU modules by using the automatic refresh of Multiple CPU high speed transmission area setting.

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

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

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

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

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

1 - 17

1 OVERVIEW

(2) Motion modules

(a) Installation position of Q172DEX

(Note-1)

and Q173DSXY is only the main base unit.

It cannot be used on the extension base unit.

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

(c) Q172DLX/Q172DEX

(Note-1)

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

(d) Q173DSXY cannot be used in Q173DCPU/Q172DCPU.

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

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

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

(Q172DLX, Q172DEX

(Note-1)

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

(g) Q173DSXY is managed with PLC CPU.

The Motion CPU to connect Q173DSXY is only CPU No.2 in the Multiple

CPU system. Q173DSXY cannot be used for the CPU No. 3 or 4.

(Note-1) : Q172DEX can be used in SV22. It cannot be used in SV13/SV43.

1 - 18

1 OVERVIEW

(3) Other restrictions

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

(b) Be sure to use the battery.

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

• Use a EMI connector of Motion CPU module

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

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

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

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

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

(f) Set "SSCNET /H" or "SSCNET " for every axis in the SSCNET setting of system setting to communicate the servo amplifiers.

MR-J4(W)- B can be used by setting "SSCNET /H", and MR-J3(W)- B can be used by setting "SSCNET ".

QDS

(g) There are following restrictions when "SSCCNET " is set as communication method.

When the operation cycle is 0.2[ms], set the system setting as the axis select rotary switch of servo amplifier "0 to 3".

If the axis select rotary switch of servo amplifier "4 to F" is set, the servo amplifiers are not recognized.

QDS

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

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

There is no restriction when "SSCNET /H" is set in the SSCNET setting.

(Note): The setting of axis select rotary switch differs according to the servo amplifier. Refer to the "Servo amplifier Instruction Manual" for details.

(h) Maximum number of control axes of servo amplifier is shown below.

• Operation cycle is 0.2[ms]: 4 axes per system

• Operation cycle is 0.4[ms]: 8 axes per system

There is no restriction when "SSCNET /H" is set in the SSCNET setting.

QDS

(i) When the operation cycle is "default setting", the operation cycle depending on the number of axes used is set. However, when "SSCNET " is set in the

SSCNET communication setting and the number of axes used of servo amplifier is 9 axes or more per system, the operation cycle of 0.8 [ms] or more is set. (Refer to Section 1.2.2.)

QDS

1 - 19

1 OVERVIEW

(j) MR-J4W3- B and MR-J3W- B does not correspond to operation cycle

0.2 [ms]. Set 0.4[ms] or more as operation cycle to use MR-J4W3- B and

MR-J3W- B.

QDS

(k) If there is an axis which is not set at least 1 axis by system setting in applicable servo amplifier at MR-J4W- B use, all axes connected to applicable servo amplifier and subsequent servo amplifiers cannot be connected. Set "Not used" to the applicable axis with a dip switch for the axis which is not used by MR-J4W- B.

QDS

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

Motion CPU module.

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

(m) The module name displayed by "System monitor" - "Product information list" of GX Works2/GX Developer is different depending on the function version of Motion modules (Q172DLX, Q172DEX, Q173DPX).

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

Module name

Model display

Function version "B" Function version "C"

(n) Use the Graphic Operation Terminal (GOT) correspond to Motion CPU

(Q173D(S)CPU/Q172D(S)CPU).

(Refer to the "GOT1000 Series Connection Manual (Mitsubishi Products)".)

1 - 20

1 OVERVIEW

1.4 Checking Serial Number and Operating System Software Version

Checking for the serial number of Motion CPU module and Motion module, and the operating system software version are shown below.

1.4.1 Checking serial number

(1) Motion CPU module (Q173DSCPU/Q172DSCPU)

(a) Rating plate

The rating plate is situated on the side face of the Motion CPU module.

(b) Front of Motion CPU module

The serial number is printed in the projection parts forward of the lower side of Motion CPU module.

Q173DSCPU

1

DE

F

0 123

AB

8

79

DE

F

0 123

AB

8

79

SW

2

STOP RUN

EMI

MITSUBISHI

MOTION CONTROLLER

MODEL

Q173DSCPU

SERIAL

PASSED

5VDC 1.75A

N2X234999

C

UL

80M1

US LISTED

IND. CONT.EQ.

KCC-REI-MEK-

TC510A792G61

DATE:2011-11

Rating plate

Serial number

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN

See Q173DSCPU Instruction manual.

Serial number

FRONT

RIO

N2X234999

PULL

(c) System monitor (product information list)

The serial number can be checked on the system monitor screen in

GX Works2/GX Developer. (Refer to Section 1.4.2.)

1 - 21

1 OVERVIEW

(2) Motion CPU module (Q173DCPU(-S1)/Q172DCPU(-S1))

(a) Rating plate

The rating plate is situated on the side face of the Motion CPU module.

(b) Front of Motion CPU module

The serial number is printed in the projection parts forward of the lower side of Motion CPU module.

Q173DCPU-S1

1

DE

F

0 123

AB

8

79

DE

F

0 123

AB

8

79

STOP RUN

2

SW

CAUTION

EMI

MITSUBISHI

MOTION CONTROLLER

MODEL

0026924699D0

SERIAL

M16349999

PASSED

Q173DCPU-S1

5VDC 1.30A

UL

80M1

US LISTED

IND. CONT. EQ.

C

MADE IN JAPAN

MITSUBISHI ELECTRIC CORPORATION

See Q173DCPU-S1 Instructi on manual.

DATE:2011-06

KCC-REI-MEK-TC510A692051

Rating plate

Serial number

Serial number

FRONT

BAT

RIO

M16349999

(c) System monitor (product information list)

The serial number can be checked on the system monitor screen in

GX Works2/GX Developer. (Refer to Section 1.4.2.)

REMARK

The serial number display was corresponded from the Motion CPU modules manufactured in early October 2007.

1 - 22

1 OVERVIEW

(3) Motion module (Q172DLX/Q172DEX/Q173DPX/Q173DSXY)

(a) Rating plate

The rating plate is situated on the side face of the Motion module.

(b) Front of Motion module

The serial No. is printed in the projection parts forward of the lower side of

Motion module.

Q172DLX

CTRL

MITSUBISHI

MOTION I/F UNIT

MODEL Q172DLX

24VDC 0.16A

SERIAL

DATE

PASSED

5VDC 0.06A

C16054999

2011-06

C

UL

80M1

US LISTED

IND. CONT. EQ.

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN BC370C224H01

See Q172DLX Instruction manual .

KCC-REI-MEK-

TC510A646G51

Rating plate

Serial number

Serial number

Q172DLX

C16054999

REMARK

The serial number display was corresponded from the Motion modules manufactured in early April 2008.

1 - 23

1 OVERVIEW

1.4.2 Checking operating system software version

Ver.!

The operating system software version can be checked on the system monitor screen in GX Works2/GX Developer.

Select [Product Inf. List] button on the system monitor screen displayed on

[Diagnostics] – [System monitor] of GX Works2/GX Developer.

1 - 24

Serial number of

Motion CPU module

Operating system software version

<Screen: GX Works2>

1 OVERVIEW

REMARK

(1) "Serial number of Motion CPU module" and "Operating system software version" on the system monitor (Product Information List) screen of

GX Works2/GX Developer was corresponded from the Motion CPU modules manufactured in early October 2007.

(2) The operating system software version can also be checked on the system monitor screen in CD-ROM of operating system software or MT Developer2.

(Refer to Section 1.3.4.)

Ver.!

: Refer to Section 1.5 for the software version that supports this function.

1 - 25

1 OVERVIEW

1.5 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.

Function

Table 1.1 Restrictions by the Software's Version

Operating system software version

(Note-1), (Note-2)

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

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

444μs 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 constant-speed 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

— 00H

00B

00H

00H

00H

00B

00B

— 00H

— 00H

00C

— 00H

— 00K

00G

00B

00H

00L

00L

00L

00N

00C

00C

Not support

1 - 26

1 OVERVIEW

Programming software version

MELSOFT MT Works2 (MT Developer2)

Q173DCPU(-S1)/Q172DCPU(-S1)

MR Configurator

Section of reference

1.39R 1.06G

— —

1.39R 1.06G Not support

— —

1.39R 1.09K

1.39R 1.09K

1.39R

1.15R

Not support

Not support

1.39R

1.39R

1.39R

1.15R

1.15R

1.15R

— — — (Note-3)

Not support

Section 4.2

Section 4.13

(Note-4)

1.39R

1.17T

Not support — —

—: 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 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 (SV22) Programming Manual (VIRTUAL MODE)

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

1 - 27

1 OVERVIEW

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

Function

Operating system software version

(Note-1), (Note-2)

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

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

— 00S

— 00S

— 00S

— 00S

00S

00S

1 - 28

1 OVERVIEW

Programming software version

MELSOFT MT Works2 (MT Developer2)

Q173DCPU(-S1)/Q172DCPU(-S1)

MR Configurator

Section of reference

— —

1.39R

1.39R

— —

— —

—: 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 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 (SV22) Programming Manual (VIRTUAL MODE)

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

1 - 29

1 OVERVIEW

1.6 Programming Software Version

The programming software versions supported to Motion CPU are shown below.

Motion CPU

MELSOFT MT Works2 (MT Developer2)

MR Configurator2

SV13/SV22 SV43

MR Configurator

Q173DSCPU 1.39R 1.10L support

Q172DSCPU 1.39R 1.10L

Q173DCPU-S1

1.00A

(Note-1)

1.00A

C0 support

(Note-3)

Q172DCPU-S1 1.00A

(Note-1)

1.00A C0

C0

C0

(Note-3)

(Note-3)

(Note-3)

(Note-1): Use version 1.12N or later to communicate via PERIPHERAL I/F.

(Note-2): Use version 1.23Z or later to communicate via PERIPHERAL I/F.

(Note-3): Use version C1 or later to use MR Configurator combination with MT Developer2.

1 - 30

2 MULTIPLE CPU SYSTEM

2. MULTIPLE CPU SYSTEM

2.1 Multiple CPU System

2.1.1 Overview

(1) What is Multiple CPU system ?

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

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

(2) System configuration based on load distribution

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

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

CPU modules.

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

(Q173DSCPU/Q173DCPU(-S1)).

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

(3) Communication between CPUs in the Multiple CPU system

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

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

(b) Motion dedicated PLC instructions can be used to access device data from the PLC CPU to Motion CPU and start Motion SFC program (SV13/SV22)/

Motion program (SV43).

2

2 - 1

2 MULTIPLE CPU SYSTEM

2.1.2 Installation position of CPU module

Number of CPUs

2

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

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

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

CPU system.

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

The combination of Q173DSCPU/Q172DSCPU and Q173DCPU(-S1)/

Q172DCPU(-S1) can be used.

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

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

Table 2.1 Example for CPU module installation

Installation position of CPU module

CPU

Power supply

QnUD

CPU

0

Q17 D(S)

CPU

1 2

—— ——

CPU

No.1

Power supply

CPU

QnUD

CPU

CPU

No.2

CPU

No.3

0 1

Q17 D(S)

CPU

QnUD

CPU

CPU

No.4

2

Power supply

CPU

QnUD

CPU

0 1

Q17 D(S)

CPU

Q17 D(S)

CPU

2

3 ——

CPU

No.1

CPU

No.2

CPU

No.3

Power supply

CPU

QnUD

CPU

0 1

Q17 D(S)

CPU

QnUD

CPU

CPU

No.4

2

CPU empty

CPU

No.1

CPU

No.2

CPU

No.3

CPU

No.4

Power supply

CPU

QnUD

CPU

0 1 2

Q17 D(S)

CPU

Q17 D(S)

CPU

QnUD

CPU

Power supply

CPU

QnUD

CPU

0 1 2

Q17 D(S)

CPU

Q17 D(S)

CPU

Q17 D(S)

CPU

4

CPU

No.1

CPU

No.2

CPU

No.3

CPU

No.4

CPU

No.1

CPU

No.2

CPU

No.3

CPU

No.4

CPU 0

CPU

No.1

1

CPU

No.2

2

CPU

No.3

CPU

No.4

: Slot number

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

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

(Example 1)

CPU

Power supply

QnUD

CPU

0

CPU empty

1

Q17 D(S)

CPU

2

(Example 2)

CPU

Power supply

QnUD

CPU

0

CPU empty

1

Q17 D(S)

CPU

2

CPU empty

(Example 3)

CPU

Power supply

QnUD

CPU

0

CPU empty

1

CPU empty

2

Q17 D(S)

CPU

CPU

No.1

CPU

No.2

CPU

No.3

CPU

No.4

CPU

No.1

CPU

No.2

CPU

No.3

CPU

No.4

CPU

No.1

CPU

No.2

CPU

No.3

CPU

No.4

2 - 2

2 MULTIPLE CPU SYSTEM

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

(1) Modules controllable by the Motion CPU

Modules controllable by the Motion CPU are shown below.

• Motion modules (Q172DLX, Q172DEX, Q173DPX)

• I/O modules (QX , QX - , QY , QY - , QH , QX Y )

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

• Interrupt module (QI60)

(2) Compatibility with the Multiple CPU system

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

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

(3) Access range from non-controlled CPU

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

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

Table 2.2 Access range to non-controlled module

Access target

I/O setting outside of the group

(Set by PLC CPU)

Disabled (Not checked) Enabled (Checked)

Input (X)

Output (Y)

Buffer memory

Read

Write

: Accessible : Inaccessible

REMARK

• The function version of an intelligent function module can be checked on the rated plate of the intelligent function module or in the GX Works2/GX Developer system monitor product information list.

• Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller User's Manual" for the model name which can be controlled by the Motion CPU.

2 - 3

2 MULTIPLE CPU SYSTEM

2.1.4 Modules subject to installation restrictions

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

(a) SV13/SV22 name

Maximum installable modules per CPU

Q173DSCPU Q172DSCPU

Servo external signals interface module

Serial absolute synchronous interface module

Q172DLX

Q172DEX

(Note-2)

Manual pulse generator interface module

Q173DPX

(Note-1)

Incremental serial encoder use

(Note-2)

Manual pulse generator only use

Input module

Output module

Input/output composite module

QX

QX -

QY

QY -

QH

QX Y

4 modules 2 modules

6 modules

4 modules

Total 256 points

(Note-4)

4 modules

1 module

1 module

4 modules

3 modules

Total 256 points

Analogue input module

(Note-3)

Analogue output module

(Note-3)

Q6 AD

Q6 AD-

Q6 DA

Q6 DA-

Interrupt module QI60 1 module

(Note-1): When the Manual pulse generator and the serial encoder are used at the same time with the SV22, the Q173DPX installed in the slot of the smallest number is used for manual pulse generator input.

(Note-2): SV22 only.

(Note-3): A maximum of 4 modules, analogue input modules and analogue output modules, can be used.

(Note-4): Number of I/O points is total of "Built-in interface in Motion CPU (Input 4 points) + I/O module".

(b) SV43

Maximum installable modules per CPU

Q173DCPU(-S1) Q172DCPU(-S1)

Servo external signals interface module

Manual pulse generator interface module

Q172DLX

Q173DPX

Manual pulse generator only use

4 modules

1 module

1 module

1 module

Input module

Output module

Input/output composite module

Analogue input module

(Note-1)

QX

QX -

QY

QY -

QH

QX Y

Q6 AD

Q6 AD-

Total 256 points

Analogue output module

(Note-1)

Q6 DA

Q6 DA-

(Note-1): A maximum of 4 modules, analogue input modules and analogue output modules, can be used.

2 - 4

2 MULTIPLE CPU SYSTEM

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

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

POINT

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

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

2 - 5

2 MULTIPLE CPU SYSTEM

2.1.5 How to reset the Multiple CPU system

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

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

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

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

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

No.1.)

POINT

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

Multiple CPU system.

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

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

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

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

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

(Refer to Section 2.1.6.)

2 - 6

2 MULTIPLE CPU SYSTEM

2.1.6 Operation for CPU module stop error

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

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

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

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

PLC CPU No.1.

(Note-1)

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

1) Confirm the error cause with the PLC diagnostics on GX Works2/

GX Developer.

2) Remove the error cause.

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

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

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

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

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

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

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

A

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

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

(Note-1)

2 - 7

2 MULTIPLE CPU SYSTEM

(b) When a stop error occurs in the CPU module for which " All station stop by stop error of CPU 'n' " has not been set, a "MULTI EXE. ERROR (error code: 7020)" error occurs in all other CPUs but operations will continue.

POINT

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

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

CPU on which a stop error occurs.

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

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

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

The stop error can be checked on the PLC diagnostics screen in

GX Works2/GX Developer.

<Screen: GX Works2>

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

1) Confirm the error-detected CPU No. and error cause with the PLC diagnostics on GX Works2/GX Developer.

2) If the error code occurred in Motion CPU 10000 to 10999, confirm the error cause with monitor of MT Developer2.

3) Remove the error cause.

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

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

2 - 8

2 MULTIPLE CPU SYSTEM

Category

(3) Operation at a Motion CPU error

Operations at a Motion CPU error are shown below.

Type of error

System setting error

WDT error

Operation

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

Varies depending on the error.

Remark

• All actual output PY points turn OFF.

No effect on other CPUs.

• All actual output PY points turn OFF.

Other CPUs may also stop depending on the parameter setting.

Operation disable errors

Self-diagnosis error Stops at a CPU DOWN error.

Other CPU DOWN error

Self-diagnosis error

Operation corresponding to

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

CPU stop error" setting.

Operation continues when the continuous error occurred.

Operation continuous enable errors

Motion SFC error

(Note-1)

Minor error

Major error

Servo error

Servo program setting error

(Note-1)

/

Motion program setting error

(Note-2)

Processing stops for each program or axis instead of the

Motion CPU stopping all the processing.

• All actual output PY points turn OFF.

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

• Actual output PY retains output.

• No effect on other CPUs.

(Note-1): SV13/SV22 use.

(Note-2): SV43 use.

2 - 9

2 MULTIPLE CPU SYSTEM

2.2 Starting Up the Multiple CPU System

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

2.2.1 Startup Flow of the Multiple CPU system

START

Definition of functions with Multiple CPU system

Control and function executed in each

CPU module are defined.

Application and assignment of device

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

Selection of module

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

PLC CPU

Motion CPU

Installation of module

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

Start-up of GX Works2/GX Developer

Start-up GX Works2 (Ver.1.15R or later)

/GX Developer (Ver. 8.48A or later).

Creation of parameters, etc.

Create the parameter such as Multiple

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

PLC CPU

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

Connect the PC that started GX Works2

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

Ethernet cable.

Multiple CPU system power ON

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

CPU module of CPU No.1.

RUN/STOP/RESET switch : STOP

Write of parameter and program

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

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

1)

Refer to Section 2.3

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

Motion controller User's Manual"

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

Motion controller User's Manual"

Refer to the GX Works2/GX Developer Manual.

Create the parameters for CPU No. 1 to 4 and sequence programs.

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

Explanation/Program Fundamentals)".

2 - 10

2 MULTIPLE CPU SYSTEM

1)

Start-up of MT Developer2

Start-up MT Developer2.

Motion CPU

Creation of system settings and program, etc.

Create the system settings, servo data and Motion SFC program (SV13/SV22)

/Motion program (SV43).

Write to the Motion CPU

Write the system settings, servo data and Motion SFC program (SV13/SV22)

/Motion program (SV43).

PLC CPU

Motion CPU

Switch setting for all CPUs

Set RUN/STOP/RESET switch of PLC

CPU modules and RUN/STOP switch of

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

Reset PLC CPU module of CPU No.1

Set RUN/STOP/RESET switch of PLC

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

PLC CPU

Status check in all CPU modules

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

PLC CPU

Motion CPU

Check and correction of errors

An error is checked with the PC diagnosis function of GX Works2/

GX Developer and monitor of

MT Developer2 for correction.

Debug of each CPU module

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

Actual operation

Check in the automatic operation.

Refer to the help for operation of MT Developer2.

Refer to Section 3.1 for system settings.

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

END

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

Refer to Chapter 5 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller User's Manual" for installation of the Motion CPU operating system software.

2 - 11

2 MULTIPLE CPU SYSTEM

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

2.3.1 CPU shared memory

(1) Structure of CPU shared memory

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

The CPU shared memory consists of four areas.

• Self CPU operation information area

• System area

• User setting area

• Multiple CPU high speed transmission area

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

Write

Self CPU

Read

Other CPU

Write Read

CPU shared memory

Self CPU operation information area

(Note-2) (Note-2)

(0H) to

(1FFH)

(200H) to

(7FFH)

(800H)

0 to

511

512 to

2047

2048 to to

(FFFH)

(1000H) to

(270FH)

(2710H)

4095

4096 to

9999

10000 to

(5F0FH) to up to

24335

System area

User setting area

Unusable

Multiple CPU high speed transmission area

(Variable size in 0 to

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

Multiple CPU high speed bus

(Note-1)

(Note-3)

(Note-2)

(Note-3)

(Note-2)

(Note-2)

(Note-3)

: Communication allowed : Communication not allowed

REMARK

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

CPU in the Motion CPU.

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

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

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

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

2 - 12

2 MULTIPLE CPU SYSTEM

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

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

Table 2.3 Table of self CPU operation information areas

CPU shared memory address

Name Detail Description

(Note)

Corresponding special register

1H

2H

3H

4H

5H occurred availability

Diagnostic error

Time the diagnostic error

Error information identification code

11H to 1BH

Individual error information

1CH Empty

1DH Switch status

1EH Empty

1FH CPU operation status

Information availability flag

Diagnostic error number

Time the diagnostic error occurred

Error information identification code

6H to 10H Common error information Common error information

Individual error information

CPU switch status

CPU operation status

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

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

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

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

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

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

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

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

BCD code.

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

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

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

Cannot be used

Stores the CPU module switch status.

Cannot be used

Stores the CPU module's operation status.

SD0

SD1

SD2

SD3

SD4

SD5 to SD15

SD16 to SD26

SD200

SD203

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

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

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

CPU operation information area.

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

(b) System area

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

(c) User setting area

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

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

Refer to the Programming Manual of operating system software for

MULTR/MULTW instruction.

2 - 13

2 MULTIPLE CPU SYSTEM

(d) Multiple CPU high speed transmission area

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

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

U3E0\G10000 to

CPU No.1

CPU No.1

(Note-2)

Multiple CPU high speed transmission area

(Transmission)

U3E0\G

(Note-1)

U3E1\G10000 to

CPU No.2

Multiple CPU high speed transmission area

(Reception)

U3E1\G

(Note-1)

U3E2\G10000 to

CPU No.3

Multiple CPU high speed transmission area

(Reception)

U3E2\G

(Note-1)

U3E3\G10000 to

CPU No.4

Multiple CPU high speed transmission area

(Reception)

U3E3\G

(Note-1)

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

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

CPU No.2

CPU No.1

Multiple CPU high speed transmission area

(Reception)

CPU No.2

(Note-2)

Multiple CPU high speed transmission area

(Transmission)

CPU No.3

Multiple CPU high speed transmission area

(Reception)

CPU No.4

Multiple CPU high speed transmission area

(Reception)

CPU No.3

CPU No.1

Multiple CPU high speed transmission area

(Reception)

CPU No.2

Multiple CPU high speed transmission area

(Reception)

CPU No.3

(Note-2)

Multiple CPU high speed transmission area

(Transmission)

CPU No.4

Multiple CPU high speed transmission area

(Reception)

CPU No.4

CPU No.1

Multiple CPU high speed transmission area

(Reception)

CPU No.2

Multiple CPU high speed transmission area

(Reception)

CPU No.3

Multiple CPU high speed transmission area

(Reception)

CPU No.4

(Note-2)

Multiple CPU high speed transmission area

(Transmission)

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

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

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

Refer to Section "2.3.2 Multiple CPU high speed transmission"

for the size setting of A and B.

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

Reception area from the other CPU can be read only.

It is updated every 0.88ms.

2 - 14

2 MULTIPLE CPU SYSTEM

2.3.2 Multiple CPU high speed transmission

(1) Multiple CPU high speed transmission

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

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

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

High speed response between multiple CPUs is realized by synchronizing the

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

The following methods of data transmission exist between Multiple CPUs for

Multiple CPU high speed transmission.

• Use the Multiple CPU area device

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

• Automatic refresh method

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

CPU high speed transmission area".

CPU No.1 (PLC CPU)

SM400

Sequence program

MOV W0

U3E0\

G10000

U3E0\

G10010.1

(a) Multiple CPU area device method

CPU shared memory

(User setting area

(Note-1)

)

CPU No.2 (Motion CPU)

CPU shared memory

(User setting area

(Note-1)

)

3)

Motion SFC program

G0

U3E0\G10010.1

G1

U3E0\G10110.5

SM400

MOV W1

U3E0\

G10100

U3E0\

G10110.5

END

1)

U3E0\G10000

U3E0\G10010

CPU No.1

transmitting data

4)

U3E0\G10100

U3E0\G10110

U3E0\G10000

2)

U3E0\G10010

5)

U3E0\G10100

U3E0\G10110

CPU No.1

transmitting data

6)

F0

W0=U3E0\G10000

F1

W1=U3E0\G10100

Multiple CPU high speed transmission in 0.88ms cycle

1), 4) : Write data in the user setting area

(Note-1)

by the instruction that uses the Multiple CPU area device.

3), 6) : Read data from the user setting area

(Note-1)

by the instruction that uses the Multiple CPU area device.

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

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

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

2 - 15

2 MULTIPLE CPU SYSTEM

1) Access to Multiple CPU high speed transmission area a) SV13/SV22

• Description of Multiple CPU area device

Word device : U \ G

Bit device

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

First I/O number of CPU module

CPU No.

CPU No.1

First I/O number 3E0(H)

CPU No.2

3E1(H)

CPU No.3

3E2(H)

CPU No.4

3E3(H)

: U \ G .

Bit specification (0 to F : Hexadecimal)

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

First I/O number CPU module

CPU No.

CPU No.1

First I/O number 3E0(H)

CPU No.2

3E1(H)

CPU No.3

3E2(H)

CPU No.4

3E3(H)

(Example)

• Multiple CPU high speed transmission memory address of CPU

No.2: 10002

U3E1\G10002

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

U3E2\G10200.E

• Example of access in the program

<Motion SFC program>

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

U3E1\G10200L = K12345678

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

SET U3E2\G10301.C

<Servo program>

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

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

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

ABS-1

Axis

Speed

Cancel

1, U3E0\G10400

U3E0\G10402

U3E0\G10404.1

2 - 16

2 MULTIPLE CPU SYSTEM b) SV43

• Description of Multiple CPU area device

Word device : # Q \

CPU shared memory address (Decimal) (0 to up to 14335)

(Note)

CPU No.

CPU No.

Set value

CPU No.1

0

CPU No.2

1

CPU No.3

2

CPU No.4

3

Bit device : # Q \ .

Bit specification (0 to F : Hexadecimal)

CPU shared memory address (Decimal) (0 to up to 14335)

(Note)

CPU No.

CPU No.

Set value

CPU No.1

0

CPU No.2

1

CPU No.3

2

CPU No.4

3

(Note): Write the value that attracted 10000 from specified CPU

shared memory address.

(Accessible memory address : 10000 to 24335)

(Example)

• Multiple CPU high speed transmission memory address of CPU

No.2: 10002

#Q1\2

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

#Q2\200.E

• Example of access in the program

<Motion program>

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

#Q1\200:L = K12345678;

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

SET #Q2\301.C;

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

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

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

G32 X#Q0\400:L F#Q0\402:L SKIP #Q\404.1;

POINT

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

(0 to 4095).

2 - 17

2 MULTIPLE CPU SYSTEM

CPU No.1 (PLC CPU)

SM400

Sequence program

INC D0

Y0

SM400

INC D1

Y0

END

(b) Example of using automatic refresh method

Device memory

CPU shared memory

(Automatic refresh area

(Note-1)

)

CPU No.2 (Motion CPU)

CPU shared memory

(Automatic refresh area

(Note-1)

)

Device memory

D0

1)

Refresh at the timing of END processing

CPU No.1

transmitting data

2)

CPU No.1

transmitting data

3)

D2000

Refresh at the timing of Motion

CPU main cycle

Multiple CPU high speed transmission in 0.88ms cycle

Parameter

CPU No.1 to CPU No.2

Transmit D0

Parameter

CPU No.1 to CPU No.2

Receive D2000

1) Transmit the content of D0 to the automatic refresh area

(Note-1)

at the time of END processing by parameter setting.

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

3) Read the content of automatic refresh area

(Note-1)

at the time of Motion CPU main cycle and transmit it to D2000 by parameter setting.

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

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

(2) System configuration

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

The system configuration specification is shown in Table 2.4.

Table 2.4 System configuration to use Multiple CPU high speed transmission

Object Restrictions

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

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

CPU module

Q173D(S)CPU/Q172D(S)CPU and QnUD(E) (H)CPU are used for CPU

No.2 to CPU No.4

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

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

Table 2.4.

2 - 18

2 MULTIPLE CPU SYSTEM

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

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

1)

Multiple CPU high speed transmission area

[Variable in 0 to

14k[points]

(Note-1)

]

2)

CPU No.1 send area

3)

CPU No.2 send area

6)

User setting area

7)

Automatic refresh area

4)

CPU No.3 send area

5)

CPU No.4 send area

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

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

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

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

Table 2.5 Description of area

No. Name

1)

Multiple CPU high speed transmission area

2)

3)

4)

5)

6)

CPU No. n send area

(n=1 to 4)

7)

User setting area

Automatic refresh area

Description

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

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

CPU module that constitutes the Multiple CPU system.

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

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

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

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

• Can be accessed by the user program using the

Multiple CPU area device.

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

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

• Access by user program is disabled.

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

Size

Setting range Setting unit

0 to 14k

0 to 14k

0 to 14k

0 to 14k

1k

1k

2

2

2 - 19

2 MULTIPLE CPU SYSTEM

(4) Parameter setting

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

Table 2.6 Multiple CPU high speed transmission parameter list

Automatic refresh setting

Name Description CPU

Multiple CPU high speed transmission area setting

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

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

All CPUs

(a) Multiple CPU high speed transmission area setting

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

2 - 20

2 MULTIPLE CPU SYSTEM

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

Item Setting description Setting/display value Restriction

Consistency check

— CPU

CPU specific send range

Automatic refresh

User setting area

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

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

Default value assigned to each CPU is shown below.

Number of

CPUs

Default value of CPU specific send range [points]

CPU

No.1

CPU

No.2

CPU

No.3

CPU

No.4

2 7k 7k — —

Range: 0 to 14k [points]

Unit: 1k [point]

(Points: Word in units)

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

When constituted with two

CPUs: 14k [points]

When constituted with three

CPUs: 13k [points]

When constituted with four

CPUs: 12k [points]

Provided

4 3k 3k 3k 3k

Used when communicating with the other CPU using the automatic refresh.

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

Used when communicating with the other CPU using the program.

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

Range: 0 to 14336 [points]

Unit: 2 [points]

Do not exceed the number of points of the CPU specific send range.

Range: 0 to 14336 [points]

Unit: 2 [points]

— —

2 - 21

2 MULTIPLE CPU SYSTEM

POINT

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

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

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

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

Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22)

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

System area is displayed by selecting

"Advanced settings".

Item

Setting/display value

(Points: Word in units)

Restriction

CPU specific send range

Total

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

Range: 0 to 14k [points]

Unit: 1k [points]

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

When constituted with two

CPUs: 14k [points]

When constituted with three CPUs: 13k [points]

When constituted with four

CPUs: 12k [points]

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

Range: 1k/2k [points]

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

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

Range: 1 to 16k [points]

Unit: 1k [points]

Set the total of all CPUs to

16.0k points or lower.

Data size consistency check

Provided

Provided

2 - 22

2 MULTIPLE CPU SYSTEM

(b) Automatic refresh setting

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

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

Automatic refresh setting screen and setting range are shown below.

Table 2.8 Parameter setting items of automatic refresh setting

Item Setting description Setting range Restriction

Data size consistency check

CPU selection

Setting No.

Points

Start

Select the CPU module for editing of the

CPU specific send range setting.

CPU No.1 to No.4

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

The setting No. for transmission of each

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

1 to 32

Set the number of points for data communication.

Range: 2 to 14336 [points]

Unit: 2 [points]

• Setting which exceeds the number of points of the self CPU send area allocated to each CPU module (CPU specific send range) cannot be set.

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

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

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

CPU.

Usable device ( X, Y, M, B,

D, W, #, SM, SD)

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

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

• Device number cannot be duplicated.

Provided

None

2 - 23

2 MULTIPLE CPU SYSTEM

POINT

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

1) Operation example of automatic refresh a) 2 CPU modules (1 PLC CPU, 1 Motion CPU) use

• Parameter setting

The setting example of automatic refresh is shown below.

• CPU No.1 (PLC CPU) (GX Works2/GX Developer)

<Screen: GX Works2>

Set the device transmitted to CPU No.2.

• CPU No.2 (Motion CPU) (MT Developer2)

Set the device received from CPU No.1.

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

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

2 - 24

2 MULTIPLE CPU SYSTEM

M0

Internal relay

M2399

M2400

M3039

M3040

M3199

M3200

M3839

M3840

D0

Data register

D639

D640

• Operation example

The example of operating automatic refresh is shown below.

PLC CPU (CPU No.1)

Multiple CPU high speed transmission area

U3E0\G10000

Motion CPU (CPU No.2)

Multiple CPU high speed transmission area

U3E0\G10000 M0

Internal relay

CPU No.1

transmitting data

CPU No.1

receiving data

Automatic refresh area

EN

D p roc ess ing

EN

D p roc es sin g

U3E1\G10000

CPU No.2

receiving data

END

pro cess ing

Automatic refresh area

Transfer in 0.88ms

cycle

Transfer in 0.88ms

cycle

Automatic refresh area

U3E1\G10000

CPU No.2

transmitting data

Automatic refresh area

Main

cyc le

M ai n cy cle

Main c ycle

M2399

M2400

Axis status

M3039

M3040

M3199

M3200

M3839

Axis command signal

M3840

M8191

Data register

D0

Axis monitor device

D639

D640

Control change register

D703

D704

D8191

2 - 25

2 MULTIPLE CPU SYSTEM b) 3 CPU modules (1 PLC CPU, 2 Motion CPUs) use

• Parameter setting

The setting example of automatic refresh is shown below.

• CPU No.1 (PLC CPU) (GX Works2/GX Developer)

<Screen: GX Works2>

Set the device transmitted to CPU No.2 and No.3.

Set the device received from CPU No.2.

Set the device received from CPU No.3.

• CPU No.2 (Motion CPU) (MT Developer2)

Set the device received from CPU No.1.

Set the device received from CPU No.3.

Set "blank" not to refresh the device of CPU

No.3.

Set the device transmitted to CPU No.1 and No.3.

Set "blank" not to refresh the device of CPU

No.3.

2 - 26

2 MULTIPLE CPU SYSTEM

• CPU No.3 (Motion CPU) (MT Developer2)

Set the device received from CPU No.1.

Set the device received from CPU No.2.

Set "blank" not to refresh the device of CPU

No.2.

Set "blank" not to refresh the device of CPU

No.2.

Set the device transmitted to CPU No.1 and No.2.

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

2 - 27

2 MULTIPLE CPU SYSTEM

M0

Internal relay

M5999

M6000

M7055

M7056

M7071

M7072

M7839

M7840

M1999

M2000

M3055

M3056

M3071

M3072

M3839

M3840

D0

Data register

D639

D640

D757

D758

D999

D1000

D1639

D1640

D1757

D1758

• Operation example

The example of operating automatic refresh is shown below.

PLC CPU (CPU No.1)

Multiple CPU high speed transmission area

U3E0\G10000

CPU No.1

transmitting data

Multiple CPU high speed transmission area

U3E0\G10000

Motion CPU (CPU No.2)

CPU No.1

receiving data

M0

Internal relay

M1999

M2000

END proseccng

E

N

D

p ro g in

EN

D

p ro ce ss ing ce ro ss

p

D

N

E

p

D

N

E ce ss in g ce ro ss g in g in ss ce

p

D

N

E ro

EN

D pr oce ssi ng

Automatic refresh area

U3E1\G10000

CPU No.2

receiving data

Automatic refresh area

U3E2\G10000

CPU No.3

receiving data

Automatic refresh area

Transfer in 0.88ms

cycle

Transfer in 0.88ms

cycle

Transfer in 0.88ms

cycle

Automatic refresh area

U3E1\G10000

CPU No.2

transmitting data

Automatic refresh area

U3E2\G10000

CPU No.3

receiving data

Automatic refresh area

Ma in c ycle

M ai n cy cl e

M ai n cycl e

Main

cycl e

M3055

M3056

M3071

M3072

M3839

M3840

M8191

D8191

Monitor device

Command device

D0

Data register

Monitor device

D639

D640

Command device

D757

D758

EN

D pr oc es sin g

(Note-1) : Internal relay of CPU No.3;

When 4000 is allocated in the Motion device as offset.

(Note-2) : Data register of CPU No.3;

When 1000 is allocated in the Motion device as offset.

Transfer in 0.88ms

cycle

Motion CPU (CPU No.3)

Multiple CPU high speed transmission area

U3E0\G10000

CPU No.1

receiving data

Internal relay

(Note-1)

M0

M1999

M2000

Monitor device

Automatic refresh area

Main c ycle

M3055

M3056

M3071

M3072

Command device

M3839

M3840

U3E1\G10000

CPU No.2

receiving data

Automatic refresh area

U3E2\G10000

CPU No.3

transmitting data

M ain

cy cle

M ai n cy cl e

M ai n cy cl e

M8191

Data register

(Note-2)

D0

Monitor device

D639

D640

Command device

D757

D758

D8191

Automatic refresh area

2 - 28

2 MULTIPLE CPU SYSTEM

POINT

Set the following operation for automatic refresh setting using GX Works2/

GX Developer.

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

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

1)

2)

<Screen: GX Works2>

(c) Data size consistency check

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

3015) " will occur if they do not match.

(5) Precautions

(a) Assurance of data sent between CPUs

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

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

1) Data consistency for 32 bit data

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

• For word data

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

2) Data consistency for data exceeding 32 bits

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

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

2 - 29

2 MULTIPLE CPU SYSTEM

2.3.3 Multiple CPU high speed refresh function

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

Classification Item

Display

Setting No.

CPU

Description

Setting No. which executes high speed refresh is displayed.

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

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

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

1 to 128

(Up to 128)

CPU No. 1 to No.4

Restriction

User setting

Device setting

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

Usable device : D, W, #,

SD, M, X, Y, B, SM

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

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

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

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

Points

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

(Note) Refresh is not executed when not set.

Refresh cycle Operation cycle (fixed)

Range: 2 to 256 [points]

Unit: 2 points

(Note-1)

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

(Note-1) : Point in word unit.

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

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

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

2) Exchange the FIN waiting signal at high speed.

2 - 30

2 MULTIPLE CPU SYSTEM

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

(a) Parameter setting

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

• CPU No.1 (PLC CPU) (GX Works2/GX Developer

) <Screen: GX Works2>

Set the device transmitted to CPU No.2.

• CPU No.2 (Motion CPU) (MT Developer2)

Set the device received from CPU No.1.

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

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

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

2 - 31

2 MULTIPLE CPU SYSTEM

POINT

Set the following operation for automatic refresh setting using GX Works2/

GX Developer.

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

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

1)

2)

<Screen: GX Works2>

2 - 32

2 MULTIPLE CPU SYSTEM

M0

Internal relay

M2399

M2400

M3039

M3040

M3199

M3200

M3839

M3840

(b) Operation example

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

PLC CPU (CPU No.1) Motion CPU (CPU No.2)

Multiple CPU high speed transmission area

U3E0\G10000

Multiple CPU high speed transmission area

U3E0\G10000 M0

Internal relay

CPU No.1

transmitting data

CPU No.1

receiving data

Automatic refresh area

Transfer in 0.88ms

cycle

Automatic refresh area

M2399

M2400

M2495

M2496

EN

D pro ce ss ing

EN

D

pr oc es sin g

U3E1\G10000

CPU No.2

receiving data

U3E1\G10000

CPU No.2

transmitting data

Op era tion

cy

Ma

O pe ra tio cy n cle

M ai n cy cl e cle in c ycle

Axis status

M3039

M3040

M3199

M3200

M3295

M3296

Axis command signal

M3839

M3840

D0

Data register

D639

D640

END

pro ces sing

Automatic refresh area

Transfer in 0.88ms

cycle

Automatic refresh area

Opera tion c ycle

Opera tion c ycle

Opera tion c ycle

Main c ycle tion c ycle

M8191

Data register

D0

D2,D3

D12,D13

1 axis monitor device

D19

D20

D22,D23

D32,D33

2 axis monitor device

D39

D40

D42,D43

D52,D53

3 axis monitor device

D59

D60

D62,D63

D72, D73

4 axis monitor device

D79

D80

5 to 32 axis monitor device

D639

D640

Control change register

D703

D704

D8191

• The statuses of M2400 to M2495 for 1 axis to 4 axes among each axis status M2400 to M3039 in automatic refresh are updated to Multiple CPU high speed transmission area every operation cycle.

• The command signals of M3200 to M3295 for 1 axis to 4 axes among each axis command signals M3200 to M3839 in automatic refresh are updated from Multiple CPU high speed transmission area to positioning dedicated device every operation cycle.

• The real current value for 1 axis to 4 axes and M-code among each axis monitor devices D0 to D639 in automatic refresh are updated to Multiple

CPU high speed transmission area every operation cycle.

2 - 33

2 MULTIPLE CPU SYSTEM

2.3.4 Clock synchronization between Multiple CPU

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

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

(1) Setting of clock data

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

POINT

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

4 are set independently.

(2) Synchronization of clock data

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

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

(3) Information of clock

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

(4) Error

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

2 - 34

2 MULTIPLE CPU SYSTEM

2.3.5 Multiple CPU synchronous startup

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

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

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

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

POINT

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

Multiple CPU system without needing an interlock.

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

(1) Multiple CPU synchronous startup setting

To use the Multiple CPU synchronous startup function, check No.1 to No.4 of target CPU in Multiple CPU settings in system setting of MT Developer2. (Set it in the Multiple CPU setting of PLC parameter setting of GX Works2/

GX Developer for QnUD(E)(H)CPU.)

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

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

Multiple CPU system.

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

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

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

2 - 35

2 MULTIPLE CPU SYSTEM

2.3.6 Control instruction from PLC CPU to Motion CPU

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

Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22)

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

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

Instruction name

D(P).SFCS

D(P).SVST

D(P).CHGA

D(P).CHGV

D(P).CHGT

D(P).CHGT2

QDS

D(P).GINT

D(P).DDWR

D(P).DDRD

Description

SV13/SV22 SV43

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

Start request of the specified servo program

Current value change request of the specified axis

Start request of the Motion program

(Control program)

Start request of the specified Motion program (Axis designation program)

Home position return request of the specified axis

Speed change request of the specified axis

Torque control value change request of the specified axis

Torque control value individual change request of the specified axis

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

Unusable

Unusable

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

(Motion CPU)

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

(PLC CPU)

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

<Example>

PLC CPU

Start request

Motion CPU

Motion SFC

D(P). SFCS instruction

2 - 36

3 COMMON PARAMETERS

3. COMMON PARAMETERS

3.1 System Settings

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

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

(2) The following are set in the individual parameter setting.

• System basic setting

• SSCNET setting

QDS

• CPU name setting

• Built-in Ethernet port setting

• CPU setting

• Manual pulse generator/synchronous encoder setting

QDS

• Servo amplifier setting

• High-speed read setting

• Optional data monitor setting

• Mark detection setting

QDS

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

MT Developer2.

3

3 - 1

3 COMMON PARAMETERS

3.1.1 System data settings

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

Base setting

Multiple CPU setting

Motion slot setting

System basic setting

SSCNET setting

CPU name setting

Built-in

QDS

Ethernet port setting

Item

Main base

Extension base

No. of CPU

5/8/12 slots

2/3/4 modules

Setting range

Stage 1 to 7: Nothing/2/3/5/8/10/12 slots

Initial value

Main base: 8 slots

Stage 1 to 7:Nothing

2 modules

Error operation mode at the stop of CPU

Multiple CPU high speed transmission area setting

Automatic refresh setting

Stop/do not stop all CPUs upon an error in

CPU No. 1 to 4.

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

CPU specific send range

0 to 14k points

System area 1 to 2k points

Point : 2 to 14336 points

Start : Set target device for automatic refresh.

Multiple CPU synchronous startup setting

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

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

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

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

Varies depending on the number of CPUs.

1

None

Refer to Section 2.3.2.

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

Refer to Section 2.3.5.

Module arrangement

Individual module

Operation cycle

Operation at STOP to RUN

Within the main base and extension base slots

Varies depending on the module.

0.2ms

14.2ms

QDS

QD

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

/Default setting

M2000 is turned on by switching from STOP to RUN./M2000 is turned on by switching from

STOP to RUN and setting 1 in the set register.

None

Varies depending on the module.

Default setting

M2000 is turned on by switching from STOP to

RUN.

Remark

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

Set the total number of Multiple

CPUs including PLC CPU(s).

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

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

Set the operation cycle of motion control.

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

Error setting on servo warning

QDS

Error check

QDS

Forced stop

Latch range

(Note-1)

Communication type

Output error/Not output error

Perform battery check/Not battery check

Nothing /X(PX) (0 to 1FFF)/M (0 to 8191)

M (0 to 8191)/B (0 to 1FFF)/F (0 to 2047)/

D (0 to 8191)/W (0 to 1FFF)

Output error

Perform battery check

Nothing

None

SSCNET /H / SSCNET SSCNET /H

Label

Comment

Input format

IP address

IP address setting

Subnet mask pattern

Default router

IP address

Up to 10 characters

Up to 64 characters

Decimal/Hexadecimal

Decimal : 0.0.0.1 to 223.255.255.254

Hexadecimal : 00.00.00.01 to DF.FF.FF.FE

Decimal

Decimal

: 192.0.0.0 to 255.255.255.252

Hexadecimal : C0.00.00.01 to FF.FF.FF.FC

: 0.0.0.1 to 223.255.255.254

Hexadecimal : 00.00.00.01 to DF.FF.FF.FE

None

None

Decimal

192.168.3.39

None

None

Communication data code Binary code/ASCII code

Enable online change

(MC protocol)

Open setting

Enable online change/Disable online change Disable online change

Binary code

None

Set whether or not to output error to motion error history or self-diagnosis error on servo warning.

Set whether or not to check the battery of Motion CPU.

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

However, the forced stop input by

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

Set the latch range of device memory.

Set the communication type for every line.

Set the label (name application) and comment of Motion CPU.

Refer to Section 4.13.

3 - 2

3 COMMON PARAMETERS

CPU setting

Item Setting range

Self CPU installation position setting

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

Input setting

QDS

First input No.

Used/Unused

0000 to 0FF0 (in units 16 points)

High-speed read setting Used/Unused

Input signal detection direction

QDS

Valid on leading edge (Normal open)/

Valid on trailing edge (Normal close)

CPU built-in Manual pulse generator/incremental synchronous encoder (INC)

Used/Not used

None

Initial value

Unused

0000

Unused

Valid on leading edge

(Normal open)

Manual pulse generator/ incremental synchronous encoder setting

QDS

Input type setting

Differential output type/

Voltage output/open collector type

Not used

Differential output type

Amplifier setting

QDS

Amplifier setting

QD

High-speed reading data

Optional data monitor setting

QDS

Amplifier information

Amplifier model

<Communication type "SSCNET /H" use>

MR-J4(W)-B

<Communication type "SSCNET " use>

MR-J3(W)-B/MR-J3-B(S) Fully closed/

MR-J3(W)-B Liner/MR-J3(W)-B DD motor

Amplifier operation mode

<Communication type "SSCNET /H" use>

Standard/Linear/DD motor

Axis information

Axis No.

Axis label

Q173DSCPU: Up to 2 systems, 32 axes

Q172DSCPU: Up to 1 system, 16 axes

Up to 32 characters

Input filter setting

Allowable travel during

Power-Off

Amplifier type

Axis No.

Nothing/0.8ms/1.7ms/2.6ms/3.5ms

<Communication type "SSCNET " use>

0 to 8191 revolution

MR-J3(W)-B/MR-J3-B(S) Fully closed/

MR-J3(W)-B Liner/MR-J3(W)-B DD motor

Q173DCPU(-S1): Up to 2 systems, 32 axes

Q172DCPU(-S1): Up to 1 system, 8 axes

Axis name

(SV43)

Q173DCPU(-S1): X/Y/Z/U/V/W/A/B/CX/CY/

CZ/CU/CV/CW/CA/CB/DX/

DY/DZ/DU/DV/DW/DA/DB/

EX/EY/EZ/EU/EV/EW/EA/

EB

Q172DCPU(-S1): X/Y/Z/U/V/W/A/B/C

External signal input setting Amplifier input invalid/Amplifier input valid

Input filter setting Nothing/0.8ms/1.7ms/2.6ms/3.5ms

Allowable travel during

Power-Off

0 to 8191 revolution

Pulse/synchronous encoder

I/F module

PLC input module

MR-J4(W)-B

MR-J3(W)-B

Standard

None

None

3.5ms

10

MR-J3(W)-B

None

None

Amplifier input invalid

3.5ms

10

Either of Q172DEX and Q173DPX.

Q172DEX: Up to 2 points

Q173DPX: Up to 3 points

Either of one input module and built-in interface in Motion CPU

QDS

Input module: Up to 8 points

Built-in interface in Motion CPU (DI):

Up to 4 points

<Communication type "SSCNET /H" use>

Set 1 to 6 for each axis.

None

<Communication type "SSCNET " use>

Set 1 to 3 for each axis.

Q173DSCPU: Up to 32 axes

Q172DSCPU: Up to 16 axes

None

Optional data monitor setting

QD

Mark detection setting

QDS

Set 1 to 3 for each axis.

Q173DCPU(-S1): Up to 32 axes

Q172DCPU(-S1): Up to 8 axes

Set 1 to 32. None

Remark

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

Set the input signal of built-in interface in Motion CPU (DI)/mark detection input signal.

Set the manual pulse generator/ synchronous encoder of built-in interface in Motion CPU.

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

Refer to Section 4.3.

Refer to Section 4.10.

Refer to Section 4.14.

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

3 - 3

3 COMMON PARAMETERS

3.1.2 Common system parameters

(1) Parameters for operating the Multiple CPU system

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

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

PLC CPU parameters

PLC CPU parameters

Motion CPU parameters

Motion CPU parameters

Common system parameters

Common system parameters

Common system parameters

Common system parameters

Individual parameter

Individual parameter

Individual parameter

Individual parameter

Parameter write

QnUD

CPU

QnUD

CPU

Q173D(S)

CPU

Q172D(S)

CPU

3 - 4

3 COMMON PARAMETERS

(2) Parameters common throughout the Multiple CPU system

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

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

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

The parameters of the other CPUs via "Multiple CPU parameter utilization" can be used in MT Developer2/GX Works2/GX Developer. The common parameters must be set for each Motion CPU.

Name in Motion CPU

No. of CPU

Operating mode

Table of Parameters cross-Multiple CPU system

Type of parameter

Name in PLC CPU

No. of PLC

Verification item

Parameter number

0E00H

CPU specific send range

Operating mode

CPU specific send range

Number of CPUs

Operation mode for CPU stop error

Points of CPU specific send range

0E01H

Multiple

CPU setting

Multiple CPU high speed transmission area setting

System area

Automatic refresh setting

Multiple CPU synchronous startup setting

Multiple

CPU settings

Multiple CPU high speed transmission area setting

System area System area size

Automatic refresh setting

Points of automatic refresh

Multiple CPU synchronous startup setting

Synchronize Multiple CPU startup or not

Remark

E008H Refer to Section 2.3.2.

E008H

E009H

Refer to Section 2.3.2.

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

Refer to Section 2.3.2.

(Automatic refresh using

Multiple CPU high speed transmission area)

E00BH Refer to Section 2.3.5.

Motion slot setting 0406H

Verify module only set in the system settings in the

Motion CPU side.

Base setting

I/O assignment

Detailed settings Control PLC Control CPU No.

Basic setting Slots

Total number of bases

Base No.

Base Number of base slots

0401H

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

3 - 5

3 COMMON PARAMETERS

(a) Multiple CPU settings

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

MT Developer2 and in Multiple CPU Settings (PLC CPU) in GX Works2/

GX Developer.

• Number of CPU modules (Included CPU empty slots)

• Operation mode when a CPU stop error occurred

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

• Multiple CPU synchronous startup setting

Multiple CPU Settings (Motion CPU) in MT Developer2

Number of CPU modules

Error operation mode at the stop of CPU

Multiple CPU high speed transmission area setting

Multiple CPU synchronous startup setting

Multiple PLC Setting (PLC CPU setting) in GX Works2/GX Developer

<Screen: GX Works2>

Select tab "Multiple

CPU high speed transmission area setting"

Set "Use multiple

CPU high speed transmission".

3 - 6

3 COMMON PARAMETERS

(b) Motion slot settings

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

(Motion CPU) in MT Developer2. In GX Works2/GX Developer, set the slot for Motion CPU control as the CPU number of Motion CPU in I/O

Assignment Settings (PLC CPU).

Motion Slot Setting (Motion CPU) in MT Developer2

Control CPU No.

I/O Assignment Setting (PLC CPU setting) in GX Works2/GX Developer

<Screen: GX Works2>

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

3 - 7

3 COMMON PARAMETERS

(c) Base settings

Set the total number of bases and number of slots in each base identically between Base Settings (Motion CPU) in MT Developer2 and I/O Assignment

Settings (PLC CPU) in GX Works2/GX Developer. In GX Works2/

GX Developer, the detailed settings may be omitted by setting the base mode "Auto".

Base Settings (Motion CPU) in MT Developer2

Total number of bases and number of slots in each base

I/O Assignment Settings (PLC CPU setting) in GX Works2/GX Developer

<Screen: GX Works2>

(Note) : Only the Motion CPU

may be set without

setting the PLC CPU.

3 - 8

3 COMMON PARAMETERS

POINT

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

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

"10 slots" as number of extension bases for connection with GOT in the Basic

Setting (base setting) of MT Developer2.

<Example>

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

(Set "10 Slots/GOT(Bus connection)" as "2nd stage" of extension base in the base setting.)

3 - 9

3 COMMON PARAMETERS

3.1.3 Individual parameters

(1) System basic setting

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

(a) Operation cycle

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

The setting range is

0.2ms

QDS

/0.4ms/0.8ms/1.7ms/3.5ms/7.1ms/14.2ms

QD

/Default setting.

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

Operating system

SV13

SV22

SV43

Number of axes

Q173DSCPU/

Q172DSCPU

Q173DCPU(-S1)/

Q172DCPU(-S1)/

1 to 4 axes

5 to 10 axes

11 to 24 axes

1 to 6 axes

7 to 18 axes

25 to 32 axes

1 to 6 axes

7 to 16 axes

17 to 32 axes

19 to 32 axes

1 to 4 axes

5 to 12 axes

13 to 28 axes

29 to 32 axes

1 to 4 axes

5 to 12 axes

13 to 28 axes

29 to 32 axes

Operation cycle setting

0.2 ms

0.4 ms

0.8 ms

1.7 ms

0.4 ms

0.8 ms

1.7 ms

3.5 ms

0.4 ms

0.8 ms

1.7 ms

3.5 ms

Actual operation cycle

0.222...ms

0.444...ms

0.888...ms

1.777...ms

0.444...ms

0.888...ms

1.777...ms

3.555...ms

0.444...ms

0.888...ms

1.777...ms

3.555...ms

3 - 10

3 COMMON PARAMETERS

3) If the duration of motion operation has exceeded the operation cycle, the operation cycle over flag (M2054) turns ON. Even when "Automatic setting" is selected, the duration of motion operation may exceed the operation cycle depending on the control conditions. The actual duration of motion operation (unit:

μs) is stored in SD522, and the current setting of operation cycle (unit:

μs) is stored in SD523. Monitor these special registers and adjust the set value of operation cycle so that the actual duration of motion operation will not exceed the set operation cycle. (A

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

(b) Operation at STOP to RUN

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

(c) Forced stop

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

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

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

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

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

3 - 11

3 COMMON PARAMETERS

(d) Error setting on servo warning

QDS

Set whether or not to output error on servo warning.

Device No. Signal name

M2039

D8+20n

(Note-1)

#8008+20n

#8640+12n

#8641+12n

#8642+12n

(Note-1)

(Note-2)

(Note-2)

(Note-2)

Motion error detection flag

Servo error code

Servo amplifier display servo error code

Error Motion SFC program No.

Error type

Error program No.

#8643+12n

(Note-2)

Error block No./Motion SFC list/

Line No./Axis No.

#8644+12n

(Note-2)

Error code

#8645+12n

#8646+12n

(Note-2)

(Note-2)

Motion error history

Error occurrence time

(Year/month)

Error occurrence time

(Day/hour)

#8647+12n

#8648+12n

(Note-2)

(Note-2)

#8650+12n

#8651+12n

(Note-2)

(Note-2)

Error occurrence time

(Minute/second)

Error setting data information

Error setting data

Error setting on servo warning

Output error Not output error

SD1

SD2

SD3

SD4

SD5 to SD15

SD16 to SD26

Clock time for diagnostic error occurrence

Error information categories

Error common information

Error individual information

: Device is updated on servo warning.

: Device is not updated on servo warning.

(Note-1): "n" in the device No. indicates the numerical value (axis No.1 to 32 : n= 0 to 31) which correspond to axis No.

(Note-2): "n" in the device No. indicates the numerical value (n=0 to 7) which correspond to motion error history.

(e) Error check

QDS

Set whether or not to check the battery of Motion CPU. The default value is set to "Perform battery check". If "Not battery check" is set, a self-diagnosis error (error code: 1600) will not occur and the 7-segment LED "BT1" or

"BT2" is not also displayed. And, a detection of motion error detection flag

(M2039) and update of motion error history are restricted. However, the devices (SM51, SM52, SM58, SM59) for detection of battery level turn

ON/OFF.

3 - 12

3 COMMON PARAMETERS

POINT

(1) Use this setting to restrict the output of battery error in the incremental system configuration using ROM operation.

(2) The battery is necessary to use the absolute position system or latch data. Be sure to set "Perform battery check".

(f) Latch range

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

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

Latch clear (1)(2)).

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

(1)(2)).

(2) SSCNET setting

QDS

The following explains item to be set in SSCNET setting.

(a) Communication type

Set the communication type to communicate with the servo amplifier for every line.

• SSCNET /H : MR-J4(W)- B

3 - 13

3 COMMON PARAMETERS

(3) CPU setting

The following explains item to be set in CPU setting.

(a) Self CPU installation position setting

Set the installation position of the self CPU installed to the main base.

• Self CPU : Set the self CPU.

• Other CPU : Set the other CPU.

• CPU (Empty) : Set as empty slot.

(b) Input setting

QDS

Set to use the input signal.

There are two kinds of applications of the input and mark detection for the

Built-in interface in Motion CPU (DI).

The same signal can be used simultaneously by the input and mark detection.

Input setting

Used

Unused

Input signal

Usable as the real input device

(PX)

Unusable

Mark detection

Usable as the real input device (PX) or mark detection signal (DI)

Usable as the mark detection signal (DI)

1) First input No.

Set the first input No. of real input device (PX).

The case of "real input device (PX): units of 16 points" is as follows.

• Real input (PX): 4 points + Dummy (Unusable: Fixed at 0) 12 points

(Example) When the first input No. is set to 0(H).

• PX0 to PX3 (Real input), PX4 to PXF (Unusable: Fixed at 0)

2) High-speed read setting

Set to use the built-in interface in Motion CPU as input signal in the highspeed reading function.

• Used : Use built-in interface in Motion CPU (DI).

• Unused : Not use built-in interface in Motion CPU (DI).

Refer to Section 4.3 for the High-speed reading function.

3 - 14

3 COMMON PARAMETERS

(c) Input signal detection direction

QDS

Set the detection direction of mark detection signal when the built-in interface in Motion CPU (DI) is used in the mark detection function.

• Valid on leading edge : Mark detection is executed by turning OFF to ON the mark detection signal.

• Valid on trailing edge : Mark detection is executed by turning ON to OFF the mark detection signal.

Refer to Section 4.14 for the mark detection function.

(4) Individual module settings

The setting items for each module are shown below.

(a) Setting items for each Motion module

Module name

Item Setting range Initial value

Number of usable modules

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

Q172DLX

Servo external signals module

(Note-1)

DOG signal contact

QDS

direction

QD

Normal open/Normal close

(Set the DOG signal for 8 points.)

External signal setting

Set the number of axes for

QD

which the 8 axes input is used.

DOG signal detection Valid on leading edge/

Valid on trailing edge

Normal open

Unused

Valid on leading edge

4 2 4

I/O response time setting

0.4/0.6/1 ms

(DOG/CHANGE response time)

0.4 ms

Synchronous encoder

Used/Unused Unused setting

Synchronous encoder selection

(Note-2)

Q172DEX

Synchronous

QDS

Q171ENC-W8 (4194304

[PLS])/Q171ENC-W8

(262144[PLS])/ MR-HENC

(16384[PLS])

Q171ENC-W8

(4194304

[PLS]) encoder input module

Synchronous encoder

Q170ENC/MR-HENC Q170ENC selection

QD

I/O response time setting

High-speed read setting

0.4/0.6/1 ms

(TREN response time)

0.4 ms

Used/Unused Unused

Manual pulse generator setting

(SV13/SV43)

Used only

Q173DPX

Manual pulse generator

Manual pulse generator/

Synchronous encoder

Used/Unused setting (SV22) input module

I/O response time setting

0.4/0.6/1 ms

(TREN response time)

Used

P

Used

0.4 ms

6 (SV22)

1 (SV13)

4 (SV22)

1 (SV13/SV43)

4 (SV22)

1

4 (SV22)

1 (SV13/SV43)

3 (SV22)

High-speed read

Used/Unused Unused setting

(Note-1): Set the external signals used in each axis in the servo external signal parameter of servo data setting when using

Q173DSCPU/Q172DSCPU. (Refer to Section 3.4.)

QDS

(Note-2): Select the encoder resolution of Q171ENC-W8 from 4194304[PLS] or 262144[PLS] depending on the synchronous encoder selection setting.

3 - 15

3 COMMON PARAMETERS

(b) Setting items for each I/O module

Module name

QX /

QX -

QY

QY -

QH /

QX Y

Q6 AD /

Q6 AD-

Q6 DA /

Q6 DA-

QI60

Item Setting range Initial value

Number of usable modules

Q173DSCPU/

Q172DSCPU

Q173DCPU(-S1)/

Q172DCPU(-S1)

Input module

First I/O No.

0000 to 0FF0 (in units of 16 points)

0000

Point 16/32/48/64/128/256 16

High-speed read setting

I/O response time setting

(setting for high-speed input module in parentheses)

Used/Unused Unused

1/5/10/20/70 ms

(0.1/0.2/0.4/0.6/1 ms)

10 ms

(0.2 ms)

Output module

First I/O No.

0000 to 0FF0 (in units of 16 points)

0000

Point 16/32/48/64/128/256 16

First I/O No.

0000 to 0FF0 (in units of 16 points)

0000

Input/Outpu Point 16/32/48/64/128/256 16 t composite

I/O response time module setting

1/5/10/20/70 ms 10 ms

High-speed read setting

Analogue input module

(Note-1)

First I/O No.

Input range

Temperature drift compensation

Resolution mode

Used/Unused Unused

Total 256 points

0000 to 0FF0 (in units of 16 points)

0000 or less

(Note-2)

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

0 to 5V/-10 to 10V/0 to 10V/

User range

4 to 20mA

Used/None Used

Normal/High

Operation mode

Normal (A/D conversion)/Offset gain setting

Normal

Normal

(A/D conversion)

Analogue output module

(Note-1)

First I/O No.

Output range

0000 to 0FF0 (in units of 16 points)

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

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

HOLD/CLEAR function CLEAR only

Normal (Asynchronous)/

Output mode

Synchronous output

Resolution mode Normal/High

Operation mode

Normal (D/A conversion)/

Offset gain setting

0000

4 to 20mA

CLEAR

Normal

(Asynchronous)

Normal

Normal

(D/A conversion)

Interrupt module

I/O response time setting

0.1/0.2/0.4/0.6/1 ms 0.2 ms

Total 256 points or less

1 (SV13/SV22)

(Note-1): A maximum of 4 modules, analogue input modules and analogue output modules, can be used.

(Note-2): Number of I/O points is total of "Built-in interface in Motion CPU (Input 4 points) + I/O module".

QDS

3 - 16

3 COMMON PARAMETERS

(5) External signal input

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

(a) Q172DLX Servo external signals interface module use

• Q173DSCPU/Q172DSCPU

Select "Q172DLX signal" for every axis with signal type in the servo external signal parameter of servo data setting, and set the module No. and signal No.

• Q173DCPU(-S1)/Q172DSCPU(-S1)

Set the servo external signals interface module (Q172DLX) in the Motion

Slot Setting of the System Setting, and then set axis No. in the External signal setting of the Detailed Setting.

(b) Servo amplifier input device use (Servo amplifier use only)

• Q173DSCPU/Q172DSCPU

Set "Amplifier input" for every axis with signal type in the servo external signal parameter of servo data setting.

• Q173DCPU(-S1)/Q172DSCPU(-S1)

Set "Amplifier input valid" as the external signal input setting in the

"Amplifier setting" of system setting.

1) There are following restrictions to use.

• Stop signal (STOP) cannot be used.

• When the Q173DCPU(-S1)/Q172DSCPU(-S1) is used, count type home position return or speed/position switching control cannot be used depending on the operating system software's version. (Refer to

Section 1.5 for the software version that supports this function.)

• The variation for ON/OFF timing of the external input signal (DOG) of servo amplifier may occur according to the input filter setting value of external signal input setting.

Review the input filter setting value compatible with the applications.

Use the Q172DLX or built-in interface in Motion CPU (DI)

QDS

to execute the high-accuracy control.

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

External signals

Input device (CN3)

(Note)

Upper stroke limit (FLS)

Lower stroke limit (RLS)

DI1

DI2

Proximity dog (DOG) DI3

(Note): Refer to the "Servo Amplifier Instruction Manual" for pin configurations.

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

(c) Input device use

QDS

Select "Bit device" for every axis with signal type in the servo external signal parameter of servo data setting, and set the device No.

3 - 17

3 COMMON PARAMETERS

3.2 I/O Number Assignment

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

3.2.1 I/O number assignment of each module

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

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

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

Motion CPU.

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

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

PLC CPU/Motion CPU on the Multiple CPU system.

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

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

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

(d) Notation of I/O number

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

• I/O number is expressed in hexadecimal.

REMARK

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

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

2) The I/O numbers for the Multiple CPU system can be confirmed with the system monitor of GX Works2/GX Developer.

3 - 18

3 COMMON PARAMETERS

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

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

No. throughout all CPUs.

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

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

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

I/O assignment

0

Q03UD

CPU

1

Q173D(S)

CPU

2

QX41

3

QY41P

4

QX41

5

QY41P

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

(X0 to X1F) (Y20 to Y3F)

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

CPU No. 2 control module

CPU No. 1 control module

CPU No. 1 control module

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

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

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

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

Module name Type

Input module

Output module

Input/Output composite module

Input

Output

Composite I/O

Analogue input module Analogue input

Analogue output module Analogue output

Interrupt module (QI60) Interrupt

Number of points

Selected according to the module.

16 points

Remarks

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

Motion CPU (required).

• Type and number of points may be left unset.

Q173DPX 32 points

POINT

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

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

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

3 - 19

3 COMMON PARAMETERS

3.2.2 I/O number of each CPU modules

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

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

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

CPU module installation position

First I/O number

CPU slot

3E00H

Slot 0

3E10H

Slot 1

3E20H

Slot 2

3E30H

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

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

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

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

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

"D(P).DDRD" instruction.

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

"D(P).DDWR" instruction.

Refer to Section 2.3.6 or the "Q173D(S)CPU/Q172D(S)CPU Motion controller

(SV13/SV22) Programming Manual (Motion SFC)" for the Motion dedicated PLC instruction.

3 - 20

3 COMMON PARAMETERS

3.2.3 I/O number setting

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

Set the I/O No. of modules controlled with the Motion CPU module.

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

• Input module • Analogue input module

• Output module

• Input/Output composite module

• Analogue output module

Select "I/O Module" in the Motion slot setting, and set I/O No. in "First I/O No." of the

Details setting.

Refer to the help of MT Developer2 for details.

Set "First I/O No."

POINT

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

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

3 - 21

3 COMMON PARAMETERS

3.3 Servo Parameters

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

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

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

Refer to the help for handling of MR Configurator .

Servo amplifier Instruction Manual list is shown below.

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

MR-J3- B Safety

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

Instruction Manual (SH-030056)

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

Manual (SH-030084)

POINTS

When the parameter that should turn on servo amplifier power supply again is changed, make the Multiple CPU system reset or power supply OFF to ON. And, once turn OFF the servo amplifier's power supply and then turn ON it again.

3 - 22

3 COMMON PARAMETERS

3.4 Servo External Signal Parameters

QDS

This parameter is used to the servo external signal (Upper stroke limit (FLS), Lower stroke limit (RLS), Stop signal (STOP), Proximity dog/Speed-position switching

(DOG/CHANGE)) used for each axis.

The setting items for servo external signal are shown below.

Servo external signal parameter list

Item

FLS signal

Signal type

Q172DLX module No.

Q172DLX signal No.

Invalid

Setting range

Q172DLX signal Amplifier input

0: Invalid 1: Q172DLX signal 2: Amplifier input

1 to 4

1 to 8

RLS signal

0: Normal open

Contact —

1: Normal close

Signal type

Q172DLX module No.

0: Invalid

0: Normal open

1: Normal close

1: Q172DLX signal 2: Amplifier input

1 to 4 —

Q172DLX signal No. — 1 to 8 —

DI signal

Bit device

0: Normal open

1: Normal close

Default value

4: Bit device 0: Invalid

— —

— —

4: Bit device 0: Invalid

— —

— —

0: Normal open

Contact —

1: Normal close

Signal type

Q172DLX module No.

0: Invalid

1: Q172DLX signal

1 to 4

STOP signal

Q172DLX signal No. — 1 to 8

DOG signal

0: Normal open

1: Normal close

— —

0: Normal open

Contact —

1: Normal close

0: Invalid 1: Q172DLX signal 2: Amplifier input Signal type

Q172DLX module No./

DI signal name

Q172DLX signal No.

1 to 4

1 to 8

3: DI signal

1 to 4

0: Normal open

1: Normal close

4: Bit device 0: Invalid

— —

0: Normal open

1: Normal close

4: Bit device 0: Invalid

Contact —

0: Normal open

1: Normal close

(Note-2)

0: Normal open

1: Normal close

(Note-1): Select "Q172DLX" in the motion slot setting of system setting, and set the contact in the detail setting.

(Note-2): Set the contact in the "CPU setting" of system setting.

(1) Signal type

Set the signal type to use as the servo external signal.

(a) Invalid

The servo external signal is invalid.

(b) Q172DLX signal

The signal (FLS/RLS/STOP/DOG) of Q172DLX is used as the external signal.

3 - 23

3 COMMON PARAMETERS

(c) Amplifier input

The input signal of servo amplifier is used as the following servo external signals.

Input signal

DI1

DI2

DI3

Servo external signal

Upper stroke limit (FLS)

Lower stroke limit (RLS)

Proximity dog (DOG)

(d) DI signal

The built-in interface in Motion CPU (DI1 to DI4) is used as the proximity dog/speed-position switching (DOG/CHANGE)).

Set the DOG signal only.

(e) Bit device

The optional bit device is used as the servo external signal.

(2) Q172DLX module No.

Set the module No. of Q172DLX.

From the Q172DLX installed in the smallest number is set to No.1 to 4.

Set this item when only "Q172DLX signal" is selected with the signal type.

Module No. setting range

1 to 4

(3) Q172DLX signal No.

Set the signal No. of servo external signal.

Set this item when only "Q172DLX signal" is selected with the signal type.

Signal No. setting range

1 to 8

(4) Device

Usable devices are shown below.

Item

Input relay

Output relay

Internal relay

Link relay

Annunciator

Special relay

Multiple CPU area device

Device No. setting range

X0 to X1FFF

(Note-1)

Y0 to Y1FFF

M0 to M8191

B0 to B1FFF

F0 to F2047

SM0 to SM1999

U \G10000.0 to U \G (10000+p-1).F

(Note-2)

(Note-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.)

(Note-2): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU.

Refer to Chapter 2 for the user setting area points of the Multiple CPU high speed transmission area.

3 - 24

3 COMMON PARAMETERS

(5) Contact

Set the signal contact used as the servo external signal.

For Q172DLX signal, select "Q172DLX" in the motion slot setting of system setting, and set this item in the details setting.

For DI signal, set this item in the "CPU setting" of system setting

(a) Normal open

• FLS signal ON : The upper stroke limit is detected, and "operation of direction that the feed current value increase" cannot be executed.

• RLS signal ON : The lower stroke limit is detected, and "operation of direction that the feed current value decrease" cannot be executed.

• STOP signal ON : The stop signal is detected, and an operation stops.

• DOG signal ON : The proximity dog/speed-position switching signal is detected, and the home position return operation and speed-position control switching is executed.

(b) Normal close

• FLS signal OFF : The upper stroke limit is detected, and "operation of direction that the feed current value increase" cannot be executed.

• RLS signal OFF : The lower stroke limit is detected, and "operation of direction that the feed current value decrease" cannot be executed.

• STOP signal OFF : The stop signal is detected, and an operation stops.

• DOG signal OFF : The proximity dog/speed-position switching signal is detected, and the home position return operation and speed-position control switching is executed.

3 - 25

3 COMMON PARAMETERS

MEMO

3 - 26

4 AUXILIARY AND APPLIED FUNCTIONS

4. AUXILIARY AND APPLIED FUNCTIONS

4.1 Limit Switch Output Function

4.1.1 Operations

This function is used to output the ON/OFF signal corresponding to the data range of the watch data set per output device.

Motion control data or optional word data can be used as watch data. (Refer to Section

"4.1.2 Limit output setting data" for details.) A maximum output device for 32 points can be set regardless of the number of axes.

(1) ON output to an output device is made while the watch data value is in the ON output region set with (ON Value) and (OFF Value) in this function.

(a) (ON Value), (OFF Value) and watch data value are handled as signed data.

ON output region where an ON output is made to the output device is governed by the magnitude relationship between (ON Value) and (OFF

Value) as indicated below.

Relationship between (ON Value) and

(OFF Value)

(ON Value) < (OFF Value)

ON output region

(ON Value) > (OFF Value)

(ON Value) = (OFF Value)

(ON Value)

≤ (watch data value) < (OFF Value)

(ON Value)

≤ (watch data value)

(Watch data value) < (OFF Value)

Output OFF in whole region

1) (ON Value) < (OFF Value)

ON

Output device

ON section setting

Watch data value

OFF

OFF Value

ON Value

(ON Value) (Watch data value) (OFF Value)

OFF

2) (ON Value) > (OFF Value)

ON

Output device

ON section setting

ON Value

OFF Value

Watch data value

(Watch data value) (OFF Value)

OFF

ON

(ON Value) (Watch data value)

4

4 - 1

4 AUXILIARY AND APPLIED FUNCTIONS

3) (ON Value) = (OFF Value)

Output device

ON section setting

Watch data value

OFF in whole region

ON Value OFF Value

(b) The limit switch outputs are controlled based on each watch data during the

PCPU ready status (SM500: ON) by the PLC ready flag (M2000) from OFF to

ON.

When the PCPU ready flag (SM500) turns OFF by turning the PLC ready flag

(M2000) from ON to OFF, all points turn OFF. When (ON Value) and (OFF

Value) are specified with word devices, the word device contents are input to the internal area when the PLC ready flag (M2000) turns from OFF to ON.

After that, the word device contents are input per motion operation cycle, and limit switch outputs are controlled.

(c) Multiple outputs (Up to 32 points) can be also set to one watch data. In each setting, the output device may be the same.

If multiple ON section settings have been made to the same output device, the logical add of the output results in the regions is output.

ON ON

Output device

OFF

OFF

ON section setting No.2

OFF Value

ON Value

ON section setting No.1

OFF Value

ON Value

Watch data value

(2) Output enable/disable bit can be set and executed enable/disable of the limit switch outputs point-by-point.

Limit switch output control is executed when the output enable/disable bit is ON, and the output is OFF when it is OFF.

If there is no setting, the outputs are always enabled.

(3) Forced output bit can be set and turned the forcibly output of the limit switch outputs point-by-point ON.

The output is ON when the forced output bit is ON. Priority is given to control of this setting over off (disable) of the "output enable/disable bit".

If there is no setting, no forced outputs are not always made.

4 - 2

4 AUXILIARY AND APPLIED FUNCTIONS

(4) When the multiple watch data, ON region, output enable/disable bit and forced output bit are set to the same output device, the logical add of output results of the settings is output.

SM500

ON

1) Without output enable/disable bit/forced output settings

Output device

OFF Value

ON section setting

ON Value

Watch data value

2) With output enable/disable bit/forced output settings

Output device

Output OFF

Enable/disable bit

Output OFF

Forced output bit

Output control based on

ON Value and OFF Value

Output control based on

ON Value and OFF Value

Output ON

(Forced output)

Output OFF

Output OFF

Output ON

(Forced output)

4 - 3

4 AUXILIARY AND APPLIED FUNCTIONS

4.1.2 Limit output setting data

Limit output data list are shown below.

Up to 32 points of output devices can be set.

(The following items of No.1 to No.5 are set together as one point.)

No. Item

1 Output device

3

4

Fetch cycle

ON section setting

Motion control data/ word device (D, W, #,

U \G)

(16-bit integer type/32-bit integer type/

64-bit floating-point type)

ON Value Word device (D, W, #, U \G)/constant (K, H)

OFF Value Word device (D, W, #, U \G)/constant (K, H)

Output enable/disable bit

Bit device (X, Y, M, B, F, SM, U \G)/ none

(default)

Operation cycle

Refresh cycle

Operation cycle

5 Forced output bit

Bit device (X, Y, M, B, F, SM, U \G)/ none

(default)

Remarks

ON : Enable

OFF : Disable

None : Always enable

None : No forced outputs are always made

(OFF status)

(1) Output device

(a) Set the bit device which outputs the ON/OFF signal toward the preset watch data.

(b) As the output device, the following devices can be used.

Item

Input relay

(Note-1)

Output relay

(Note-2)

Internal relay

(Note-3)

Device No. setting range

X0 to X1FFF

(Note-4)

Y0 to Y1FFF

M0 to M8191

Link relay B0 to B1FFF

Multiple CPU area device

U \G10000.0 to U \G (10000+p-1).F

(Note-5), (Note-6)

(Note-1): PX is write-disabled and it cannot be used as the output device.

For X, only the free No. of the input card non-loading can be used.

(Note-2): The real output device range (PY) is also included.

(Note-3): M2001 to M2032 cannot be used to the output device.

Be careful because it affect a positioning operation, when the positioning dedicated devices are set.

(Note-4): 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-5): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU.

(Note-6): Only device of the self CPU can be used.

4 - 4

4 AUXILIARY AND APPLIED FUNCTIONS

(2) Watch data

(a) This data is used to perform the limit switch output function. This data is comparison data to output the ON/OFF signal. The output device is

ON/OFF-controlled according to the ON section setting.

(b) As the watch data, motion control data or optional word device data can be used.

1) Motion control data a) SV13/SV22

Feed current value

Real current value

Deviation counter value

Motor current

Motor speed

(Note-1)

Cam axis 1 revolution current value

Feed current value (Virtual)

Current value after differential gear (Virtual)

Encoder current value after differential gear (Virtual)

Encoder current value type

Axis No. setting range

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

Remarks

Position command

PLS

32-bit integer type

0.1%

16-bit integer type

0.1r/min

1 to 32 1 to 16 1 to 32

PLS

32-bit integer type

1 to 12

1 to 8

Valid in

SV22 virtual mode only

Valid in

SV22 only

(Note-1): The motor speed ( 0.1[mm/s]) is stored at linear servo use. b) SV43

Machine value

Real machine value

Deviation counter value

Motor current

Motor speed

(Note-1)

Current value type

Axis No. setting range

Remarks

Q173DCPU(-S1) Q172DCPU(-S1)

Position command

PLS

32-bit integer type

0.1%

16-bit integer type

0.1r/min

Position command

32-bit integer type

1 to 32 1 to 8 —

(Note-1): The motor speed ( 0.1[mm/s]) is stored at linear servo use.

4 - 5

4 AUXILIARY AND APPLIED FUNCTIONS

2) Word device data

Item

Data register

Link register

Motion register

Multiple CPU area device

Device No. setting range

D0 to D8191

W0 to W1FFF

#0 to #9215

U \G10000 to U \G (10000+p-1)

(Note-1)

(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU.

3) The following data type is set as the data type to be compared.

Data type

16-bit integer type

32-bit integer type

64-bit floating-point type

Remarks

Set the device No. as an even No.

(3) ON section setting

(a) The data range which makes the output device turn ON/OFF toward the watch data.

(b) The following devices can be used as the ON Value and OFF Value of the data range.

The data type of device/constant to be set is the same as the type of watch data.

Item Device No. setting range

Data register

Link register

Motion register

Multiple CPU area device

D0 to D8191

W0 to W1FFF

#0 to #9215

U \G10000 to U \G (10000+p-1)

(Note-1)

Constant Hn/Kn

(Note-1) : "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU.

(4) Output enable/disable bit

(a) Set the status of output enable/disable bit when the limit switch output is forbidden during operation.

The following control is exercised.

Output enable/disable bit Control description

Without setting

(always enable)

With setting

Limit switch output is turned ON/OFF based on the

ON section setting (ON Value, OFF Value).

ON (enable)

OFF (disable) Limit switch output is turned OFF.

4 - 6

4 AUXILIARY AND APPLIED FUNCTIONS

(b) Usable devices

Item

Input relay

(Note-1)

Output relay

(Note-3)

Internal relay

Link relay

Annunciator

Special relay

Multiple CPU area device

Device No. setting range

X0 to X1FFF

(Note-2)

Y0 to Y1FFF

M0 to M8191

B0 to B1FFF

F0 to F2047

SM0 to SM1999

U \G10000.0 to U \G (10000+p-1).F

(Note-4)

(Note-1): The real input range(PX) is included.

(Note-2): 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-3): The real input range(PY) is included.

(Note-4): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU.

(5) Forced output bit

(a) Set the "forced output bit" when you want to forcibly provide the limit switch outputs during operation.

The following control is exercised.

Output enable/disable bit

Without setting

With setting

OFF

ON

Control description

Limit switch outputs are turned ON/OFF on the basis of the "output enable/disable bit" and ON region section (ON Value, OFF Value).

Limit switch outputs are turned ON.

(b) Usable devices

Item

Input relay

Output relay

Internal relay

Link relay

Annunciator

Special relay

Multiple CPU area device

Device No. setting range

X0 to X1FFF

(Note-1)

Y0 to Y1FFF

M0 to M8191

B0 to B1FFF

F0 to F2047

SM0 to SM1999

U \G10000.0 to U \G (10000+p-1).F

(Note-2)

(Note-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.

POINT

Refer to Chapter 2 for the user setting area points of the Multiple CPU high speed transmission area.

4 - 7

4 AUXILIARY AND APPLIED FUNCTIONS

4.2 Absolute Position System

The positioning control for absolute position system can be performed using the absolute-position-compatible servomotors and servo amplifiers.

If the machine position is set at the system starting, home position return is not necessary because the absolute position is detected at the power on.

The machine position is set with the home position return using the Motion SFC program (SV13/SV22)/Motion program (SV43) or MT Developer2.

(1) Conditions of the absolute position system start

Perform a home position return after machine adjustment at the absolute position system start.

(2) In the absolute positioning system, the absolute position may be lost in the following cases:

Set the absolute position with a home position return.

(a) The battery unit is removed or replaced.

(b) The battery error of the servo amplifier occurs. (It is detected at the servo amplifier power on).

(c) The machine system is disturbed by a shock.

(d) The cable between servo amplifier and encoder is removed, or the servo amplifier or encoder is replaced.

(3) The current value history can be monitored using of the "System setting allowable travel during power off" or "Monitor" using a MT Developer2.

(Refer to the help of MT Developer2 or details.)

CAUTION

After removing or replacing the battery unit, correctly install the new unit and set the absolute position.

After a servo amplifier battery error occurs, eliminate the cause of the error and ensure operation is safe before setting the absolute position.

After the mechanical system is disturbed by a shock, make the necessary checks and repairs, and ensure operation is safe before setting the absolute position.

4 - 8

4 AUXILIARY AND APPLIED FUNCTIONS

POINT

(1) The address setting range of absolute position system is -2147483648 to

2147483647.

It is not possible to restore position commands that exceed this limit, or current values after a power interruption.

Correspond by the [degree] setting for an infinite feed operation.

(2) Even when the current value address is changed by a current value change instruction, the restored data for the current value after a power interruption is the value based on the status prior to execution of the current value change instruction.

(3) When home position return has not been completed (home position return request is ON), restoration of the current value after a power interruption is not possible.

4 - 9

4 AUXILIARY AND APPLIED FUNCTIONS

4.2.1 Current value control

The current value when using the ABS encoder is controlled by following functions.

(1) The validity of an encoder data during operation is checked.

(a) Checks that the amount of change of the encoder in a 3.5[ms] is within 180 degrees at the motor axis. (An error is displayed at the abnormal.)

(b) Checks that adjustment of the encoder data and feed-back positions controlled with the servo amplifier. (An error is displayed at the abnormal.)

(2) The following values can be monitored by the current value history monitor of

MT Developer2.

Monitor conditions

Multiple CPU system power ON/OFF

Home position return completion

Monitor value

Encoder current value,

Servo command value,

Monitor current value

(a) Current value history monitor

Month/day/hour/minute

The time such as at the completion of home position return and servo amplifier power supply ON/OFF is indicated.

(b) Encoder current value

When using the servo amplifier, the multiple revolution data and within-onerevolution data read from the encoder is indicated.

(Note) : For the encoder current value in the home position data area, the encoder current value when the motor is within the in-position range at the completion of home position return is displayed (not encoder value of home position).

(c) Servo command value

The command value issued to the servo amplifier is indicated.

(d) Monitor current value

The current value controlled in the Motion CPU is indicated.

(Note) : A value near the feed current value is indicated. However, because the monitor current value and feed current value are different data, it is not abnormal even if a different value is indicated.

(e) Alarms

When an error for current value restoration occurs at the servo amplifier power on, an error code is indicated.

(3) By setting of the "Allowable travel during power off", if the encoder data changes exceeding the setting range during power-off, it checks at servo amplifier poweron. (An error is displayed at the abnormal.)

"Allowable travel during power off" cannot be set when using the linear servo motor and direct drive motor.

4 - 10

4 AUXILIARY AND APPLIED FUNCTIONS

(4) The current value history of the past 10 times is indicated at the servo amplifier's power ON/OFF.

Ver.!

Ver.!

: Refer to Section 1.5 for the software version that supports this function.

4 - 11

4 AUXILIARY AND APPLIED FUNCTIONS

4.3 High-Speed Reading of Specified Data

This function is used to store the specified positioning data in the specified device (D,

W, U \G). The signal from input module controlled in the Motion CPU is used as a trigger.

It can be set in the system setting of MT Developer2.

(1) Positioning data that can be set

(a) SV13/SV22

Remarks Setting data

Feed current value

Real current value

Deviation counter value

Word No.

2

2

2

Unit

10

-1

[µm], 10

-5

[inch], 10

-5

[degree], [PLS]

10

-1

[µm], 10

-5

[inch], 10

-5

[degree], [PLS]

[PLS]

Torque limit value

Motor current

Motor speed

(Note-1)

M-code (Virtual)

Servo command value

Feed current value (Virtual)

Encoder current value

(Note-2)

Current value after differential gear

(Virtual)

Encoder current value after differential gear

Cam axis 1 revolution current value

Execute cam No.

Execute stroke amount

Optional address (Fixed to 4 bytes)

2

1

2

2

1

1

[%]

[%]

2 [r/min]

2 [PLS]

2 [PLS]

2 [PLS]

1 —

Valid in

2 [PLS]

SV22 virtual mode only

[PLS]

10

-1

[µm], 10

-5

[inch] [PLS]

(Note-1): The motor speed (unit [mm/s]) is stored at linear servo use.

(Note-2): It is also valid in real mode for the version (Refer to Section 1.5) that supports "incremental synchronous encoder current value in real mode".

(b) SV43

Setting data

Machine value

Real machine value

Deviation counter value

Word No.

2

2

2

10

10

-4

-4

[mm], 10

[mm], 10

Unit

-5

[inch], 10

-5

[degree]

-5

[inch], 10

-5

[degree]

[PLS]

Remarks

Torque limit value

Motor current

Motor speed

(Note-1)

Servo command value

Optional address (Fixed to 4 bytes)

1 [%]

1 [%]

2 [r/min]

2

2

[PLS]

(Note-1): The motor speed (unit [mm/s]) is stored at linear servo use.

POINT

If the wrong address is set in the absolute address, the WDT error will occur.

Explain to our sales representative before setting the absolute address.

4 - 12

4 AUXILIARY AND APPLIED FUNCTIONS

(2) Modules and signals to be used

Input module

Q172DEX

Q173DPX

Built-in interface in Motion CPU

QDS

PLC input module

(Note-1)

Signal

TREN

PX device

(Note-2)

Read timing

0.8[ms]

Number of settable points

2

3

4

8

(Note-1): Only one PLC input module can be used.

(Note-2): Either of the input signal of built-in interface in Motion CPU (DI) and PLC input module can be used.

(3) Usable devices

Word devices

D

W

U \G

Usable devices

0 to 8191

0 to 1FFF

10000 to (10000 + p-1)

(Note-1), (Note-2)

(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU.

(Note-2): Only device of the self CPU can be used.

POINT

(1) Set an even numbered device No. in the two word data.

(2) Refer to Chapter 2 for the user setting area points of the Multiple CPU high speed transmission area.

4 - 13

4 AUXILIARY AND APPLIED FUNCTIONS

4.4 ROM Operation Function

This function is used to operate based on the data in the FLASH ROM built-in Motion

CPU module that the user programs and parameters have been stored.

4.4.1 Specifications of 7-segment LED/switches

2)

Q172DCPU

1

DE

F

0 123

AB

8

79

DE

F

0 123

AB

8

79

STOP RUN

2

SW

CAUTION

EMI

1)

3)

No. Items

1) 7-segment LED

2) Rotary switch 1 (SW1)

3) Rotary switch 2 (SW2)

Functions

• Indicate the operation state and error information.

• Set the operation mode (Normal mode, Installation mode and mode operated by ROM, etc.)

• Each switch setting is 0 to F.

FRONT

BAT

(1) Operation mode

"Operation mode" of the Motion CPU is set by the rotary switch setting of Motion

CPU module at the power supply ON of the Multiple CPU system.

The rotary switch setting, operation mode and operation mode overview are shown below.

(a) Rotary switch setting and operation mode

Rotary switch setting

(Note-1)

SW1 SW2

Operation mode

0

0

A

0

Any setting

Any setting (Except C)

0

6

8

C

Installation mode

Mode operated by RAM

Mode operated by ROM

Ethernet IP address display mode

SRAM clear

(Note-2)

(Note-1): Do not set except the above setting.

(Note-2): The programs, parameters, motion devices (#), devices of latch data and absolute position data of SRAM built-in Motion CPU module are cleared.

4 - 14

4 AUXILIARY AND APPLIED FUNCTIONS

Mode operated by RAM

Mode operated by ROM

(b) Operation mode overview

• " . " remains flashing in the first digit of 7-segment LED.

• It operates based on the user programs and parameters stored in the SRAM built-in Motion CPU module.

• The user programs and parameters for the ROM operation can be written to the FLASH ROM built-in Motion CPU module.

• " . " remains flashing in the first digit and steady " . " display in the second digit of 7-segment LED.

• Operation starts after the user programs and parameters stored in the FLASH

ROM built-in Motion CPU module are read to the SRAM built-in Motion CPU module at power supply on or reset of the Multiple CPU system.

If the ROM writing is not executed, even if the user programs and parameters are changed using the MT Developer2 during mode operated by ROM, operation starts with the contents of the FLASH ROM built-in Motion CPU module at next power supply on or reset.

Also, If the ROM writing is not executed, even if the auto tuning data are reflected on the servo parameter of Motion CPU by operation in the autotuning setting, operation starts with the contents of the FLASH ROM built-in

Motion CPU module at next power supply on or reset.

POINT

(1) Be sure to turn OFF the Multiple system's power supply before the rotary switch setting change.

(2) It is recommended to shift to the mode operated by ROM after the programs and parameters are fixed. The appearance of the programs and parameters can be evaded even if the battery decrease. (The ROM writing cannot be executed for the current position of the servo motor in the absolute position system, home position and latch device. Back up them beforehand using

MT Developer2.)

4 - 15

4 AUXILIARY AND APPLIED FUNCTIONS

4.4.2 Outline of ROM operation

When the ROM writing is requested to the Motion CPU module using the

MT Developer2, the programs and parameters stored in the SRAM built-in Motion CPU module are batch-written to the FLASH ROM, after the data of FLASH ROM built-in

Motion CPU are erased.

When the Motion CPU starts in the "Mode operated by ROM", a normal operation starts, after the data written in the FLASH ROM is read to the SRAM.

The programs and parameters created by the MT Developer2 must be written beforehand to the FLASH ROM built-in Motion CPU module at the ROM operation.

The following methods for ROM writing are shown below.

• Write the programs and parameters written in the SRAM built-in Motion CPU module to the FLASH ROM built-in Motion CPU module.

• Write the programs and parameters of the MT Developer2 to the SRAM built-in

Motion CPU module, and then write them to the FLASH ROM built-in Motion CPU module.

The data batch written to the FLASH ROM built-in Motion CPU module by ROM writing are shown below. Backup data except the followings (current position of servomotor in absolute position system, home position and latch device.) cannot be written to the

FLASH ROM.

SV13 SV22 SV43

System setting data

Each parameter for servo control

Servo program

Motion SFC parameter

Motion SFC program

Mechanical system program

Motion parameter

Motion program

POINT

(1) "Backup • load" operation of the MT Developer2 targets the SRAM built-in

Motion CPU module. (The FLASH ROM built-in Motion CPU module is not targeted.)

Set to "Mode operated by ROM" after ROM writing to execute the ROM operation after "Backup • load" operation at the Motion CPU module exchange.

(2) The FLASH ROM built-in Motion CPU module serves as a life in 100000 times writing. Make the ROM writing within 100000 times. If it passes over a life,

"writing error" will occur, replace the Motion CPU module.

(3) The online change of Motion SFC program executes the Motion SFC program performed the online change from the next scanning at the mode operated by

ROM. Operation starts with the contents of the Motion SFC program written in the FLASH ROM built-in Motion CPU module at next power supply on or reset.

(4) It needs to meet the following conditions for the ROM writing.

(a) PLC ready flag (M2000) OFF

(b) Not installation mode

4 - 16

4 AUXILIARY AND APPLIED FUNCTIONS

(1) Write the programs and parameters written in the SRAM built-in Motion CPU module to the FLASH ROM built-in Motion CPU module for the ROM operation.

<ROM writing>

Mode operated by RAM/Mode operated by ROM

Motion CPU module

SRAM

Be sure to write the programs and parameters beforehand

to the SRAM built-in Motion CPU module at the ROM

operation.

Personal computer

Programs

Parameters, etc.

MT Developer2

FLASH ROM

1) ROM writing request

Programs

Parameters, etc.

Programs

Parameters, etc.

2) ROM writing

<ROM operation>

Mode operated by ROM

Motion CPU module

SRAM

Read at

starting

Programs

Parameters, etc.

FLASH ROM

Programs

Parameters, etc.

4 - 17

4 AUXILIARY AND APPLIED FUNCTIONS

(a) Writing procedure for the data of SRAM built-in Motion CPU module to the

ROM.

Execute the ROM writing to the FLASH ROM built-in Motion CPU module by selecting the [Execute] button on the Export to ROM Format screen displayed by the menu bar [Online] - [Export to ROM Format].

Select "Execute" button.

Refer to the help of MT Developer2 for details of the operation procedures.

POINT

Be sure to write the all data beforehand to SRAM built-in Motion CPU module at the

ROM writing.

4 - 18

4 AUXILIARY AND APPLIED FUNCTIONS

(2) Write the programs and parameters of the MT Developer2 to the SRAM built-in

Motion CPU module, and then write them to the FLASH ROM built-in Motion CPU module for the ROM operation.

<Data writing + ROM writing>

Mode operated by RAM/Mode operated by ROM

Motion CPU module

SRAM 1) Write data

(ROM writing request)

Programs

Parameters, etc.

FLASH ROM

2) ROM writing request

after write data

Personal computer

MT Developer2

Programs

Parameters, etc.

Programs

Parameters, etc.

3) ROM writing

<ROM operation>

Mode operated by ROM

Motion CPU module

SRAM

Read at

starting

Programs

Parameters, etc.

FLASH ROM

Programs

Parameters, etc.

4 - 19

4 AUXILIARY AND APPLIED FUNCTIONS

(a) Writing procedure for the data of MT Developer2 to the ROM.

Check the data written in the Motion CPU by selecting the [Program memory

+ CPU ROM] of target memory on the Write to CPU screen displayed by the menu bar [Online] - [Write to CPU].

Select "Program memory + CPU ROM".

Select "Execute" button.

(Note): The display of selectable data are different depending on the operating software.

Refer to the help of MT Developer2 for details of the operation procedures.

POINT

Be sure to write the all data beforehand to SRAM built-in Motion CPU module at the

ROM writing.

4 - 20

4 AUXILIARY AND APPLIED FUNCTIONS

4.4.3 Operating procedure of the ROM operation function

(1) ROM operation procedure

The ROM operation procedure is shown below.

Preparation for ROM operation

Set the "Mode operated by RAM" by setting the rotary switch 1 (SW1) and 2 (SW2) to "0".

Turn ON the power supply of Multiple CPU system.

Create or correct the system setting, parameters and programs using the

MT Developer2, and write them to the

Motion CPU module.

Execute the trial run and adjustment.

Mode operated by RAM

(ROM writing)

Is the operation normal ?

YES

Write the system setting, parameters, and programs of SRAM built-in Motion CPU module to the FLASH ROM built-in Motion

CPU module by the ROM writing request using the MT Developer2.

NO

Turn OFF the power supply of Multiple CPU system.

Set the "Mode operated by ROM" by setting the rotary switch 1 (SW1) to "0" and rotary switch 2 (SW2) to "6".

Turn ON the power supply of Multiple CPU system.

Mode operated by ROM

ROM operation start

4 - 21

4 AUXILIARY AND APPLIED FUNCTIONS

(2) Operation at the "Mode operated by ROM"

Mode operated by ROM start

NO

(Data (programs and parameters) are not written to the FLASH ROM built-in

Motion CPU module.)

Is the data write to the FLASH ROM built-in

Motion CPU module ?

YES

Read the followings of the FLASH ROM built-in Motion CPU module to the SRAM built-in Motion CPU module.

System setting data

Parameter for servo control

Servo program (SV13/SV22)

Motion SFC parameter (SV13/SV22)

Motion SFC program (SV13/SV22)

Mechanical system program (SV22)

Cam data (SV22)

Motion parameter (SV43)

Motion program (SV43)

The system setting error (" AL" flashes 3 times steady "L01" display) in the 7segment LED at the front side of Motion

CPU module.

Wait the restart of Multiple

CPU system.

After that, it cannot be operated because of stop state.

Retry the operation for "ROM writing"

"Mode operated by ROM" after confirm the contents for programs and parameters of the

SRAM built-in Motion CPU module.

Normal operation start

After that, it is same operation at the

RAM operation.

POINT

(1) Change the operation mode using the rotary switch of Motion CPU module.

(2) Confirm the operation mode by the 7-segment LED of Motion CPU module.

4 - 22

4 AUXILIARY AND APPLIED FUNCTIONS

4.5 Security Function

4.5.1 Protection by password

This function is used to protect the user data of Motion CPU by registering a password.

The illegal reading or writing of the user data are prevented by setting a password.

Registered password can be changed and deleted.

(1) Operating procedure password

[Register/Change Password] or [Delete Password] screen is used to register/change/ delete a password. Select from a menu bar or each screen of MT Developer2 to display these screen.

• Select from a menu bar

• Select from each screen of Write to CPU/Read from CPU/Verify with CPU

4 - 23

4 AUXILIARY AND APPLIED FUNCTIONS

(2) User data protected by password

The user data protected in this function are shown below.

"Write Protection" or "Read/Write Protection" can be set every user data.

Operating system software

User data Protected contents

SV13/SV22

SV22

Motion SFC program

Motion SFC programs (Control code, text) and motion SFC parameters

Servo programs and program allocation Servo program

Safety observation function parameter

(Note-1)

Ver.!

Safety signal comparison parameter and speed monitoring parameter

Mechanical system program Mechanical system programs

Cam data

Cam data (Converted data, edit data

(Note-2)

)

Motion program Motion programs and motion parameters SV43

(Note-1): Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/Q172DCPU(-S1) only.

(Note-2): Cam edit data "Read from CPU/Write to CPU/Verity with CPU" is possible for the

MT Developer2 version "1.09k or later".

Ver.!

: Refer to Section 1.5 for the software version that supports this function.

4 - 24

4 AUXILIARY AND APPLIED FUNCTIONS

(3) Password registration/change

Execute the password registration/change on the "Register/Change password" screen of MT Developer2.

Refer to the help of MT Developer2 for details of the operation procedures.

<SV13/SV22 use>

<SV43 use>

Items Details

Type Type of user data

Registration " " is displayed when a password is registered in the Motion CPU.

Password

Enter initial registration/change password.

Alphanumeric character (ASCII) of 6 or less

Match case (Not full-size character)

(Note-1): Make the item an empty column when a password is not registered.

Registration condition

A registration condition set in the Motion CPU is displayed.

• Write Protection

• Read/Write Protection

New registration condition can be selected by password input.

4 - 25

4 AUXILIARY AND APPLIED FUNCTIONS

POINT

(1) If an user has forgotten a registration password, clear a password of Motion

CPU by the all clear function. However, the all password data and user data are cleared by the all clear function. Re-write the user data to the Motion CPU.

(Refer to Section 4.6 for details.)

(2) ROM operation can be executed by user data registered a password.

The password setting is also included in the ROM writing/reading data.

(3) The password data is not save in a project without password save.

Therefore, be sure to save a password.

(4) If an operation stops by reset or power OFF of the Multiple CPU system while a password registration/change, the user data may not be registered.

Register/change a password again to restore the user data.

4 - 26

4 AUXILIARY AND APPLIED FUNCTIONS

(4) Password delete

Execute the password delete on the "Delete password" screen of

MT Developer2.

Refer to the help of MT Developer2 for details of the operation procedures.

<SV13/SV22 use>

<SV43 use>

Items Details

Type Type of user data

Registration " " is displayed when a password is registered in the Motion CPU.

Password

Enter old password.

(Note-1): Make the item an empty column when a password is not registered.

POINT

(1) The password data is not save in a project without password save.

Therefore, be sure to save a password.

(2) If an operation stops by reset or power OFF of the Multiple CPU system while delete of password, the data may not be deleted. Delete a password again to restore the user data.

4 - 27

4 AUXILIARY AND APPLIED FUNCTIONS

(5) Password check

When operating the user data that sets password, the check password screen is displayed automatically.

Protection by the password temporarily released by success of password check.

A password is memorized until MT Developer2 ends. (Since protection by password is automatically released temporarily at the user data operation, a check password screen is not displayed.)

Refer to the help of MT Developer2 for details of the operation procedure.

<SV13/SV22 use>

<SV43 use>

Items Details

Type

Password

Type of user data

Enter old password.

4 - 28

4 AUXILIARY AND APPLIED FUNCTIONS

(6) Password save

Registered/changed/deleted password or password read with user data from

"Read from CPU" screen displayed by reading operation of the data can be saved in a project data.

A password saved in a project data can be registered with user data, when the user data are written in the Motion CPU that does not set password from "Write to CPU" screen displayed by menu [Online] [Write to CPU].

Select menu [Project] [Save] to save the updated password data in a project.

Read

Operation

Write

Verification

ROM writing

Online change

(SV13/SV22)

Backup

Load

Register/change password

Delete password

Project diversion

(a) Status of password data for each operation

Status of password data

When a password is set in the call source Motion CPU, the password contents are called and the password data in a project are updated.

When a password data is set in a project, if a password is not set in the write designation Motion CPU, the password contents are also written.

Password data in a project are not updated.

Password contents registered in the write designation Motion CPU are written in

ROM.

Password contents of write designation Motion CPU are not updated.

It is saved in backup data including also the password contents registered in the call source Motion CPU. The password data in a project is not updated.

Password contents in backup data are written in the write designation Motion CPU.

New password contents are written in the write designation Motion CPU.

Password data in a project is also updated to new password contents.

A password is deleted from the write designation Motion CPU.

A password is deleted also from the password data in a project.

The password data in diverting source project is not diverted.

POINT

(1) The password data is not save in a project without project save.

(2) Save a project after delete of password to delete the password data in a project. Or, create a project without password data by creating new project and diverting user data from a project with password data.

4 - 29

4 AUXILIARY AND APPLIED FUNCTIONS

4.5.2 Protection by software security key

QDS

Illegal leak of project data

This function is used to protect the user data by setting the software security key to the project, operating system software, and MT Developer2 to limit the computer which operates the project and Motion CPU which runs the project.

The software security key is created in MT Developer2 and registered to the operating system software when the operating system software is installed to Motion CPU. It is also registered to the user program when the project is created.

The software security key verify is executed between MT Developer2 and Motion CPU during communication of the computer and Motion CPU. If the keys are not matched, the communication is not possible.

Only the enabled computer can communicate with Motion CPU. When the user data are leaked, copying and analyzing the data are prevented.

Computer 1

MT Developer2 Reading/writing project data is possible.

Motion CPU

Software security key A

Operating system software

Software security key A

Editing project data is possible.

Executing project data is possible.

Project

Software security key A

Due to unmatched software security keys, reading/ writing project data is not possible.

Project

Software security key A

Computer 2

MT Developer2

Software security key B

Due to unmatched software security keys, editing project data is not possible.

Project

Software security key A

POINT

Even when the communication between MT Developer2 and Motion CPU is not possible due to the unmatched software security keys, monitoring and servo parameter reading/writing are possible in MR Configurator .

CAUTION

If the software security key set in the project data or operating system software cannot be imported to MT Developer2, the software security key cannot be released even in repair or maintenance, and the project data cannot be referred to permanently. Mitsubishi Electric

Corporation cannot be held responsible for any damage which may occur as a result of not being able to refer to the project data for our customers or other individuals and organizations. Note this point when using the software security key.

4 - 30

4 AUXILIARY AND APPLIED FUNCTIONS

(1) Overview of software security key

The software security key is controlled with the software security key name. Eight software security key names can be registered to MT Developer2.

Key function level (Administrator/Developer/User) is set in the software security key, and some operations are restricted depending on the key function level.

The software security key can be exported/imported and used in computers other than the computer where it is created.

Key expiration date can be set when exporting the key. When the expiration date is expired, re-export/import the key since the communication with Motion CPU is not possible. (Even when the expiration date is expired, the operation of Motion

CPU continues.)

The exported software security key cannot be imported and re-exported.

When replacing computers, delete the software security key from the project and

Motion CPU and create the software security key again in the new computer.

The details of key function level are shown below.

Software security key name

Items Details

• Set when creating the software security key.

• Alphanumeric character of 16 or less (symbols such as "!" ' #$%&()+,-

/:;<=>?@[\]^_`{|}~" and space can be also used.)

• The characters are case-sensitive.

• Any of "Administrator", "Developer" or "User"

• Set when exporting the software security key.

• The level of newly created software security key is "Administrator".

<Prohibited operation function>

Key function level

Key function level

Administrator •

Developer

User

Prohibited operation function

• Deleting the key from the project

• Deleting the key from the project

• External output of program data

• Exporting the project verify

• Copying data among projects of Motion SFC

• Exporting cam data

• Copying and exporting device comments

• Exporting the servo program list

• Printing project data

• Saving sampling data of the digital oscilloscope

(Note-1)

Key expiration date

• "Not Specified" or the period from the date when the key is exported to the expiration date (1 to 365 days)

• Set when exporting the software security key.

(Note-1): Enabled/disabled can be set for saving sampling data of the digital oscilloscope.

4 - 31

4 AUXILIARY AND APPLIED FUNCTIONS

(2) Start-up procedure of software security key

The operation of software security key function is executed on the software security key management screen of MT Developer2.

Select the menu bar [Tools]-[Software Security Key Management].

Refer to the help of MT Developer2 for details of the operation procedures.

Operation details of software security key function are shown below

Items Details

Software security key creation

Software security key export

Software security key import

Create the software security key in MT Developer2.

Write the software security key that can be used in

MT Developer2 of other computers to the file.

Register the exported software security key to

MT Developer2.

Software security key embedding

(Installation of operating system software)

Software security key embedding

(Project)

Software security key delete

(Delete from the project)

Embed the software security key to Motion CPU at installation of the operating system software.

Embed the software security key to the project.

Delete the software security key from the project.

Software security key delete

(Delete from MT Developer2)

Software security key information confirmation

Delete the software security key from MT Developer2.

Confirm the software security key information registered to the operating system software.

4 - 32

4 AUXILIARY AND APPLIED FUNCTIONS

(3) Operating procedure of software security key function

(a) Using procedure of software security key

START

Create the software security key.

Export the software security key.

Will communication and project management be executed in another computer?

YES

Import the software security key to another computer. (Execute the following operations in the computer where the software security key is imported.)

NO

At installation of operating system software, embed the software security key to Motion CPU. (Motion CPU is all cleared.)

Create the project and embed the software security key to the project.

Write the project to Motion CPU.

END

POINT

(1) Backup the exported data after exporting the software security key. Be sure to store the data in a safe place.

(2) If the software security key of the operating system software already installed in Motion CPU is different from that embedded to the operating system software to be installed, "Clear all" is executed at installation. It is recommended to backup the data in advance using MT Developer2. If the software security keys are matched, the programs, parameters and absolute position data that are written to Motion CPU are not re-written.

4 - 33

4 AUXILIARY AND APPLIED FUNCTIONS

(b) Delete procedure of software security key

START

Install the operating system software without setting the software security key. (Motion CPU is all cleared.)

Delete the software security key from the project.

Write the project to Motion CPU.

Is the deleted software security key used on another project?

NO

Delete the software security key from

MT Developer2.

YES

END

4 - 34

4 AUXILIARY AND APPLIED FUNCTIONS

4.6 All Clear Function

This function is used to clear the all user data, password setting, device memory, backup area and user data area of FLASH ROM in the Motion CPU module.

(1) Procedure for clear all

(a) Set the Motion CPU module to installation mode (Set a rotary switch 1

(SW1) to "A".)

(b) Execute the all clear.

Select the menu bar [Online]-[Clear CPU Memory].

Refer to the help of MT Developer2 for details of the operation procedure.

POINT

(1) Set the Motion CPU module to installation mode to clear all.

Be sure to set a rotary switch after power supply OFF.

(2) The user data area of FLASH ROM built-in Motion CPU module is also cleared.

(3) All user data and password setting are cleared at the "Clear all".

It is recommended to be backup them in advance using MT Developer2.

4 - 35

4 AUXILIARY AND APPLIED FUNCTIONS

4.7 Communication Via Network

The communication between the personal computer and the Motion CPU is possible via Q series Network module (CC-LinkIE, CC-Link, MELSECNET/10(H), Ethernet and etc.) in the Motion CPU module.

Refer to the PLC manuals for the specifications of each network modules of CC-

LinkIE, CC-Link, MELSECNET/10(H), Ethernet and Serial communication, the handling method.

4.7.1 Specifications of the communications via network

(1) Communications via network enables using MT Developer2 in the Motion CPU.

(2) Access range of the communications via network of the Motion CPU is an access range equivalent to connection QnUD(E)(H)CPU using GX Works2/GX Developer.

Refer to the operating manual of GX Works2/GX Developer for details.

(3) By setting the routing parameter to the control CPU of the network module and the

CPU which connected the peripheral devices in the network by

MELSECNET/10(H) and Ethernet, it is possible to relay to 8 network points and communicate.

(4) Because the Motion CPU cannot become the control CPU of the network module, there is not setting item of the network module and network parameter.

However, when connecting with the CPU on the other network from the peripheral device which connected the Motion CPU, it needs to the setting of the routing parameter.

(5) It can operate by remote control the monitor or program editing of the Motion CPU via the intranet using the Ethernet module.

Personal Computer Personal Computer

Ethernet

Intranet

Power supply

QnUD

CPU

Q173 D(S)

CPU

Ethernet module

Ethernet

Power supply

QnUD

CPU

Q173 D(S)

CPU

Ethernet module

4 - 36

4 AUXILIARY AND APPLIED FUNCTIONS

4.8 Monitor Function of the Main Cycle

(1) Information for main cycle of the Motion CPU (process cycle executed at free time except for motion control) is stored to the special register.

(2) Since the automatic refresh of CPU shared memory, normal task of Motion SFC program (SV13/SV22) and Motion program (SV43) are executed in the main cycle, make it reference for process time, etc. to program.

(3) There are following methods to shorten a main cycle.

(a) Lengthen an operation cycle setting.

(b) Reduce the number of event task programs to execute in the Motion SFC program. (SV13/SV22)

(c) Reduce the number of normal task programs to execute simultaneously in the Motion SFC program. (SV13/SV22)

(d) Reduce the number of automatic refresh points of CPU shared memory.

(e) Reduce the number of Motion programs to execute simultaneously. (SV43)

(4) When a main cycle is lengthened (more than 1.0[s]), a WDT error may occur in the Motion CPU.

(5) Details of main cycle monitor register is shown below.

No. Name Meaning

SD521 Maximum scan time

Current scan time

(1ms units)

Maximum scan time

(1ms units)

Details

• Current scan time is stored in the unit 1[ms].

• Range (0 to 65535[ms])

• Maximum main cycle is stored in the unit 1[ms].

• Range (0 to 65535[ms])

4 - 37

4 AUXILIARY AND APPLIED FUNCTIONS

4.9 Servo Parameter Read/Change Function

(1) When the servo parameters are changed, the Motion CPU will be automatically read the servo parameters and reflected them to the servo parameter storage area in the Motion CPU. Therefore, an operation to read servo parameters is unnecessary in the following cases.

(a) The parameters are changed by auto tuning.

(b) The parameters are changed by connecting directly MR Configurator to the servo amplifier.

POINT

If the power supply of Multiple CPU system is turned off/reset or the power supply of servo amplifier is turned off immediately after change, it may not be reflected.

(2) After executing the servo parameter reading function, when it needs to reflect the servo parameters changed to the MT Developer2, read the servo parameters from the Motion CPU and save data.

(3) The servo parameters can be changed or displayed individually form Motion CPU.

QDS

Store the value in the following special registers to change or display the servo parameter.

(a) "Servo parameter write/read request" device

No. Name Meaning

SD552

SD804

(Note-1)

SD806

SD807

Details

Servo parameter read value

• The read value of servo parameter which executed

"2: Read request" in SD804 is stored.

System

(At reading request)

Servo parameter write/read request

Servo parameter write/read request flag

• The "write/read request" is executed after setting of the axis No. and servo parameter No.

1: Write request

2: Read request

• "0" is automatically set by Motion CPU after completion of servo parameter write/read request.

("-1" is stored by Motion CPU at write/read error.)

• The axis No. to write/read servo parameter is stored.

Servo parameter

No.

Servo parameter setting value

User/

System

Q172DSCPU: 1 to 16

• The servo parameter No. to be written/read is stored in hexadecimal.

H

Parameter No.

Parameter group No.

0: PA

1: PB

2: PC

3: PD

4: PE

5: PF

9: Po

A: PS

B: PL (MR-J4(W)- B only)

C: PT (MR-J4(W)- B only)

Fixed at 0

• The setting value of servo parameter to be written is stored when "1: Write request" is set in SD804.

User

(Note-1): Do not execute the automatic refresh.

4 - 38

4 AUXILIARY AND APPLIED FUNCTIONS

(b) Procedure to servo parameter write/read

1) Procedure to write

1. Set the axis No., servo parameter No. and servo parameter setting value in SD805 to SD807.

2. Set "1: Write request" in SD804.

3. Check that "0" is set in SD804.

(Completion of write)

2) Procedure to read

1. Set the axis No. and servo parameter No. in SD805 and SD806.

2. Set "2: Read request" in SD804.

3. Check that "0" is set in SD804.

(Completion of read)

4. Stores the read value in SD552.

POINT

(1) New servo parameter is reflected to Motion CPU, therefore, the servo parameter of Motion CPU side does not need to change.

(2) When the axis No., servo parameter No. or servo parameter setting value is outside the setting range, "-1: write/read error" is stored in the servo parameter write/read request flag. The setting value of servo parameter is reflected to Motion CPU even when the write error occurred. Be sure to set within the setting range.

4 - 39

4 AUXILIARY AND APPLIED FUNCTIONS

4.10 Optional Data Monitor Function

This function is used to store the data (MR-J4(W)- B: 1 to 6 per axis, MR-J3(W)- B:

1 to 3 per axis) to the specified devices (D, W, #, U \G) and monitor them.

It can be set by the system setting of MT Developer2.

(1) Data that can be set

(a) Q173DSCPU/Q172DSCPU use

Set the total of number of communication data points per 1 axis as shown below.

MR-J4(W)- B: Up to 6 points

MR-J3(W)- B: Up to 3 points

Data type

Effective load ratio

Regenerative load ratio

Peak load ratio

Position feed back

Absolute position encoder single revolution position

Absolute position encoder multiple revolution counter

Load inertia moment ratio

Load mass ratio

Position loop gain 1

Main circuit bus voltage

Cumulative current value

Unit

[%]

[%]

[%]

[PLS]

[PLS] 2

[rev] 1

[ 0.1]

[rad/s]

[V]

[Position command]

(Note-1)

Number of words

1

1

1

2

1

1

1

Number of communication data points

Servo amplifier

MR-J3(W)- B MR-J4(W)- B

1

1

1

0

0

1

1

1

1

2 0

Remark

Liner servo motor use

Servo motor speed

Servo motor speed

Selected droop pulse

Module power consumption

(Note-2)

[r/min]

[mm/s]

[PLS]

1 1

2 2

Liner servo motor use

[W] 1 1

Unit integral power consumption

(Note-2)

[Wh] 2 2

Instantaneous torque

Instantaneous thrust

Z-phase counter

Motor thermistor temperature

Disturbance torque

Disturbance thrust

[0.1%] 1

[PLS]

[°C]

2

1

[0.1%] 1

1

2

1

1

Liner servo motor use

Liner servo motor use

Liner servo motor use

Overload alarm margin [0.1%] 1 1

Error excessive alarm margin [16PLS] 1 1

Settling time [ms] 1 1

Overshoot amount [PLS] 1 1

: Settable : Unsettable

(Note-1): The position command is command unit set in the servo data setting.

(Note-2): In the servo amplifier for multiple axes, the measured value of whole unit is monitored. When these values set to each axis, the same value can be monitored in each axis. Use the monitored value of not each axis but each module to calculate the module power consumption power consumption and unit integral power consumption of multiple modules.

4 - 40

4 AUXILIARY AND APPLIED FUNCTIONS

(b) Q173DCPU(-S1)/Q172DCPU(-S1) use

Data type

Effective load ratio

Regenerative load ratio

Peak load ratio

Position feed back

Absolute position encoder single revolution position

Motor side encoder single revolution position

Load inertia moment ratio

Load mass ratio

Position loop gain 1

Main circuit bus voltage

Unit

[%]

[%]

[%]

[PLS]

Number of words

1

1

1

2

Servo amplifier

MR-J3(W)- B

[PLS] 2

Remark

Fully closed control use

[ 0.1]

[rad/s]

[V]

1

1

1

Liner servo motor use

: Settable : Unsettable

(2) Devices that can be set

Word device

D

W

#

U \G

Device that can be set

0 to 8191

0 to 1FFF

0 to 7999

10000 to (10000+p-1)

(Note-1), (Note-2)

(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU.

(Note-2): Only device of the self CPU can be used.

POINT

(1) The updating cycle of data is every operation cycle.

(2) Set an even numbered device No. in the two word data.

(3) Refer to Chapter 2 for the user setting area points of the Multiple CPU high speed transmission area.

4 - 41

4 AUXILIARY AND APPLIED FUNCTIONS

4.11 SSCNET Control Function

The following controls are possible in the SSCNET control function.

Function Application

Connect/disconnect of SSCNET communication

Temporarily connect/disconnect of SSCNET communication is executed during Multiple

CPU system's power supply ON.

This function is used to exchange the servo amplifiers or SSCNET cables.

Start/release of amplifier-less operation

Start/release of amplifier-less operation is requested.

This function is used to confirm the operation without connection of the servo amplifies.

(1) Device list

Set the request in SD803, and the process status is stored in SD508.

(a) SSCNET control status devices

Device No. Overview Set by

The execute status

(Note)

of the SSCNET control is stored.

Status Contents

SD508

Command accept waiting

-1 Execute waiting

Connect/disconnect command of SSCNET communication or start/release command of amplifier-less operation is in the status that can be accepted.

SD508 is waiting for connect/disconnect execute command after accepting the connect/disconnect command of SSCNET communication or start/release of amplifier-less operation.

Connect/disconnect of SSCNET communication or start/release of

System

-2 Executing amplifier-less operation is in process.

(Note): The status for amplifier-less operation status is set in the amplifier-less operation status flag (SM508). (Refer to Section 4.11.2.)

(b) SSCNET control command devices

Device No. Overview Set by

Set the SSCNET control command.

SD803

Setting value

0 No command

1 to 32

Disconnect command of

SSCNET communication

Connect command of

SSCNET communication

Start command 1 of

(EMI invalid)

Start command 2 of

(EMI valid)

Release command of amplifier-less operation

-2 Execute command

Set "0" if there is no command.

Set axis No. "1 to 32" to be disconnected.

Set "-10" to connect axis while disconnecting.

Set "-20" to change from the normal operation to amplifier-less operation.

EMI signal is invalid during amplifier-less operation, and the wiring of EMI signal is not necessary.

Set "-21" to change from the normal operation to amplifier-less operation.

EMI signal is valid during amplifier-less operation, and the wiring of EMI signal is necessary.

Set "-25" to change from the amplifier-less operation to normal operation.

Set "-2" to execute the processing when the status (SD508) is execute waiting after setting the value of each command

Connect/ disconnect

Amplifierless operation

User

4 - 42

4 AUXILIARY AND APPLIED FUNCTIONS

4.11.1 Connect/disconnect function of SSCNET communication

Temporarily connect/disconnect of SSCNET communication is executed during

Multiple CPU system's power supply ON.

This function is used to exchange the servo amplifiers or SSCNET cables.

Set the request for the connect/disconnect of SSCNET communication in SSCNET control command (SD803), and the status for the command accept waiting or execute waiting is stored in SSCNET control status (SD508).

Use this device to connect the servo amplifiers disconnected by this function.

When the power supply module of head axis of each SSCNET system (servo amplifier connected directly to the Motion CPU module) turns OFF/ON, this function is not necessary.

POINT

(1) Confirm the LED display of the servo amplifier for "AA" after completion of

SSCNET communication disconnect processing. And then, turn OFF the servo amplifier's power supply.

(2) The SSCNET control status device (SD508) only changes into the execute waiting status (-1) even if the disconnect command of SSCNET communication (1 to 32) or connect command of SSCNET communication

(-10) is set in SSCNET control command device (SD803). The actual processing is not executed. Set the execute command (-2) in SSCNET control command device (SD803) to execute.

(3) When the disconnect command of SSCNET communication (1 to 32) is set to axis not disconnect, the SSCNET control status device (SD508) returns the command accept waiting status (0) without entering the execute waiting status

(-1).

(4) Operation failure may occur in some axes if the servo amplifier's power supply is turned OFF without using the disconnect function. Be sure to turn

OFF the servo amplifier's power supply by the disconnect function.

(5) When the connect/disconnect command is executed to the axis allocated to B- axis and C- axis of MR-J4W- B or B- axis of MR-J3W- B, it can be disconnected, however it cannot be reconnected. Execute the connect/disconnect command to the A-axis.

(6) Only the release command of amplifier-less operation can be accepted during amplifier-less operation. The connect/disconnect command cannot be accepted.

4 - 43

4 AUXILIARY AND APPLIED FUNCTIONS

(1) Procedure to connect/disconnect of SSCNET communication

Procedure to connect/disconnect at the exchange of servo amplifiers or

SSCNET cables is shown below.

(a) Procedure to disconnect

1) Set the axis No. to disconnect in SD803. (Setting value: 1 to 32)

2) Check that "-1: Execute waiting" is set in SD508.

(Disconnect execute waiting)

3) Set "-2: Execute command" in SD803.

4) Check that "0: Command accept waiting" is set in SD508.

(Completion of disconnection)

5) Turn OFF the servo amplifier's power supply after checking the LED display "AA" of servo amplifier to be disconnected.

Disconnect command

(Axis No. of servo amplifier

to be disconnected)

Disconnect execute

command

Disconnect

command clear

SSCNET control command

(SD803)

0 1 to 32 -2 0

Completion of disconnection

SSCNET control status

(SD508)

0

Command accept waiting

-1

Disconnect execute waiting

-2

Disconnect processing execute

0

Command accept waiting

(b) Procedure to connect

1) Turn ON the servo amplifier's power supply.

2) Set "-10: Connect command of SSCNET communication " in SD803.

3) Check that "-1: Execute waiting" is set in SD508.

(Connect execute waiting)

4) Set "-2: Execute command" in SD803.

5) Check that "0: Command accept waiting" is set in SD508.

(Completion of connection)

6) Resume operation of servo amplifier after checking the servo ready

(M2415+20n) ON.

Connect command Connect execute command Connect command clear

SSCNET control command

(SD803)

0 -10 -2 0

Completion of connection

SSCNET control status

(SD508)

0

Command accept waiting

-1

Connect execute waiting

-2

Connect processing execute

0

Command accept waiting

4 - 44

4 AUXILIARY AND APPLIED FUNCTIONS

(2) Program

(a) Program to connect/disconnect the servo amplifiers after Axis 5 of self CPU

Disconnect procedure : Turn OFF the servo amplifier's power supply after checking the LED display "AA" of servo amplifier.

Connect procedure : Resume operation of servo amplifier after checking the servo ready (M2415+20n) ON.

System configuration

Q61P QnUD

CPU

Q172D

CPU

QY40P QY40P Q172D

LX

QY40P

Disconnection (After Axis 5)

AMP

Axis 1

M

AMP

Axis 2

M

(a) Motion SFC program (SV13/SV22)

Disconnect operation

Disconnect processing

AMP

Axis 3

M

AMP

Axis 4

M

AMP

Axis 5

M

AMP

Axis 6

M

AMP

Axis 7

M

AMP

Axis 8

M

Connect operation

Connect processing

[G10]

[F10]

[G20]

[F20]

[G30]

SD508==0

SD803=5

SD508==-1

SD803=-2

SD508==0

Check the disconnect command accept status.

Set "5: Disconnect command of SSCNET communication"

(Disconnect after Axis 5) in SD803.

Disconnect execute waiting

[G10]

[F11]

[G20]

SD508==0

SD803=-10

SD508==-1

Set "-2: Execute command" in SD803.

Check the completion of disconnect processing.

[F20]

[G30]

SD803=-2

SD508==0

Check the connect command accept status.

Set "-10: Connect command of SSCNET communication" in SD803.

Connect execute waiting

Set "-2: Execute command" in SD803.

Check the completion of connect processing.

END END

(b) Motion program (SV43)

Disconnect operation

N10 IF[#SD508 EQ 0] GOTO20;

GOTO10;

N20 #SD803=5;

N30 IF[#SD508 EQ -1] GOTO40;

GOTO30;

N40 #SD803=-2;

N50 IF[#SD508 EQ 0] GOTO60;

GOTO50;

N60;

Check the disconnect command accept status.

Set "5: Disconnect command of SSCNET communication" (Disconnect after Axis 5) in SD803.

Disconnect execute waiting

Set "-2: Execute command" in SD803.

Check the completion of disconnect processing.

Connect operation

N10 IF[#SD508 EQ 0] GOTO20;

GOTO10;

N20 #SD803=-10;

N30 IF[#SD508 EQ -1] GOTO40;

GOTO30;

N40 #SD803=-2;

N50 IF[#SD508 EQ 0] GOTO60;

GOTO50;

N60;

Check the connect command accept status.

Set "-10: Connect command of

SSCNET communication" in SD803.

Connect execute waiting

Set "-2: Execute command" in SD803.

Check the completion of connect processing.

4 - 45

4 AUXILIARY AND APPLIED FUNCTIONS

(b) Program to connect/disconnect the servo amplifiers after Axis 5 connected to the Motion CPU (CPU No.2) by the PLC CPU (CPU No.1).

Disconnect procedure : Turn OFF the servo amplifier's power supply after checking the LED display "AA" of servo amplifier by turning X0 from OFF to ON.

Connect procedure : Resume operation of servo amplifier after checking the servo ready (M2415+20n) of servo amplifier by turning X1 from OFF to ON.

System configuration

Q61P QnUD

CPU

Q172D

CPU

QY40P QY40P Q172D

LX

QY40P

Disconnection (After Axis 5)

AMP

Axis 1

M

AMP

Axis 2

M

AMP

Axis 3

M

AMP

Axis 4

M

AMP

Axis 5

M

AMP

Axis 6

M

AMP

Axis 7

M

AMP

Axis 8

M

(a) Sequence program

0

SM400

5

M100 M101 M102

18

39

57

78

96

M100

M101

M102

M103

M104

M10

M10

M12

M12

M10

M10

M12

M12

M10

M10

M11

M13

M11

M13

M11

X0

X1

=

=

=

MOV K1

MOV K-2

D51

D104

MOV K5 D102

SET M100

MOV K-10 D102

SET M100

DP.DDRD H3E1 D50 SD508 D100 M10

D100 K0 RST M100

SET M101

DP.DDWR H3E1 D50 D102 SD803 M12

RST M101

SET M102

DP.DDRD H3E1 D50 SD508 D100 M10

D100 K-1 RST M102

SET M103

DP.DDWR H3E1 D50 D104 SD803 M12

RST M103

SET M104

D100 K0

DP.DDRD H3E1 D50 SD508 D100 M10

RST M104

Set "-2: Execute command" in D104.

Set "5: Disconnect command of SSCNET communication" (Disconnect after Axis 5) in D102.

Set "-10: Connect command of SSCNET communication" in D102.

Read the data of SD508 for Multiple CPU system (CPU No.2) by turning M100 ON, and store them to data area (D100) of self CPU.

Write D102 to the data of SD803 for Multiple

CPU system (CPU No.2) by turning M101 ON.

(Disconnect/Connect command)

Read the data of SD508 for Multiple CPU system (CPU No.2) by turning M102 ON, and store them to data area (D100) of self CPU.

Write D104 to the data of SD803 for Multiple

CPU system (CPU No.2) by turning M103 ON.

(Disconnect/connect execute command)

Read the data of SD508 for Multiple CPU system (CPU No.2) by turning M104 ON, and store them to data area (D100) of self CPU.

4 - 46

4 AUXILIARY AND APPLIED FUNCTIONS

4.11.2 Amplifier-less operation function

Ver.!

This function is used to confirm for the operation without connecting the servo amplifiers at the starting or debugging.

The start/release request of amplifier-less operation is set in SSCNET control command (SD803), and status of the command accepting waiting or execute waiting is stored in SSCNET control status (SD508).

Confirm the amplifier-less operation status by the amplifier-less operation status flag

(SM508).

POINT

(1) The SSCNET control status device (SD508) only changes into the execute waiting status (-1) even if the start command of amplifier-less operation

1/2 (-20/-21) or release command of amplifier-less operation (-25) in SSCNET control command device (SD803). The actual processing is not executed. Set the execute command (-2) in SSCNET control command device (SD803) to executed.

(2) Only the release command of amplifier-less operation can be accepted during amplifier-less operation. The start command for the other amplifier-less operation cannot be accepted.

(3) The operation of servo motor or the timing of operation cycle, etc. at the amplifier-less operation is different from the case where the servo amplifiers are connected. Confirm the operation finally with a real machine.

(4) The amplifier-less operation becomes invalid immediately after the Multiple

CPU system's power supply ON or reset.

(1) Amplifier-less operation status flag

Device No. Signal name

SM508

Amplifier-less operation status flag

Overview

The amplifier-less operation status is stored.

OFF : During normal operation

ON : During amplifier-less operation

Set by

System

Ver.!

: Refer to Section 1.5 for the software version that supports this function.

4 - 47

4 AUXILIARY AND APPLIED FUNCTIONS

(2) Control details

Operation during amplifier-less operation is shown below.

Item Operation

Servo amplifier type

Servo amplifier status

All axes set in the system setting are connected with the following type regardless of the setting details of system setting.

(1) Q173DSCPU/Q172DSCPU use

(a) For communication type "SSCNET /H"

• Servo amplifier : MR-J4-10B

• Servo motor : HF-KR053

(b) For communication type "SSCNET "

• Servo amplifier : MR-J3-10B

• Servo motor : HF-KP053

(2) Q173DCPU(-S1)/Q172DCPU(-S1) use

• Servo amplifier : MR-J3-10B

• Servo motor : HF-KP053

• Deviation counter value : Always 0

• Motor speed : Motor speed for the command

• Motor current value : At the amplifier-less operation start: "0"

(The motor current value can be simulated during amplifier-less operation by changing the motor current (#8001+20n) using the user program.)

• Servo ready signal : This signal changes depending on the Status of all axes servo ON command

(M2042) or servo OFF command (M3215+20n).

• Torque limiting signal : This signal turns ON by the following condition.

|Motor current value|

≥ Torque limit value

(Note): When the positive direction and negative direction of torque limit value is set individually using CHGT2 instruction is as follows.

QDS

|Motor current value|

≥ Positive direction torque limit or Negative direction torque limit value

• Zero pass signal : Always ON

Servo amplifier external signal

(At the setting valid)

Home position return

Each signals is shown below at the amplifier-less operation start.

(1) Q173DSCPU/Q172DSCPU use

• FLS signal (M2411+20n) : Normal open: OFF/Normal close: ON

• RLS signal (M2412+20n) : Normal open: OFF/Normal close: ON

• DOG signal (M2414+20n) : Normal open: OFF/Normal close: ON

(2) Q173DCPU(-S1)/Q172DCPU(-S1) use

• FLS signal (M2411+20n) : ON

• RLS signal (M2412+20n) : ON

• DOG signal (M2414+20n) : OFF

The servo amplifier external signals can be operated during amplifier-less operation by turning ON/OFF the

FLS signal (M2411+20n), RLS signal (M2412+20n) or DOG signal (M2414+20n) using the user program.

All home position return methods can be used.

Absolute position system

The absolute position is controlled as the normal servo amplifier connection.

(1) At the amplifier-less operation start

The absolute position is restored by the saved absolute position data. The absolute position is restored as the travel value "0" during the servo amplifier's power supply OFF.

(2) During amplifier-less operation

Suppose the servo motor operated during amplifier-less operation, and the absolute position data is refreshed.

(3) The servo amplifiers are connected after amplifier-less operation

The absolute position is restored by the refreshed absolute position data during amplifier-less operation.

When the distance between the motor position of saved absolute position data and actual motor position is the allowable travel during Power-Off or more away, the minor error (Error code: 901 (real mode)/9010 (virtual mode)) will occur. If the distance is "

±2147483648[PLS]" or more away, the absolute position is restored normally.

Operation using

MR Configurator

Online operation and monitor of the servo amplifiers cannot be executed.

Optional data monitor

Only "position feed back" and "absolute position encoder single revolution position" are possible.

The other monitor values are "0".

4 - 48

4 AUXILIARY AND APPLIED FUNCTIONS

(3) Procedure to start/release of amplifier-less operation

(a) Procedure to start

1) Set "-20: Start command 1 of amplifier-less operation (EMI invalid)" in

SD803.

2) Check that "-1: Execute waiting" is set in SD508.

(Start processing execute waiting of amplifier-less operation)

3) Set "-2: Execute command" in SD803.

4) Check that "0: Command accept waiting" is set in SD508.

(Start processing completion of amplifier-less operation)

5) Check that "ON: During amplifier-less operation" is set in SM508.

Resume operation of servo amplifier after checking the servo ready

(M2415+20n) ON.

Start command of amplifier-less operation Execute command Execute command clear

SSCNET control command

(SD803)

0 -20 -2 0

Start completion of amplifier-less operation

SSCNET control status

(SD508)

0

Command accept waiting

-1

Start execute wating of amplifier-less operation

-2

Start processing execution of amplifier-less operation

0

Command accept waiting

ON

Amplifier-less operation status (SM508)

OFF

During normal operation

During amplifier-less operation

(b) Procedure to release

1) Set "-25: Release command of amplifier-less operation" in SD803.

2) Check that "-1: Execute waiting" is set in SD508.

(Release processing execute waiting of amplifier-less operation)

3) Set "-2: Execute command" in SD803.

4) Check that "0: Command accept waiting" is set in SD508.

5) Check that "OFF: During normal operation" is set in SM508.

(Release processing completion of amplifier-less operation. When the servo amplifiers are connected, they are automatically reconnected.)

Release command of amplifier-less operation

Execute command Execute command clear

SSCNET control command

(SD803)

0 -25 -2 0

Release completion of amplifier-less operation

SSCNET control status

(SD508)

ON

0

Command accept waiting

-1 -2

Release execute waiting of amplifier-less operation

Release processing execution of amplifier-less operation

0

Command accept waiting

Amplifier-less operation status (SM508)

During amplifier-less operation

OFF

During normal operation

4 - 49

4 AUXILIARY AND APPLIED FUNCTIONS

(a) Motion SFC program (SV13/SV22)

Operation start (EMI input invalid)

Start processing of amplifier-less operation

[G40]

!SM508

[G10]

SD508==0

[F12]

SD803=-20

[G20]

SD508==-1

(4) Program

Program to start/release of amplifier-less operation for the self CPU

Operation release

Release processing of amplifier-less operation

Check the normal operation.

[G41]

Check the accept status.

Set "-20: Start command 1 of amplifier-less operation" in SD803.

Execute waiting

[G10]

[F11]

[G20]

SM508

SD508==0

SD803=-25

SD508==-1

Check the amplifier-less operation.

Check the connect command accept status.

Set "-25: Release command

1 of amplifier-less operation" in SD803.

Execute waiting

[F20]

SD803=-2

[G41]

SM508

Set "-2: Execute command" in SD803.

[F20]

Check the amplifier-less operation.

[G40]

SD803=-2

!SM508

Set "-2: Execute command" in SD803.

Check the normal operation.

END END

4 - 50

4 AUXILIARY AND APPLIED FUNCTIONS

4.12 Remote Operation

This function is used to control the following operation of Motion CPU using

MT Developer2.

• Remote RUN/STOP

• Remote latch clear

POINT

Latch clear can be executed only using the remote control of MT Developer2.

4.12.1 Remote RUN/STOP

The PLC ready flag (M2000) is turned ON/OFF using MT Developer2 with RUN/STOP switch of Motion CPU module set to RUN.

(1) Operation procedure

Select [RUN] or [STOP] on "CPU remote operation" screen displayed by menu

[Online] – [Remote Operation], and click [Execute] button.

Refer to the help of MT Developer2 for details of the operation procedure.

4 - 51

4 AUXILIARY AND APPLIED FUNCTIONS

POINT

(1) Remote RUN cannot be executed if RUN/STOP switch sets to STOP.

Operation after remote operation by RUN/STOP switch is shown below.

Position of RUN/STOP switch

Remote

Execute remote RUN operation

Execute remote STOP

RUN STOP

RUN STOP

STOP STOP

(2) The following parameters are read by turning on the PLC ready flag (M2000).

• Fixed parameter

• Home position return data

• JOG operation data

• Parameter block

• Work coordinate data (SV43)

• Servo parameter

• Mechanical system program (SV22)

• Motion SFC parameter (SV13/SV22)

• Motion parameter (SV43)

• Limit switch output data

REMARK

The PLC ready flag (M2000) can also be turned ON/OFF (PCPU READY complete flag (SM500) ON/OFF) in the following methods.

• RUN/STOP switch change

• PLC ready flag (M2000) ON/OFF

4 - 52

4 AUXILIARY AND APPLIED FUNCTIONS

4.12.2 Remote latch clear

Device data of Motion CPU that latched are cleared by MT Developer2 at PLC ready flag (M2000) OFF (PCPU READY complete flag (SM500) OFF).

Operation for remote latch clear is combined with remote RUN/STOP.

(1) Operation procedure

(a) Turn OFF the PLC ready flag (M2000) (PCPU READY complete flag

(SM500) OFF) by remote STOP.

(b) Select [Latch clear (1)] or [Latch clear (1)(2)] on "CPU remote operation" screen displayed by menu [Online] – [Remote Operation], and click

[Execute] button.

(Note): Execute remote RUN to turn ON the PLC ready flag (M2000) after remote latch clear.

Refer to the help of MT Developer2 for details of the operation procedure.

POINT

(1) Remote latch clear cannot be operated while the PLC ready flag (M2000) is ON

(PCPU READY complete flag (SM500) is ON) or test mode.

(2) The following latch area are cleared in the remote latch clear operation.

• Latch clear (1) : Clear the range set in latch area (1)

• Latch clear (1)(2) : Clear the range set in latch area (1) and (2)

(3) The user area (#0 to #7999) of motion device are also cleared by executing remote latch clear.

(4) All of the user device not latched are cleared by the remote latch clear operation of latch area (1) and (2).

(5) Set the range of latch area (1) and (2) in the system basic setting of system setting. (Refer to Section 3.1.3.)

4 - 53

4 AUXILIARY AND APPLIED FUNCTIONS

4.13 Communication Function via PERIPHERAL I/F

Ver.!

The built-in Ethernet Motion CPU (Q173DSCPU /Q172DSCPU/Q173DCPU-S1/

Q172DCPU-S1) can communicate data by connecting built-in PERIPHERAL I/F of the

Motion CPU with personal computers and/or display devices, etc. using an Ethernet cable.

There are following three ways to communicate between the Motion CPU and

MT Developer2.

• "Direct connection" connected with the Ethernet cable

• "Connection via HUB" connected via HUB

• MC protocol communication

Ver.!

: Refer to Section 1.5 for the software version that supports this function.

4.13.1 Direct connection

Between the Motion CPU and MT Developer2 can be connected using one Ethernet cable without HUB.

The direct connection enables communication with only specifying connection target.

IP address setting is not required.

Ethernet cable (Crossover cable)

PERIPHERAL I/F

MT Developer2

4 - 54

4 AUXILIARY AND APPLIED FUNCTIONS

(1) Communication setting in MT Developer2 side

Set the items on the Transfer Setup screen in MT Developer2 as shown below.

1)

2)

3)

1) Select [Ethernet Board] for PC side I/F.

2) Select [PLC Module] for CPU side I/F.

Select the "Ethernet Port Direct Connection" on the CPU side I/F Detailed

Setting of PLC Module screen.

Select "Ethernet Port

Direct Connection"

3) Make the setting for Other Station Setting.

Select it according to the operating environment.

4 - 55

4 AUXILIARY AND APPLIED FUNCTIONS

(2) Precautions

Precautions for direct connection are shown below.

(a) Connection to LAN line

When the Motion CPU is connected to LAN line, do not perform communication using direct connection. If performed, the communication may put a load to LAN line and adversely affect communications of other devices.

(b) Connection not connected directly

• The system configuration that connects a Motion CPU with an external device using a hub as shown below is not regarded as direct connection.

HUB

• When two or more Ethernet ports are enables in the network connections setting on the personal computer, communication by direct connection is not possible. In the setting, leave only one Ethernet port enabled for direct connection and disable the other Ethernet ports.

(c) Condition in which direct connection communication may not be available

Under the following conditions, direct connection communication may not be available. In that case, check the setting of the Motion CPU and/or personal computer.

• In the Motion CPU IP address, bits corresponding to "0" in the personal computer subnet mask are all ON or all OFF.

(Example) Motion CPU IP address : 64. 64. 255. 255

Personal computer IP address : 64. 64. 1. 1

Personal computer subnet mask : 255.255. 0. 0

• In the Motion CPU IP address, bits corresponding to the host address for each class in the personal computer IP address are all ON or all OFF.

(Example) Motion CPU IP address : 64. 64. 255. 255

Personal computer IP address : 192.168. 0. 1

Personal computer subnet mask : 255. 0. 0. 0

4 - 56

4 AUXILIARY AND APPLIED FUNCTIONS

4.13.2 Connection via HUB

Between the Motion CPU and MT Developer2 can be connected via HUB.

Ethernet cable

(Straight cable)

PERIPHERAL I/F

HUB

Ethernet cable

(Straight cable)

MT Developer2

Panel computer

(1) Setting in Motion CPU side

Set the items on the Built-in Ethernet Port Setting in Basic Setting as shown below.

1)

2)

1) Set the Motion CPU IP address.

(Default IP address: 192.168.3.39)

Change the IP address if required.

No need to set "Subnet Mask Pattern" and "Default Router IP Address".

4 - 57

4 AUXILIARY AND APPLIED FUNCTIONS

2) Select the protocol ("TCP" or "UDP") to be used, in accordance with the external device on the Built-in Ethernet Port Open Setting screen.

Select "TCP" to emphasize communication reliability.

• Enabling the parameters of Motion CPU

Using Ethernet direct connection or USB/RS-232 connection, write the settings in parameter to the Motion CPU by selecting [Online] - [Write to

CPU] in MT Developer2. After writing the parameter settings, power the

Motion CPU OFF to ON or perform the reset operation of the Motion CPU using the RUN/STOP/RESET switch so that the parameters become valid.

Connect directly with an Ethernet cable (crossover cable) between the personal computer and Motion CPU to write the parameters using the

Ethernet cable. Refer to Section 4.13.1 for details.

4 - 58

4 AUXILIARY AND APPLIED FUNCTIONS

(2) Communication setting in MT Developer2 side

Set the items on the Transfer Setup screen in MT Developer2 as shown below.

1)

2)

3)

1) Select [Ethernet Board] for PC side I/F.

2) Select [PLC Module] for CPU side I/F.

Select the "Connection via HUB" on the CPU side I/F Detailed Setting of PLC

Module screen, and set the Motion CPU IP address.

Select the "Connection via HUB"

Set the Motion CPU

IP address

3) Make the setting for Other Station Setting.

Select it according to the operating environment.

4 - 59

4 AUXILIARY AND APPLIED FUNCTIONS

POINT

The Find CPU function can be used for specifying the IP address for Motion CPU side in the connection via HUB.

This function can be activated in [Find CPU (Built-in Ethernet port) on Network] of CPU side I/F Detailed Setting of PLC Module screen, finds the Motion CPU connected to the same HUB as MT Developer2, and displays a list. Select the connecting Motion CPU and click [Select IP Address Input] button to set the IP address for Motion CPU side.

Found Motion CPU is displayed.

[Selection IP Address

Input] button

[Find CPU (Built-in

Ethernet port) on

Network] button

• Set the label and comment of the Motion CPU in [CPU Name Setting] of Basic Setting.

The label and comment set in [CPU Name Setting] are displayed on the CPU side I/F

Detailed Setting of PLC Module screen.

Item Description

Label Enter a label (name and/or purpose) of the Motion CPU.

Comment Enter comments regarding the Motion CPU.

Setting

Up to 10 characters

Up to 64 characters

4 - 60

4 AUXILIARY AND APPLIED FUNCTIONS

(3) Precautions

Precautions for connection via HUB are shown below.

(a) When the personal computer that can connect to LAN line is used, set the same value for Motion CPU IP address as the following personal computer

IP address.

Motion CPU

IP address

192 168 3 39

Set the same value as the personal computer IP address

(Example) Personal computer IP address: "192.168.3.1"

<Setting for Motion CPU side>

Set the same value as the personal computer IP address.

(Example) 192.168.3.

Set the IP address not used with devices connected to network.

(Example) . . .39

4 - 61

<Setting for MT Developer2 side>

Set the same value as the Motion CPU

IP address.

(Example) 192.168.3.39

4 AUXILIARY AND APPLIED FUNCTIONS

(b) The maximum number of devices that can access to one Motion CPU simultaneously is 16.

(c) Hubs with 10BASE-T or 100BASE-TX ports can be used.

(The ports must comply with the IEEE802.3 100BASE-TX or IEEE802.3

10BASE-T standards.)

(d) The Ethernet cables must to be installed away from power cabling/lines.

(e) The module operation is not guaranteed if any of the following connection is used. Check the module operation on the user side.

• Connections using the Internet (general public line)

• Connections using devices in which a firewall is installed

• Connections using broadband routers

• Connections using wireless LAN

(f) When multiple Motion CPUs are connected to MT Developer2, beware of the below cautions:

• IP addresses must be different for each Motion CPU.

• Different projects must be used for each Motion CPUs on MT Developer2.

4 - 62

4 AUXILIARY AND APPLIED FUNCTIONS

4.13.3 MC protocol communication

PERIPHERAL I/F of the Motion CPU enables communication using the MC protocol

(Note-1)

.

External devices such as personal computers and display devices read/write device data from/to the Motion CPU using the MC protocol.

External devices monitor the operation of the Motion CPU, analyze data, and manage production by reading/writing device data.

REMARK

(Note-1): The MC protocol is an abbreviation for the MELSEC communication protocol.

The MELSEC communication protocol is a name of the communication method used to access CPU modules from external devices in accordance with the communication procedure of Q-series programmable controllers

(such as serial communication modules, Ethernet modules).

For details on the MC protocol, refer to the "MELSEC-Q/L Communication

Protocol Reference Manual".

POINT

External devices such as personal computers and display devices can communicate with only the Motion CPU connected by Ethernet using the MC protocol.

An access to any of the following CPU modules is not available.

• CPU modules on other stations, via CC-Link or others.

• Other CPU modules in a multiple CPU system.

(1) Setting for MC protocol communication

Setting for communication using the MC protocol is described below.

Set the items of following (a) to (c) in the Built-in Ethernet Port Setting of the

Basic Setting of MT Developer2.

(c)

(a)

(b)

4 - 63

4 AUXILIARY AND APPLIED FUNCTIONS

(a) Communication data code

Select a communication data code used for the MC protocol, "Binary code" or "ASCII code".

(b) Enable online change (MC protocol)

Check the checkbox to enable online change when writing data to the

Motion CPU from the external device that communicates using the MC protocol.

For details on the available functions with this setting, refer to this section

(2).

(c) Open Setting

Set the following items.

1) Protocol

Select a connection used as MC protocol. (Up to 16 CPU modules can be connected.)

2) Open System

Select "MC protocol".

3) Host Station Port No. (Required)

Set the host station port number (in hexadecimal).

• Setting range : 0401H to 1387H, 1392H to FFFEH

1) 2) 3)

POINT

When the "Enable online change (MC protocol)" box is unchecked, if a data write request is sent from an external device to the Motion CPU which is in the RUN status, data will not be written to the Motion CPU and the module returns the NAK message.

4 - 64

4 AUXILIARY AND APPLIED FUNCTIONS

Device memory

Function

Batch read

Batch write

Random read

(Note-2)

Monitor registration

(Note-2), (Note-3),

(Note-4), (Note-6)

(2) Command list

When the PERIPHERAL I/F of the Motion CPU communicates using the MC protocol, commands listed in table below can be executed.

Command

(Subcommand)

(Note-1)

Description

Number of processed points

Status of Motion CPU

STOP

Write

RUN

Write enabled disabled

In units of bits

In units of words

In units of bits

In units of words

0401

(0001)

0401

(0000)

1401

(0001)

1401

(0000)

Reads bit devices in units of one point.

Reads bit devices in units of 16 points.

Reads word devices in units of one point.

Writes bit devices in units of one point.

Writes bit devices in units of 16 points.

ASCII : 3584 points

BIN : 7168 points

960 words

(15360 points)

960 points

ASCII : 3584 points

BIN : 7168 points

960 words

(15360 points)

960 points

In units of words

In units of bits

Test

(Random write) In units of words

(Note-2)

In units of words

0403

(0000)

1402

(0001)

1402

(0000)

0801

(0000)

Writes word devices in units of one point.

Reads bit devices in units of 16 or 32 points by randomly specifying a device or device number.

Reads word devices in units of one or two points by randomly specifying a device or device number.

Sets/resets bit devices in units of one point by randomly specifying a device or device number.

Sets/resets bit devices in units of 16 or 32 points by randomly specifying a device or device number.

Writes word devices in units of one or two points by randomly specifying a device or device number.

Registers bit devices to be monitored in units of 16 or 32 points.

Registers word devices to be monitored in units of one or two points.

192 points

188 points

(Note-5)

192 points

Monitor

(Note-6)

In units of words

0802

(0000)

Monitors devices registered.

Number of registered points

: Available, : Not available

(Note-1): Subcommand is for the QnA-compatible 3E frame.

(Note-2): Devices such as TS, TC, SS, SC, CS, and CC cannot be specified in units of words.

For the monitor registration, an error (4032H) occurs during the monitor operation.

(Note-3): During monitor registration, monitor condition cannot be set.

(Note-4): Do not execute monitor registration from multiple external devices. If executed, the last monitor registration becomes valid.

(Note-5): Set the number of processed points so that the following condition is satisfied.

(Number of word access points) 12 + (Number of double-word access points) 14

≤ 1920

• Bit devices are regarded as 16 bits during word access and 32 bits during double-word access.

• Word devices are regarded as one word during word access and two words during double-word access.

(Note-6): Only Motion CPU module connected by Ethernet can be used.

4 - 65

4 AUXILIARY AND APPLIED FUNCTIONS

(3) Available devices

The devices available in commands used in the MC protocol communication function is shown below.

(a) PLC CPU

Device code

Classification Device ASCII code

(Note-1)

Binary code

Device number range (Default) Remarks

Internal system device

Special relay

Special register

SM

SD

Input X

Output Y

Internal relay M

91h

A9h

9Ch

9Dh

90h

Latch relay L

Annunciator F

Edge relay

Link relay

V

B

92h

93h

94h

A0h

Data register

Link register

D

W

A8h

B4h

Contact TS C1h

000000 to 002047

000000 to 002047

000000 to 001FFF

000000 to 001FFF

000000 to 008191

000000 to 008191

000000 to 002047

000000 to 002047

000000 to 001FFF

000000 to 012287

000000 to 001FFF

Internal user device

Index register

File register

Extended data register

Extended link register

Timer

Current value

TN C2h

Contact SS C7h

Retentive timer

Current value

SN C8h

Contact CS C4h

Counter

Current value

Link special relay

Link special register

Step relay

Direct input

CN C5h

SB

SW

S

DX

A1h

B5h

98h

A2h

000000 to 0007FF

000000

to 0007FF

000000 to 008191

000000 to 000FFF

Direct Output

Index register

File register

Extended data register

Extended link register

DY

Z

R

ZR

D

W

A3h

CCh

AFh

B0h

000000 to 000FFF

000000 to 000019

000000 to 032767

000000 to 3FD7FF

• Binary:

000000 to 4184063

• ASCII:

000000 to 999999

(976.6k points maximum)

B4h

000000 to 3FD7FF

Decimal

Decimal

Hexadecimal

Hexadecimal

Decimal

Decimal

Decimal

Decimal

Hexadecimal

Decimal

Hexadecimal

Decimal

Decimal

Decimal

• When the device number range is changed, access is possible up to the largest device number after the change.

• Local devices cannot be accessed.

Hexadecimal

Hexadecimal

Decimal

Hexadecimal

Hexadecimal

Devices of DX/DY1000 or later are not available. Use X/Y devices to access devices of DX/DY1000 or later.

Decimal

Decimal

Hexadecimal

Decimal

Hexadecimal

If the number of points is set on the

PLC file tab of PLC parameter, access is possible up to the largest device number after the setting.

However, in the ASCII code communication, the number of points described on the left is the access limit.

If the number of points is set on the

PLC file tab of PLC parameter, access is possible up to the largest device number after the setting.

(Note-1): When data is communicated in ASCII code, the second character " " can be designated a blank space (code: 20H).

4 - 66

4 AUXILIARY AND APPLIED FUNCTIONS

(b) Motion CPU

Device code

Classification Device ASCII code

(Note-1)

Binary code

Device number range (Default) Remarks

Internal system device

Internal user device

Special relay

Special register

SM

SD

Input X

Output Y

Internal relay M

Annunciator F

Link relay B

Data register

Link register

Motion register

D

W

#

91h

A9h

9Ch

9Dh

90h

93h

A0h

A8h

B4h

E0h

000000 to 002255

000000 to 002255

000000 to 001FFF

000000 to 001FFF

000000 to 012287

000000 to 002047

000000 to 001FFF

000000 to 008191

000000 to 001FFF

000000 to 012287

Decimal

Decimal

Hexadecimal Including actual input device PX.

Hexadecimal Including actual input device PY.

Decimal

Decimal

Hexadecimal

Decimal

Hexadecimal

Decimal

(Note-1): When data is communicated in ASCII code, the second character " " can be designated a blank space (code: 20H).

(4) Precautions

(a) Number of connected modules

In the connection with external devices using the MC protocol, the number of Motion CPUs set as "MELSOFT Connection" in the Open Setting on Builtin Ethernet Port Setting of Basic Setting can be connected simultaneously.

(b) Data communication frame

Table below shows the frames available in the communication function using the MC protocol with PERIPHERAL I/F.

Communication frame

4E frame

QnA-compatible 3E frame

A-compatible 1E frame

Communication function using the MC protocol with PERIPHERAL I/F

: Available, : Not available

(c) Access range

1) Only Motion CPU connected by Ethernet can be accessed.

Accessing a Motion CPU not connected by Ethernet results in an error.

2) Accessing a Motion CPU on another station in CC-Link IE controller network, MELSECNET/H, Ethernet or CC-Link via a connected Motion

CPU is not possible.

(d) Precautions when UDP protocol is selected

1) If a new request message is sent to the same UDP port while the port waits for a response message, the new request message is discarded.

2) Setting same host station port number to multiple UDP ports is regarded as one setting. When communicating with multiple external devices using the same host station port number, select TCP protocol.

4 - 67

4 AUXILIARY AND APPLIED FUNCTIONS

(e) Response message receive processing

Figure below shows an example of the response message receive processing on the external device side.

Communication processing on the external device side

Request message send processing

Response message receive processing

Is TCP connection open?

Receive the rest of response messages.

Has the data been received other than the monitoring timer?

TCP connection is closed.

The monitoring timer has run over.

The receive data exceeds the size limit.

Check the receive data size.

Processing for response messages

The response message for the following request has been received.

Has processing for all received messages completed?

END Error processing

REMARK

Personal computers use the TCP socket functions internally for Ethernet communication.

These functions do not have boundary concept. Therefore, when data is sent by executing the "send" function once, the "recv" function needs to be executed once or more to receive the same data. (One execution of the "send" function does not correspond to one execution of the "recv" function.)

For this reason, receive processing described above is required on the external device side. If the "recv" function is used in blocking mode, data may be read by executing the function once.

4 - 68

4 AUXILIARY AND APPLIED FUNCTIONS

(5) Error codes for communication using MC protocol

Table below shows the error codes, error descriptions, and corrective actions that will be sent from the Motion CPU to an external device when an error occurs during communication using the MC protocol.

No.

Error code

(Hexadecimal)

1 4000H to 4FFFH

Motion CPU detected error (Error that occurred in other than communication using the MC protocol)

The read/write request data exceeds the allowable

5 C056H address range.

Refer to the QCPU User's Manual (Hardware Design,

Maintenance and Inspection) and take corrective action.

When the setting for online change is disabled on the

Built-in Ethernet Port Setting of Basic Setting in

2 0055H

MT Developer2, an external device requested online change to the Motion CPU.

When the communication data code setting is set to

ASCII code in the Built-in Ethernet Port Setting, ASCII

3 C050H code data that cannot be converted to binary code was received.

4 C051H to C054H

The number of device points for reading/writing is outside the allowable range.

• When enabling online change, write data.

• Change the status of the Motion CPU to STOP and write data.

• Set the communication data code to binary code and restart the Motion CPU for communication.

• Correct the send data on the external device side and resend the data.

Correct the number of device points for reading/writing and resend the data to the Motion CPU.

Correct the start address or the number of device points for reading/writing, and resend the data to the

Motion CPU.

(Do not exceed the allowable address range.)

The request data length after the ASCII to binary

Correct the text data or the request data length of the header data, and resend the data to the Motion CPU. character area (a part of text data).

• The command and/or subcommand are specified

7 C059H incorrectly.

• The command and/or subcommand not supported in the Motion CPU are specified.

The Motion CPU cannot read/write data from/to the

8 C05BH specified device.

The request data is incorrect. (ex. specifying data in

9 C05CH units of bits for reading/writing of word devices)

• Check the request data.

• Use commands and/or subcommands supported in the Motion CPU.

Check the device for reading/writing data.

10 C05DH Monitor registration is not performed.

The external device sent a request that cannot be

11 C05FH executed in the Motion CPU.

The request data is incorrect. (ex. incorrect

12 C060H specification of data for bit devices)

The request data length does not match the data size

13 C061H of the character area (a part of text data)

The device memory extension cannot be specified for

14 C070H the target station.

Data that cannot communicate in the Motion CPU is

15 C0B5H specified.

Correct the request data (such as subcommand correction) and resend the data to the Motion CPU.

Perform the monitor registration before monitor operation.

• Correct the network number, PC number, request destination module I/O number, and request destination module station number.

• Correct the read/write request data.

Correct the request data and resend the data to the

Motion CPU. (ex. data correction)

Correct the text data or the request data length of the header data, and resend the data to the Motion CPU.

Read/Write data to the device memory without specifying the extension.

• Check the request data.

• Stop the current request.

4 - 69

4 AUXILIARY AND APPLIED FUNCTIONS

4.14 Mark Detection Function

QDS

Any motion control data and all device data can be latched at the input timing of the mark detection signal. Also, data within a specific range can be latched by specifying the data detection range.

The following three modes are available for execution of mark detection.

1) Continuous Detection mode

The latched data is always stored at mark detection.

Operation is the same as the high-speed reading function.

Mark detection signal

Mark detection data storage device

+0n

2) Specified Number of Detection mode

The latched data from a specified number of detections is stored.

Example) Number of detections: 3

Mark detection signal

Mark detection data storage device

+0n

+1n

+2n

+3n

The 3rd detection

The 4th detection and later are ignored.

3) Ring Buffer mode

The latched data is stored in a ring buffer for a specified number of detections.

The latched data is always stored at mark detection.

Example) Number of detections: 4

Mark detection signal

Mark detection data storage device

+0n

+1n

+2n

+3n

The 4th detection

The 5th detection replaces the previous first detection.

(Note): "n" in above figure is different depending on the data type storage device.

• 16-bit integer type : 1

• 32-bit integer type : 2

• 64-bit floating-point type : 4

4 - 70

4 AUXILIARY AND APPLIED FUNCTIONS

(1) Operations

Operations done at mark detection are shown below.

• Calculations for the mark detection data are estimated at leading edge/trailing edge of the mark detection signal.

However, when the Specified Number of Detection mode is set, the current mark detection is checked against the counter value for number of mark detections and then it is determined whether or not to latch the current detection data.

• When a mark detection data range is set, it is first confirmed whether the mark detection data is within the range or not. Data outside the range are not detected.

• The mark detection data is stored in the first device of the mark detection data storage area according to the mark detection mode, and then the number of mark detections counter is updated.

Operation examples for each mode are shown in the table below.

(a) Continuous Detection mode

Confirmation of mark detection data range

(Upper/lower value setting: Valid)

Mark detection signal

(Leading edge detection setting)

Mark detection data current value

Mark detection data storage device

Number of mark detections counter

0

Real current value

(Continuous update)

Detected real current value

1

Data outside range are not latch.

Detected real current value

2

"0 clear" by user program

(b) Specified Number of Detection mode (Number of detections: 2)

Confirmation of mark detection data range

(Upper/lower value setting: Valid)

Mark detection is not executed because the counter for number of mark detections is already 2 (More than the number of detections).

Mark detection signal

(Leading edge detection setting)

Mark detection data current value

Mark detection data storage device

Mark detection data storage device (2nd area)

Number of mark detection counter

0

Real current value

(Continuous update)

Detection real current value (1st)

1

Detection real current value (2nd)

2

"0 clear" by user program

4 - 71

4 AUXILIARY AND APPLIED FUNCTIONS

(2) Mark detection setting

The mark detection setting parameters are shown below.

Up to 32 mark detections setting can be registered.

No. Item

1

2

3

Mark detection signal

Mark detection signal detection direction

(Note-1)

Mark detection signal compensation time

(Note-2)

Mark detection data

Data type

At device selection

Estimate calculation

Ring counter value

Built-in interface in Motion CPU (DI)/Q172DLX (DOG/CHANGE)/Device (Bit device (X, Y, M,

B, SM, U \G))

Valid on leading edge/Valid on trailing edge

-5000000 to 5000000[µs]/Word device (D, W, #, U \G)

Motion control data/Device (Word device (D, W, #, SD, U \G))

16-bit integer type/32-bit integer type/64-bit floating-point type

Valid (Normal data)/Valid (Ring counter)/Invalid

16-bit integer type

32-bit integer type

: K1 to K32767, H001 to H7FFF

: K1 to K2147483647, H00000001 to H7FFFFFFF

64-bit floating-point type : K2.23E-308 to K1.79E+308

4 Mark detection data storage device Word device (D, W, #, U \G)

5

Upper value

Lower value

Mark detection mode setting

Direct designation (K, H)/Word device (D, W, #, U \G)

16-bit integer type : K-32768 to K32767, H0000 to HFFFF

32-bit integer type : K-2147483648 to K2147483647, H00000000 to HFFFFFFFF

64-bit floating-point type : K-1.79E+308 to K-2.23E-308, K0, K2.23E-308 to K1.79E+308

Continuous detection mode/Specified number of detection mode/Ring buffer mode/

Device (Word device (D, W, #, U \G))

(Note-3)

6

Mark detection data range

Number of detections

Mark detection times counter

1 to 8192 (Specified number of detection mode/Ring buffer mode)

(Note-4)

(Continuous detection mode)/Word device (D, W, #, U \G)

7

Mark detection current value monitor device

8 Mark detection signal status

(Note-4)

(Note-4)

/Word device (D, W, #, U \G)

/Bit device (X, Y, M, B, U \G)

(Note-1): Set the input signal detection direction of built-in interface in Motion CPU (DI) in the "CPU Setting" of system setting.

For the input signal detection direction of Q172DLX (DOG/CHANGE), select "Q172DLX" of "Motion slot setting" and set the direction with detail setting.

(Note-2): The mark detection signal compensation time cannot be set if "Invalid" is selected in the estimate calculation. (0[µs] is set.)

(Note-3): When the setting value is outside the range of "-8192 to 8192", the mark detection is invalid.

(Note-4): This setting can be ignored.

(a) Mark detection signal

Set the input signal for mark detection.

1) Module input signal a) Built-in interface in Motion CPU

Input module Signal

Module No.

Q173DSCPU Q172DSCPU

Signal No.

Detection accuracy [µs]

Signal detection direction

(Leading edge/Trailing edge)

Built-in interface in

Motion CPU

DI — 1 to 4 30

Set direction in the "CPU

Setting" of system settings.

4 - 72

4 AUXILIARY AND APPLIED FUNCTIONS b) Q172DLX

• Install the Q172DLX to the main base to use Q172DLX

(DOG/CHANGE). If the Q172DLX is installed to the extension base, the mark detection function cannot be used.

• The mark detection operation is executed at the DOG/CHANGE signal input with the count type home position return or speedposition switching control.

Set the device in the "mark detection mode setting" and setting value outside "-8192 to 8192" to invalidate the mark detection.

• The signal which does not set the axis No. in the system setting can be also used as the mark detection signal.

Input module

Signal

Q172DLX DOG/CHANGE

Module No.

Q173DSCPU Q172DSCPU

Signal No.

1 to 4 1 to 2 1 to 8

Detection accuracy [µs]

Signal detection direction

(Leading edge/Trailing edge)

• I/O response time 0.4[ms]: 69

• I/O response time 0.6[ms]: 133

• I/O response time 1.0[ms]: 261

Select "Q172DLX" of "Motion slot setting" in the system setting and set the direction with detail setting.

2) Bit device

Bit device Setting range

Detection accuracy [µs]

Signal detection direction

(Leading edge/Trailing edge)

X(PX)

Y(PY)

M

B

SM

U \G

0 to 1FFF

(Note-1)

0 to 1FFF

0 to 8191

0 to 1FFF

0 to 1999

10000.0 to (10000+p-1).F

(Note-2)

• Operation cycle 222[µs] : 222

• Operation cycle 444[µs] or more : 444

Set direction in the mark detection signal detection direction.

(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.)

(Note-2): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU.

(b) Mark detection signal detection direction

Set whether to execute the mark detection to valid on leading edge (OFF to

ON) or valid on trailing edge (OFF to ON) of input signal.

Set the input signal detection direction in the System Settings as shown below.

• For built-in interface in Motion CPU (DI)

Set direction in the "CPU Setting" of system settings.

• For Q172DLX (DOG/CHANGE)

Select "Q172DLX" of "Motion slot setting" in the system setting and set the direction with detail setting.

Input signal detection direction

Valid on leading edge

Valid on trailing edge

Remarks

The mark detection is executed when the mark detection signal transitions from OFF to ON.

The mark detection is executed when the mark detection signal transitions from ON to OFF.

4 - 73

4 AUXILIARY AND APPLIED FUNCTIONS

(c) Mark detection signal compensation time

Compensate the input timing of the mark detection signal.

Set it to compensate for sensor input delays, etc. (Set a positive value to compensate for a delay.)

However, the mark detection signal compensation time cannot be set if

"Invalid" is selected in the estimate calculation. (0[µs] is set.)

The timing is compensated as "-5000000" when the compensation time is set to less than -5000000, and it is compensated as "5000000" when it is set to more than 500000.

1) Direct designation

Setting range

-5000000 to 5000000 [µs]

2) Indirect designation

Word device

D

W

#

U \G

Setting range

(Note-1)

0 to 8191

0 to 1FFF

0 to 9215

10000 to (10000+p-1)

(Note-2)

Remarks

The setting value is input for every operation cycle.

(Note-1): Set an even number as the first device.

(Note-2): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU.

(d) Mark detection data

Set the data to latch at mark detection.

1) Motion control data

Item Unit

Q173DSCPU Q172DSCPU

Remarks

Feed current value

Real current value

Motor real current value

Servo command value

Position feed back

Absolute position encoder within onerevolution position

Absolute position encoder within multirevolution position

Deviation counter value

Servo command speed

Motor speed

10

-1

10

-5

[µm], 10

-5

[inch],

[degree], [PLS]

[PLS]

32-bit integer type

16-bit integer type

1 to 32 1 to 16 —

[PLS]

[PLS/s]

0.01[r/min]

32-bit integer type

Motor current 0.1[%] 16-bit integer type

Synchronous encoder current value 1 to 12

Valid in SV22 only

Virtual servomotor feed current value

[PLS] 32-bit integer type Valid in SV22

Current value within one cam shaft revolution

Current value within one cam shaft revolution

(Actual)

(Note)

1 to 32 1 to 16 virtual mode only

(Note): Current value within one cam shaft revolution takes into consideration the delay of the servo amplifier.

4 - 74

4 AUXILIARY AND APPLIED FUNCTIONS

2) Word device data

Word device

D

W

#

SD

U \G

Setting range

0 to 8191

0 to 1FFF

0 to 9215

0 to 1999

10000 to (10000+p-1)

(Note-1)

Remarks

(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU.

3) Data type

Set the data type at word device data setting.

Data type

16-bit integer type

32-bit integer type

64-bit floating-point type

Remarks

Set the device No. as an even No.

4) Estimate calculation

Set the estimate calculation to "Valid/Invalid" at the word device data setting.

Estimate calculation

Normal data

Ring counter value

Valid

Ring counter

16-bit integer type

32-bit integer type

K1 to K32767, H0001 to H7FFF

K1 to K2147483647,

H00000001 to H7FFFFFFF

64-bit floating-point type K2.23E-308 to K1.79E+308

Invalid — a) Estimate calculation : Valid

Calculation for word device data in the operation cycle is estimated.

The latch data is the value estimated at the timing in which the mark detection signal is input. The value is calculated as shown in the figure below whether the word device data is normal data or a ring counter. Set the ring counter value for the ring counter.

• Valid (Normal data)

Operation cycle

Estimate line

Word device data

Latch data t

Mark detection signal

4 - 75

4 AUXILIARY AND APPLIED FUNCTIONS

• Valid (Ring counter)

Operation cycle

Ring counter value

Latch data

Mark detection signal

Estimate line

Word device data t

POINT

If "Valid (Normal data)" is selected for word device data updated as a ring counter, the latch data may not be estimated correctly. b) Estimate calculation : Invalid

Calculation for word device data in operation cycle is not estimated.

The latch data is the word device data at the timing in which the mark detection signal is input. The detection accuracy is the operation cycle regardless of the mark detection signal type.

Operation cycle

Word device data

Latch data t

Mark detection signal

(e) Mark detection data storage device

Set the mark detection data storage device (first device to use in the

"Specified Number of Detections mode" or "Ring Buffer mode").

When using the "Specified Number of Detections mode" or "Ring Buffer mode", reserve the device area to accommodate the number of detections.

Setting range

(Note-1)

Remarks Word device

D

W

#

U \G

0 to 8191

0 to 1FFF

0 to 9215

(Note-2)

10000 to (10000+p-1)

(Note-3)

(Note-1): Set an even numbered device in the 32-bit integer type/64-bit floating-point type.

(Note-2): The data can be stored in #9216 to #12287 in the "Specified Number of Detections mode" or "Ring Buffer mode".

(Note-3): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU.

4 - 76

4 AUXILIARY AND APPLIED FUNCTIONS

(f) Mark detection data range

When the data at mark detection is within the range, they are stored in the mark detection data storage device and the number of mark detections counter is incremented by 1.

• Upper limit value > Lower limit value

The mark detection is executed when the mark detection data is "greater or equal to the lower limit value and less than or equal to the upper limit value". t

Lower limit value

Upper limit value

• Upper limit value < Lower limit value

The mark detection is executed when the mark detection data is "greater or equal to the lower limit value or less than or equal to the upper limit value". t

Lower limit value

Upper limit value

• Upper limit value = Lower limit value

The mark detection range is not checked. The mark detection is always executed.

1) Direct designation

Data type Setting range

16-bit integer type

32-bit integer type

K-32768 to K32767, H0000 to HFFFF

K-2147483648 to K2147483647, H00000000 to HFFFFFFFF

64-bit floating-point type K-1.79E+308 to K-2.23E-308, K0, K2.23E-308 to K1.79E+308

2) Indirect designation

Word device Setting range

(Note-1)

D

W

#

U \G

0 to 8191

0 to 1FFF

0 to 9215

10000 to (10000+p-1)

(Note-2)

Remarks

The setting value is input for every operation cycle.

(Note-1): Set an even numbered device in the 32-bit integer type/64-bit floating-point type.

(Note-2): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU.

4 - 77

4 AUXILIARY AND APPLIED FUNCTIONS

Mode

(g) Mark detection mode setting

Set the data storage method of mark detection.

1) Direct designation

Number of detections

Operation for mark detection Mark detection data storage method

Continuous detection mode

Specified number of detection mode

Ring buffer mode

1 to 8192

1 to 8192

Number of detections

(If the number of mark detections counter is the number of detections or more, the mark detection is not executed.)

Always

(The mark detection data storage device is used as a ring buffer for the number of detections.)

The data is stored in the following device area.

"Mark detection data storage device

+ Number of mark detections counter ×Mark detection data size"

2) Indirect designation

Word device

D

W

#

U \G

Setting range

0 to 8191

0 to 1FFF

0 to 9215

10000 to (10000+p-1)

(Note-1)

Remarks

• Used as 1 word device.

• Set the mark detection mode using the following setting values.

0 : Continuous detection mode

1 to 8192 : Specified number of detection mode

(Set the number of detections.)

-8192 to -1 : Ring buffer mode

(Set the value that make the number of buffers into negative value.)

Others : Mark detection : Invalid

• The setting value is input for every operation cycle.

(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU.

4 - 78

4 AUXILIARY AND APPLIED FUNCTIONS

Word device

D

W

#

U \G

(h) Number of mark detections counter

The counter value is incremented by 1 at mark detection. Preset the initial value (0, etc.) in the user program to execute the mark detection in

"Specified Number of Detections mode" or "Ring Buffer mode".

This setting can be ignored when the continuous detection mode is selected.

Setting range

0 to 8191

0 to 1FFF

0 to 9215

10000 to (10000+p-1)

(Note-1)

Remarks

• Used as 1 word device.

• The counter is updated as follows after the mark detection data storage.

Continuous detection mode: 0 to 65535

The counter value is incremented by 1.

It returns to 0 when the counter value exceeds 65535.

Specified number of detection mode: 0 to (number of detections)

The counter value is incremented by 1.

Ring buffer mode : 0 to (number of buffers -1)

The counter value is incremented by 1.

It returns to 0 when the counter value reaches the set number of buffers or more.

(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU.

(i) Mark detection current value monitor device

The current value of mark detection data can be monitored.

This setting can be ignored.

Word device Setting range

(Note-1)

Remarks

D

W

#

U \G

0 to 8191

0 to 1FFF

0 to 9215

10000 to (10000+p-1)

(Note-2)

The monitor value is updated for every operation cycle.

(Note-1): Set an even number as device in the 32-bit integer type/64-bit floating-point type.

(Note-2): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU.

(j) Mark detection signal status

The ON/OFF status of mark detection signal can be monitored.

This setting can be ignored.

Bit device

X

Y

M

Setting range

0 to 1FFF

(Note-1)

0 to 1FFF

0 to 8191

Remarks

The ON/OFF status is reflected for every operation cycle.

B

U \G

0 to 1FFF

10000.0 to (10000+p-1).F

(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.)

(Note-2): Set an even number as device in the 32-bit integer type/64-bit floating-point type.

4 - 79

4 AUXILIARY AND APPLIED FUNCTIONS

MEMO

4 - 80

APPENDICES

APPENDICES

APPENDIX 1 Special Relays/Special Registers

APPENDIX 1.1 Special relays

Special relays are internal relays whose applications are fixed in the Motion CPU. For this reason, they cannot be used in the same way as the normal internal relays by the

Motion SFC programs (SV13/SV22)/Motion programs (SV43).

However, they can be turned ON/OFF as needed in order to control the Motion CPU.

The headings in the table that follows have the following meanings.

Item Explanation

No.

Name

Meaning

Details

• Indicates the device No. of the special relay.

• Indicates the name of the special relay.

• Indicates the nature of the special relay.

• Indicates detailed information about the nature of the special relay.

Set by

(When set)

• Indicates whether the relay is set by the system or user, and, if it is set by system, when setting is performed.

<Set by>

S: Set by system (Motion CPU)

U: Set by user (Motion SFC program/Motion program or test operation using

MT Developer2)

S/U: Set by both system (Motion CPU) and user

<When set> Indicated only if setting is done by system (Motion CPU).

Main process: Set during each main processing (free time processing of the CPU)

Initial process: Set only during initial processing (when power supply is turned ON, or when executed the reset)

Status change : Set only when there is a change in status

Error : Set when error is occurred.

Request : Set only when there is a user request (Special relay, etc.)

Operation cycle : Set during each operation cycle of the Motion CPU.

APP.

APP - 1

APPENDICES

Table 1.1 Special relay list

No. Name Meaning Details

SM53

SM58

AC/DC DOWN detection

OFF : No error error

OFF : No self-diagnostic error

ON : Self-diagnostic error

SM51 Battery low latch

Battery low warning latch

SM59 Battery low warning

SM60 Fuse blown detection

SM211 Clock data error

OFF : Normal

ON : Battery low

OFF : Normal

ON : Battery low

OFF : AC/DC DOWN not detected

ON : AC/DC DOWN detected

OFF : Normal

ON : Battery low

OFF : Normal

ON : Battery low

OFF : Normal

ON : Module with blown fuse

• Turn ON if an error occurs as a result of diagnosis.

• Remains ON even if the condition is restored to normal thereafter.

• Turn ON by ON to OFF of the Motion error detection flag

(M2039) for except the stop error after confirming the error content.

• Turn ON if an error occurs as a result of self-diagnosis.

• Remains ON even if the condition is restored to normal thereafter.

• Turn ON by ON to OFF of the Motion error detection flag

(M2039) for except the stop error after confirming the error content.

• Turn ON if the voltage of battery reduces to less than 2.5[V].

• Remains ON even if the condition is restored to normal thereafter.

• Turn on when the voltage of the battery reduces to less than

2.5[V].

• Turn OFF when the voltage of external battery returns to normal.

• Turn ON if an instantaneous power failure of within 20[ms] occurs during use of the AC power supply module.

Reset when the power supply is switched OFF, then ON.

• Turn ON if an instantaneous power failure of within 10[ms] occurs during use of the AC power supply module.

Reset when the power supply is switched OFF, then ON.

• Turn ON if the voltage of battery reduces to less than 2.7[V].

• Remains ON even if the condition is restored to normal thereafter.

• Turn on when the voltage of the battery reduces to less than

2.7[V].

• Turn OFF when the voltage of external battery returns to normal.

• Turn ON if there is at least one output module whose fuse has blown.

• Remains ON even if the condition is restored to normal thereafter.

• Turn ON if an error occurs in clock data (SD210 to SD213) value, and turn OFF if no error is detected.

SM220

(Note-1)

SM221

(Note-1)

SM222

(Note-1)

SM223

(Note-1)

CPU No.1 READY complete

CPU No.2 READY complete

CPU No.3 READY complete

CPU No.4 READY complete

OFF : No error

ON : Error

OFF : CPU No.1 READY incompletion

ON : CPU No.1 READY completion

OFF : CPU No.2 READY incompletion

ON : CPU No.2 READY completion

OFF : CPU No.3 READY incompletion

ON : CPU No.3 READY completion

OFF : CPU No.4 READY incompletion

ON : CPU No.4 READY completion

• Turn ON if CPU No. 1 which uses Multiple CPU high speed bus can be operated between Multiple CPU.

• Turn ON if CPU No. 2 which uses Multiple CPU high speed bus can be operated between Multiple CPU.

• Turn ON if CPU No. 3 which uses Multiple CPU high speed bus can be operated between Multiple CPU.

• Turn ON if CPU No. 4 which uses Multiple CPU high speed bus can be operated between Multiple CPU.

SM240 No.1 CPU resetting

OFF : CPU No.1 reset cancel

ON : CPU No.1 resetting

• Goes OFF when reset of the No.1 CPU is cancelled.

• Comes ON when the No.1 CPU is resetting

(including the case where the CPU module is removed from the base).

The other CPUs are also put in reset status.

Set by

(When set)

S (Occur an error)

S (Request)

S (Change status)

Remark

APP - 2

APPENDICES

Table 1.1 Special relay list (Continued)

No. Name

SM241 No.2 CPU resetting

SM242 No.3 CPU resetting

SM243 No.4 CPU resetting

SM244 No.1 CPU error

SM245 No.2 CPU error

SM246 No.3 CPU error

SM247 No.4 CPU error

SM400 Always ON

SM401 Always OFF

SM500

PCPU READY complete

SM501 Test mode ON

SM502

SM503

SM508

SM510

External forced stop input

Digital oscilloscope executing

Amplifier-less operation status

TEST mode request error

Meaning Details

Set by

(When set)

OFF : CPU No.2 reset cancel

ON : CPU No.2 resetting

OFF : CPU No.3 reset cancel

ON : CPU No.3 resetting

OFF : CPU No.4 reset cancel

ON : CPU No.4 resetting

OFF : CPU No.1 normal

ON : CPU No.1 during stop error

OFF : CPU No.2 normal

ON : CPU No.2 during stop error

OFF : CPU No.3 normal

ON : CPU No.4 during stop error

OFF : CPU No.4 normal

ON : CPU No.4 during stop error

ON

OFF

ON

OFF

• Goes OFF when reset of the No.2 CPU is cancelled.

• Comes ON when the No.2 CPU is resetting

(including the case where the CPU module is removed from the base).

The other CPUs result in "MULTI CPU DOWN" (error code:

7000).

• Goes OFF when reset of the No.3 CPU is cancelled.

• Comes ON when the No.3 CPU is resetting

(including the case where the CPU module is removed from the base).

The other CPUs result in "MULTI CPU DOWN" (error code:

7000).

• Goes OFF when reset of the No.4 CPU is cancelled.

• Comes ON when the No.4 CPU is resetting

(including the case where the CPU module is removed from the base).

The other CPUs result in "MULTI CPU DOWN" (error code:

7000).

• Goes OFF when the CPU No.1 is normal. (Including a continuation error)

• Comes ON when the CPU No.1 is during stop error.

(Note-2)

• Goes OFF when the CPU No.2 is normal. (Including a continuation error)

• Comes ON when the CPU No.2 is during stop error.

(Note-2)

• Goes OFF when the CPU No.3 is normal. (Including a continuation error)

• Comes ON when the CPU No.3 is during stop error.

(Note-2)

• Goes OFF when the CPU No.4 is normal. (Including a continuation error)

• Comes ON when the CPU No.4 is during stop error.

(Note-2)

• Normally is ON.

• Normally is OFF.

ON : PCPU READY completion

OFF : PCPU READY incompletion

ON : TEST mode ON

OFF : Except TEST mode

• When the PLC ready flag (M2000) turn OFF to ON, the fixed parameters, servo parameters and limit switch output data, etc., are checked, and if no error is detected, this flag turns ON.

• Turn OFF with PLC ready flag (M2000) OFF.

• Judge whether TEST mode ON or not using

MT Developer2.

• If the TEST mode is not established by TEST mode request using MT Developer2, the TEST mode request error

(SM510) turns ON.

ON : Forced stop OFF

OFF : Forced stop ON

ON : Digital oscilloscope is stop

OFF : Digital oscilloscope is executing

ON : During amplifier-less operation

OFF : During normal operation

• Confirm forced stop ON/OFF.

• Confirm the execution of digital oscilloscope using

MT Developer2.

• Confirm the amplifier-less operation status.

OFF : Normal

• Turn ON if the TEST mode is not established by TEST mode request using MT Developer2.

• When this relay is ON, the error content is stored in the

TEST mode request error register (SD510, SD511).

S (Change status)

S (Main processing)

S (Request)

S (Operation cycle)

S (Change status)

S (Main processing)

S (Occur an error)

Remark

APP - 3

APPENDICES

Table 1.1 Special relay list (Continued)

No. Name Meaning Details

Set by

(When set)

Remark

SM512

Motion CPU WDT error

SM513

Manual pulse generator axis setting error

ON : At least one D714 to

D719 setting is abnormal.

OFF : All D714 to D719 settings are normal.

Servo program setting error

SM516 (SV13/SV22)/

Motion program setting error (SV43)

OFF : Normal

SM526

Over heat warning latch

SM527 Over heat warning

SM528

No.1 CPU MULTR complete

SM529

No.2 CPU MULTR complete

SM530

No.3 CPU MULTR complete

SM531

No.4 CPU MULTR complete

OFF : Normal

OFF : Normal

OFF : Normal

OFF to ON :

CPU No.1 read completion

OFF to ON :

CPU No.2 read completion

OFF to ON :

CPU No.3 read completion

OFF to ON :

CPU No.4 read completion

• Turn ON when a "watchdog timer error" is detected by the

Motion CPU self-diagnosis function.

When the Motion CPU detects a WDT error, it executes an immediate stop without deceleration of the operating axes.

• The error cause is stored in the "Motion CPU WDT error cause (SD512)".

• Judge whether normal/abnormal of the register for manual pulse generator axis setting register (D714 to D719).

• When this relay is ON, the error content is stored in the manual pulse generator axis setting error register (SD513 to SD515).

• Judge whether normal/abnormal of the positioning data of servo program(K) (SV13/SV22)/Motion program(SV43) specified with the Motion SFC program, and if error is detected this flag turns ON.

• The content of an error is stored at SD516, SD517.

• Turn ON when the temperature of Motion CPU module becomes specified value 85[°C] (185[°F]) or more.

Remains ON even if normal status is restored.

• Turn ON when the temperature of Motion CPU module becomes specified value 85[°C] (185[°F]) or more.

Turn OFF when the temperature of Motion CPU module returns to normal.

• Turn ON when the data read from CPU No.1 is normal by

MULTR instruction.

• Turn ON when the data read from CPU No.2 is normal by

MULTR instruction.

• Turn ON when the data read from CPU No.3 is normal by

MULTR instruction.

• Turn ON when the data read from CPU No.4 is normal by

MULTR instruction.

S (Occur an error)

S (Read completion)

SM801

Clock data read request

OFF : Ignored

ON : Read request

• When this relay is ON, clock data is read to SD210 to

SD213 as BCD values.

SM805

Rapid stop deceleration time setting error invalid flag

Ver.!

OFF : Setting error valid

ON : Setting error invalid

• When this relay is ON, the large value than deceleration time can be set as rapid stop deceleration time. (The servo program setting error (error code: 51) will not occur.)

U

(Note-1): It is used for interlock condition of Multiple CPU high speed bus dedicated instruction when a synchronous system set in Multiple CPU synchronous startup setting of system setting.

(Note-2): The CPU No.1 is reset after the factor of the stop error is removed to cancel a stop error

→ Resetting is cancelled.

Ver.!

: Refer to Section 1.5 for the software version that supports this function.

APP - 4

APPENDICES

APPENDIX 1.2 Special registers

Special registers are internal registers whose applications are fixed in the

Motion CPU. For this reason, it is not possible to use these registers in Motion

SFC programs (SV13/SV22)/Motion programs (SV43) in the same way that normal registers are used.

However, data can be written as needed in order to control the Motion CPU.

Data stored in the special registers are stored as BIN values if no special designation has been made to the contrary.

The headings in the table that follows have the following meanings.

Item Explanation

Number

Name

Meaning

Details

• Indicates the No. of the special register.

• Indicates the name of the special register.

• Indicates the nature of the special register.

• Indicates detailed information about the nature of the special register.

Set by

(When set)

• Indicates whether the register is set by the system or user, and, if it is set by system, when setting is performed.

<Set by>

S: Set by system (Motion CPU)

U: Set by user (Motion SFC program/Motion program or test operation using

MT Developer2)

S/U: Set by both system (Motion CPU) and user

<When set> Indicated only if setting is done by system (Motion CPU).

Main process: Set during each main processing (free time processing of the CPU)

Initial process: Set only during initial processing (when power supply is turned ON, or when executed the reset)

Status change : Set only when there is a change in status

Error : Set when error is occurred.

Request : Set only when there is a user request (Special relay, etc.)

Operation cycle : Set during each operation cycle of the Motion CPU.

APP - 5

APPENDICES

Table 1.2 Special register list

No. Name Meaning Details

• Error codes for errors found by diagnosis are stored as BIN data.

• Refer to "APPENDIX 3" for details of the error code.

• After confirm the error content, except the stop error, it is possible to clear by

ON to OFF of the Motion error detection flag (M2039).

• Clear SD0 to SD26 by ON to OFF of the Motion error detection flag (M2039) for except the stop error after confirming the error content.

SD1

SD2

SD3

SD4

Clock time for diagnostic error occurrence

Error information categories

Clock time for diagnostic error occurrence

Error information category code

• The year (last two digits) and month that SD0 data was updated is stored as

BCD 2-digit code.

B15 to B8 B7 to B0

Example : January 2006

H0601

Year(0 to 99) Month(1 to 12)

• The day and hour that SD0 data was updated is stored as BCD 2-digit code.

B15 to B8

Day(1 to 31)

B7 to B0

Hour(0 to 23)

Example : 25st, 10 a.m

H2510

• The minute and second that SD0 data was updated is stored as BCD 2-digit code.

B15 to B8 B7 to B0

Example : 35min., 48 sec.

H3548

Minute(0 to 59) Second(0 to 59)

• Category codes which help indicate what type of information is being stored in the error common information areas (SD5 to SD15) and error individual information areas (SD16 to SD26) are stored. The category code for judging the error information type is stored.

B15 to B8 B7 to B0

Individual information category codes

Common information category codes

• The common information category codes store the following codes.

0: No error

1: Module No./CPU No./Base No.

• The individual information category codes store the following codes.

0: No error

5: Parameter No.

13:Parameter No./CPU No.

SD5 • Common information corresponding to the diagnostic error (SD0) is stored.

SD6 • The error common information type can be judged by SD4 (common

SD7 information category code).

SD8

1: Module No./CPU No./Base No.

SD9

SD10

SD11

SD12

Error common information

Error common information

• For the Multiple CPU system, Module No. or CPU No. is stored depending on the error that occurred.

(Refer to corresponding error code for which No. has been stored.)

CPU No.1: 1, CPU No.2: 2, CPU No.3: 3, CPU No.4: 4

SD13

SD14

SD15

SD5

SD6

SD7 to

SD15

Module No./CPU No./Base No.

Empty

Set by

(When set)

S (Occur an error)

Remark

APP - 6

APPENDICES

Table 1.2 Special register list (Continued)

No. Name Meaning

SD16

SD17

SD18

SD19

Details

• Individual information corresponding to the diagnostic error (SD0) is stored.

• The error individual information type can be judged by SD4 (individual information category code).

5: Parameter No.

Set by

(When set)

Remark

SD25

SD26

Error individual information

SD53

AC/DC DOWN counter No.

SD60 Fuse blown No.

Error individual information

Number of times for AC/DC DOWN

0401H

0406H

0E00H

0E01H

E00BH

: Base setting

: Motion slot setting

: Multiple CPU setting (Number of Multiple CPU's)

: Multiple CPU setting (Operation mode/Multiple CPU

E008H synchronous startup)

: Multiple CPU high speed transmission area setting(CPU specific send range setting/ (System area))

E009H/E00AH : Multiple CPU high speed transmission area setting

(Automatic refresh setting)

: Synchronous setting

13: Parameter No./CPU No.

S (Occur an error)

No.

SD16

SD17

SD18 to

SD26

Meaning

CPU No.(1 to 4)

Empty

• Every time the input voltage fails to or below (85[%] AC power/65[%] DC power) the rating during calculation of the Motion CPU module, the value is incremented by 1 and stored in BIN code.

Module No. with blown fuse

• The lowest station I/O No. of the module with the blown fuse is stored.

• The CPU switch status is stored in the following format.

B15 B12 B11

B8 B7 B4 B3 B0

SD200 Status of switch

Status of CPU switch

Not used

1)

1) CPU switch status 0: RUN

1: STOP

• The CPU operating status is stored as indicated in the following figure.

B15 B12 B11 B8 B7 B4 B3 B0

S (Main processing)

SD203

Operating status of CPU

Operating status of CPU

1) Operating status of CPU

2) STOP cause

2)

0: RUN

2: STOP

0: RUN/STOP switch

1)

APP - 7

APPENDICES

Table 1.2 Special register list (Continued)

No. Name Meaning

SD210

Clock data

(Year, Month)

Details

• The year (last two digits) and month are stored as BCD code.

B15 to B12 B11 to B8 B7 to B4

B3 to B0

Example : July, 2006

H0607

SD211

Clock data

(Day, Hour)

Year Month

• The day and hour are stored as BCD code.

B15 to B12 B11 to B8 B7 to B4 B3 to B0

Example : 31st, 10 a.m.

H3110

SD212

Clock data

Clock data

(Minute, Second)

Day Hour

• The minutes and seconds are stored as BCD code.

B15 to B12 B11 to B8 B7 to B4 B3 to B0

Example : 35 min., 48 sec.

H3548

Minute Second

• The day of week is stored as BCD code.

B15 to B12 B11 to B8 B7 to B4 B3 to B0

Example : Friday

H0005

SD213

SD290

SD291

SD292

SD293

SD294

SD295

SD296

SD297

Device assignment

SD298

SD299

SD300

SD301

SD302

SD303

SD304

Clock data

(Day of week)

Always set to "0".

4

5

2

3

6

0

1

Day of week

Sunday

Monday

Tuesday

Wednesday

Thursday

Friday

Saturday

• Stores the number of points currently set for X devices.

Number of points assigned for X

Number of points assigned for Y

Number of points assigned for M

Number of points assigned for L

Number of points assigned for B

Number of points assigned for F

Number of points assigned for SB

Number of points assigned for V

Number of points assigned for S

Number of points assigned for T

Number of points assigned for ST

Number of points assigned for C

Number of points assigned for D

Number of points assigned for W

Number of points assigned for SW

• Stores the number of points currently set for Y devices.

• Stores the number of points currently set for M devices.

• Stores the number of points currently set for L devices.

• Stores the number of points currently set for B devices.

• Stores the number of points currently set for F devices.

• Stores the number of points currently set for SB devices.

• Stores the number of points currently set for V devices.

• Stores the number of points currently set for S devices.

• Stores the number of points currently set for T devices.

• Stores the number of points currently set for ST devices.

• Stores the number of points currently set for C devices.

• Stores the number of points currently set for D devices.

• Stores the number of points currently set for W devices.

• Stores the number of points currently set for SW devices.

APP - 8

Set by

(When set)

Remark

S/U (Request)

S (Initial processing)

APPENDICES

Table 1.2 Special register list (Continued)

No. Name Meaning Details

SD395 Multiple CPU No. Multiple CPU No. • CPU No. of the self CPU is stored.

SD500

SD501

SD502

SD503

Real mode axis information register

Servo amplifier loading information

Real mode axis information register

Servo amplifier loading information

SD504

SD505

SD506

Real mode/virtual mode switching error information

SD508

SD510

SD511

SSCNET control

(Status)

Test mode request error information

Real mode /virtual mode switching error code

• Connect/ disconnect of

SSCNET communication

• Start/release of amplifier-less operation

It is operating in requirement error occurrence of the test mode, axis information

• The information (Except real mode axis: 0/Real mode axis: 1) used as a real mode axis at the time of switching from real mode to virtual mode is stored.

SD500 : b0 to b15 (Axis 1 to 16)

SD501 : b0 to b15 (Axis 17 to 32)

• The real mode axis information does not change at the time of switching from virtual mode to real mode

• The loading status (loading: 1/non-loading: 0) of the servo amplifier checked, and stored as the bit data.

SD502 : b0 to b15 (Axis 1 to 16)

SD503 : b0 to b15 (Axis 17 to 32)

• The mounting status of changed axis after the power supply on is stored.

• 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.

• 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

• Each axis is stopping: 0/Operating: 1, information is stored as a bit data.

SD510 : b0 to b15 (Axis 1 to Axis 16)

SD511 : b0 to b15 (Axis 17 to Axis 32)

SD513

SD514

SD515

Manual pulse generator axis setting error

SD516

Error program

No.

SD517

Error item information

SD521

Maximum scan time

SD522

Motion operation cycle

• The following error codes are stored in SD512.

1: S/W fault 1

2: Operation cycle over

SD512

Motion CPU

WDT error cause

Error meaning of

WDT error occurs

SD520 Scan time

Manual pulse generator axis setting error information

300: S/W fault 3

303: S/W fault 4

304: RIO WDT error

• Contents of the manual pulse generator axis setting error is stored when the manual pulse generator axis setting error (SM513) turn on.

(Normal: 0/Setting error: 1)

SD513 : The manual pulse generator axis setting error is stored in b0 to b2

(P1 to P3).

The smoothing magnification setting is stored in b3 to b5 (P1 to P3).

SD514 : One pulse input magnification setting error is stored in b0 to b15

(axis 1 to axis 16).

SD515 : One pulse input magnification setting error is stored in b0 to b15

(axis 17 to axis 32).

Error program No. of servo program

(SV13/SV22)/ motion program

(SV43)

Error code of servo program

(SV13/SV22)/ motion program

(SV43)

Scan time

(1ms units)

Maximum scan time (1ms units)

Motion operation cycle

• When the servo program setting error (SV13/SV22)/motion program setting error (SV43) (SM516) turns on, the erroneous servo program No.

(SV13/SV22)/motion program No. (SV43) will be stored.

• When the servo program setting error (SV13/SV22)/motion program setting error (SV43) (SM516) turns on, the error code corresponding to the erroneous setting item will be stored.

• Main cycle is stored in the unit 1ms.

Setting range (0 to 65535[ms])

• The maximum value of the main cycle is stored in the unit 1ms.

Setting range (0 to 65535[ms])

• The time required for motion operation cycle is stored in the [µs] unit.

Set by

(When set)

S (Initial processing)

Remark

S (At virtual mode transition)

S (Operation cycle)

S (Occur an error)

S (Main processing)

S (Occur an error)

S (Main processing)

S (Operation cycle)

APP - 9

APPENDICES

Table 1.2 Special register list (Continued)

No. Name Meaning Details

Set by

(When set)

Remark

SD523

SD524

Operation cycle of the Motion

CPU setting

Maximum Motion operation cycle

QDS

SD550

SD551

System setting error information

QDS

SD552

Servo parameter write/read request

QDS

Operation cycle of the Motion CPU setting

Maximum Motion operation cycle

Error code

Error individual information

Servo parameter read value

SD700

SD701

SD702

SD703

SD704

Device assignment

Number of points assigned for #

Number of points assigned for CPU

No.1 Multiple CPU area devices

Number of points assigned for CPU

No.2 Multiple CPU area devices

Number of points assigned for CPU

No.3 Multiple CPU area devices

Number of points assigned for CPU

No.4 Multiple CPU area devices

• The setting operation cycle is stored in the [µs] unit.

• The maximum time for motion operation is stored every motion operation cycle in [µs] unit.

• The error code indicating the details of system setting error is stored.

• The individual information of system setting error is stored.

• The read value of servo parameter which executed "2: Read request" in

SD804 is stored.

• Stores the number of points for device # used in the Motion CPU.

• Stores the number of points currently set for CPU No.1 Multiple CPU area devices.

• Stores the number of points currently set for CPU No.2 Multiple CPU area devices.

• Stores the number of points currently set for CPU No.3 Multiple CPU area devices.

• Stores the number of points currently set for CPU No.4 Multiple CPU area devices.

SD720

SD721

444µs coasting timer

SD722

SD723

222µs coasting timer

QDS

444µs coasting timer

222µs coasting timer

SD803

SSCNET control

(Command)

• Connect/ disconnect of

SSCNET communication

• Start/release of amplifier-less operation

• Current value (SD720, SD721) is incremented by 1 per 444µs.

Read SD720 device in 2 word unit.

Item

Data size

Latch

Usable tasks

Specification

2 word (-2147483648 to 2147483647)

Cleared to zero at power-on or reset, a count rise is continued from now on.

Normal, event, NMI

Access Read only enabled

Timer specifications 444µs timer

• Current value (SD722, SD723) is incremented by 1 per 222µs.

Read SD722 device in 2 word unit.

• This register is not updated when the operation cycle is set to other than

0.2ms.

Item

Data size

Latch

Usable tasks

Access

Specification

2 word (-2147483648 to 2147483647)

Cleared to zero at power-on or reset, a count rise is continued from now on.

Normal, event, NMI

Read only enabled

Timer specifications 222µs timer

• 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 : 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

S (Initial processing)

S (Operation cycle)

S (Occur an error)

S (Read request)

S (Initial processing)

S (444µs)

S (222µs)

U

APP - 10

APPENDICES

Table 1.2 Special register list (Continued)

No. Name Meaning

SD804

(Note-1)

Details

Servo parameter write/read request flag

• The "write/read request" is executed after setting of the axis No. and servo parameter No.

1: Write request

2: Read request

• "0" is automatically set by Motion CPU after completion of servo parameter write/read request. ("-1" is stored by Motion CPU at write/read error.)

• The axis No. to write/read servo parameter is stored.

Set by

(When set)

S/U

Remark

SD806

SD807

Servo parameter write/read request

QDS

Servo parameter

No.

Servo parameter value

Q172DSCPU: 1 to 16

• The servo parameter No. to be written/read is stored in hexadecimal.

H

Parameter No.

Parameter group No.

0: PA

1: PB

2: PC

3: PD

4: PE

5: PF

9: Po

A: PS

B: PL (MR-J4(W)- B only)

C: PT (MR-J4(W)- B only)

Fixed at 0

• The setting value of servo parameter to be written is stored when "1: Write request" is set in SD804.

U

(Note-1): Do not execute the automatic refresh.

APP - 11

APPENDICES

APPENDIX 1.3 Replacement of special relays/special registers

When a project of Q17 HCPU(-T)/Q17 CPUN(-T)/Q17 CPU is converted into a project of Q17 D(S)CPU by "File diversion" in MT Developer2, they are automatically allocated to "Automatically converted to special relays (SM2000 to SM2255), special registers (SD2000 to SD2255)". (Refer to table 1.3 and table 1.4.)

"Automatically converted to special relays (SM2000 to SM2255), special registers

(SD2000 to SD2255)" output the same statuses and data as the "Special relay, special register of Q17 D(S)CPU".

When replacing "automatically converted to special relays (SM2000 to SM2255), special registers (SD2000 to SD2255)" into "Special relay, special register of

Q17 D(S)CPU", confirm the device usage condition by "List of used device" of

MT Developer2. (Refer to table 1.3 and table 1.4.)

Refer to the help of MT Developer2 for operation procedure of the list of used device.

POINT

When a project of Q17 HCPU(-T)/Q17 CPUN(-T)/Q17 CPU are copied from other project by program editor in MT Developer2, they are not replaced to

"automatically converted to special relays (SM2000 to SM2255), special registers

(SD2000 to SD2255)".

REMARK

Confirm the device usage condition by "List of used device" of MT Developer2" to change the device number used in a project of Q17 HCPU(-T)/Q17 CPUN(-T)/

Q17 CPU except the special relays or special registers to the device number of

Q17 D(S)CPU. (Refer to "APPENDIX 4.2 Comparison of devices".)

APP - 12

APPENDICES

Table 1.3 Replacement of special relays

Q17 HCPU(-T)/

Q17 CPUN(-T)/Q17 CPU

Special relays

Device No.

Special relay allocated device

Automatically

Q17 D(S)CPU converted to special relays

Special relays

M9000

M9005

M2320

M2321

SM2000

SM2005

SM60

SM53

Name Remark

Fuse blown detection

AC/DC DOWN detection

M9007

M9025

M9026

M9028

M9060

M2323

M3136

M2328

M3137

M3138

SM2007

SM2026

SM2028

SM2060

SM51

SM211

SM801

Battery low latch

Clock data set request

Clock data error

Clock data read request

Diagnostic error reset

It operates by the clock data of CPU No.1

Use M2039 for error reset operation.

M9218

M9219

M9240

M9241

M9242

M9243

M9244

M9245

M9246

M9247

M9073 M2329 SM2073 SM512 Motion CPU WDT error

M9074

M9075

M9076

M9077

M2330

M2331

M2332

M2333

SM2074

SM2075

SM2076

SM2077

SM500

SM501

SM502

SM513

PCPU READY complete

Test mode ON

External forced stop input

Manual pulse generator axis setting error

M9078 M2334 SM2078 SM510 TEST mode request error

Servo program setting error (SV13/SV22)/

M9079 M2335 SM2079 SM516

Motion program setting error (SV43)

M9216

M9217

M2345

M2346

SM2216

SM2217

SM528

SM529

No.1 CPU MULTR complete

No.2 CPU MULTR complete

M2347

M2348

M2336

M2337

M2338

M2339

M2340

M2341

M2342

M2343

SM2218

SM2219

SM2240

SM2241

SM2242

SM2243

SM2244

SM2245

SM2246

SM2247

SM530

SM531

SM240

SM241

SM242

SM243

SM244

SM245

SM246

SM247

No.3 CPU MULTR complete

No.4 CPU MULTR complete

No.1 CPU resetting

No.2 CPU resetting

No.3 CPU resetting

No.4 CPU resetting

No.1 CPU error

No.2 CPU error

No.3 CPU error

No.4 CPU error

POINT

(1) The special relay allocated devices (M2320 to M2399, M3136 to M3199) of

Q17 HCPU(-T)/Q17 CPUN(-T)/Q17 CPU are not allocated to

"Automatically converted to special relays". Confirm the device usage condition by "List of used device" of MT Developer2" to change them. (Refer to table 1.3.)

(2) "Automatically converted to special relays SM2028 (Clock data set request)" is shown below.

• Device OFF to ON : "Special relay of Q17 D(S)CPU" ON

• Device ON to OFF : "Special relay of Q17 D(S)CPU" OFF

APP - 13

APPENDICES

Table 1.4 Replacement of special registers

Q17 HCPU(-T)/

Special registers

Device No.

Q17 CPUN(-T)/Q17 CPU

Automatically converted to

Q17 D(S)CPU special registers Special registers

D9000

D9005

SD2000

SD2005

SD60

SD53

Name Remark

Fuse blown No.

AC/DC DOWN counter No.

D9013

D9014

D9015

D9019

D9025

D9026

D9027

D9028

D9060

D9061

D9184

D9188

D9189

D9190

D9196

D9197

D9200

D9201

SD2013

SD2014

SD2015

SD2019

SD2025

SD2026

SD2027

SD2028

SD2060

SD2061

SD2184

SD2188

SD2189

SD2190

SD2196

SD2197

SD2200

SD2201

SD1

(Year, month)

Clock time for diagnostic error occurrence

(Day, hour)

Clock time for diagnostic error occurrence

(Minute, second)

SD4

SD5

SD203

Error information categories

Error common information

Operating status of CPU

SD521

SD210

SD211

SD212

SD213

SD395

D9112 SD2112

SD803

SD512

SD522

SD516

SD517

Maximum scan time

Clock data (Year, month)

Clock data (Day, hour)

Clock data (Minute, second)

Clock data (Day of week)

Multiple CPU No.

SSCNET control (Status)

SSCNET control (Command)

Motion operation cycle

Error program No.

Error item information

SD504

SD523

SD200

Diagnostic error reset error No.

Motion CPU WDT error cause

Real mode/virtual mode switching error information

PC link communication error codes

Operation cycle of the Motion CPU setting

State of switch

State of LED

Use M2039 for error reset operation.

Q173D(S)CPU/

Q172D(S)CPU does not support PC link communication.

Use 7-segment LED in

Q173D(S)CPU/

Q172D(S)CPU.

POINT

"Automatically converted to special registers SD2112 (SSCNET control)" are reflected to the Q17 D(S)CPU special registers by setting the data to devices.

APP - 14

APPENDICES

APPENDIX 2 System Setting Errors

Motion CPUs generate a system configuration error under the following conditions.

Table 2.1 System Setting Errors

System setting error information

QDS

Error code

(SD550)

Error individual information

(SD551)

2

Base No.,

Slot No.

Error name

QD

LAY ERROR

(SL )

(Note-4)

3

4

6

10

11

13

16

17

18

20

21

Axis No. of servo amplifier

AXIS NO.

MULTIDEF

None (0) AMP NO SETTING

Base No.,

Slot No.

SL

ERROR

UNIT

(Note-4)

None (0)

I/O POINTS OVER

AXIS NO. ERROR

SYS.SET DATA

ERR

None (0)

Base No.,

Slot No.

(

ROM ERROR3

)

(

ROM ERROR4

)

(

CAN'T USE SL

)

(Note-4)

(

UNIT SET ERR

)

(Note-4)

7-segment

LED

(Note-1)

AMP TYPE

: Axis No.1 to

32) "AL" flashes

3- times

"L01" display

ROM ERROR2

Error code

(Note-2)

Error cause

Check timing

Operation at error occurrence

10014

(Note-3)

10016

(Note-5)

• The slot set in system settings is vacant or a different module is installed.

• The axis No. setting overlaps in the system settings.

• The axis No. (function select switch) setting of servo amplifier overlaps in the same SSCNET system.

• When the MR-J4W B is used, the axis setting equal to the number of used axes set in the servo amplifier is not set in the system setting.

• The servo amplifier is not set even by one axis in the system settings.

• The module installed in the slot of the motion CPU control is abnormal.

• The number of actual I/O points set in system settings exceeds 256.

• System setting data is not written.

• System setting data is not written.

• System setting data is written without relative check.

Or it is written at the state of error occurrence.

Multiple

CPU system's power supply ON/

Reset

Always

Cannot be started.

(Motion CPU system setting error)

Multiple

CPU system's power supply ON/

Reset

• The servo amplifier that cannot be used for the operating system software is set in the system settings.

• The servo amplifier series set in the system setting and installed servo amplifier series is different.

Servo amplifier's power supply ON

The servo amplifier for target axis does not operate, the axis does not start.

10014

(Note-3)

• Type of the operating system software of data written to ROM is different.

• Data is not written to ROM.

• Data size of ROM is abnormal.

• Execute the ROM writing again.

• Check the adjustment for the version of Motion

CPU, MT Developer2 and operating system software

.

• Data of ROM is abnormal.

• Execute the ROM writing again.

• Check the adjustment for the version of Motion

CPU, MT Developer2 and operating system software.

• The motion modules that cannot be used are installed.

• Use the Motion modules (Q172DLX,

Q173DPX, Q172DEX).

• The system setting data that set the motion modules that cannot be used are written.

• Use the MT Developer2 of version corresponding to the Motion modules

(Q172DLX, Q173DPX, Q172DEX).

Multiple

CPU system's power supply ON/

Reset

Cannot be started.

(Motion CPU system setting error)

APP - 15

APPENDICES

Table 2.1 System Setting Errors (Continued)

System setting error information

QDS

Error code

(SD550)

Error individual information

(SD551)

Error name

QD

7-segment

LED

(Note-1)

Error code

(Note-2)

Error cause

Check timing

Operation at error occurrence

22

None (0)

SAFERY

SYS.ERR.

• The safety function parameters are set to the motion

CPU that does not support the safety observation function.

• The safety signal monitor parameter is set to other than CPU No.2.

Multiple

CPU system's power supply ON/

Reset

24

25

Fixed parameter unregistered error

Parameter block unregistered error

"AL" flashes

3- times

"L01" display

10014

(Note-3)

• The fixed parameter is not written.

• The parameter block is not written.

• The servo parameter of the system setting axis is not written.

27 None

Software security key error

• The software security keys of the motion controller OS and the user project do not match.

• The software security key is embedded only in either of the motion controller OS or the user project.

(Note-1): ""AL" flashes 3-times "L01" display" (Repetition) Error code is not displayed.

Multiple

CPU system's power supply ON/

Reset/

M2000 ON

Cannot be started.

(Motion CPU system setting error)

(Note-2): Error code stored in diagnostic error (SD0)

(Note-3): When the error code 10014 occurs, the system setting error flag (M2041) turns ON and the error name of table 2.1 is displayed on the error list monitor of MT Developer2.

(Note-4): " " part is indicated the following contents.

(Example) For LAY ERROR (SL )

LAY ERROR(SL )

Slot No.

Base No.

(Note-5): When the error code 10016 occurs, the motion slot fault detection flag (M2047) turns ON and the error name of table 2.1 is displayed on the error list monitor of MT Developer2.

APP - 16

APPENDICES

APPENDIX 3 Self-diagnosis Error

Multiple CPU related errors are stored in the CPU shared memory "self CPU operation information area (1H to 1CH)" of each module and self diagnostic error information

(SD0 to SD26) of the special register (SD) as the self diagnostic errors.

Error codes (1000 to 9999) of Multiple CPU related errors are common to each CPU module.

The error code (10000 to 10999) is stored as required at Motion CPU-specific error occurrence.

Confirm the error codes and contents by "Motion error history" on Motion CPU error batch monitor of MT Developer2 and remove the error cause if an error occurs.

Confirm operation status and error occurrence of each CPU used in the Multiple CPU system by PLC diagnosis of GX Works2/GX Developer.

APP - 17

<Screen: GX Works2>

APPENDICES

Item

Table 3.1 Multiple CPU related errors which occurs in Motion CPU (1000 to 9999)

CPU hard error

Module hard error

Error code

(SD0)

1000

1001

1002

1003

1004

1005

1006

1007

1008

1009

1105

Error message

MAIN CPU DOWN

RAM ERROR

1150

1401

(1) Multiple CPU related errors which occurs in Motion CPU

Each digit of error code has been described as follows.

Digit

Tens digit

Hundreds digit

:

:

:

Details code

7

8

5

6

9

1

2

3

4

Major division

Internal hardware

Handling

Parameter

Program

Watch timer

Redundant system

Multiple CPU

Outside diagnosis

SP. UNIT DOWN

Common information

(SD5 to SD15)

Module No.

Module No.

Individual Information

(SD16 to SD26)

7-segment LED display

CPU operation status

"AL" flashes 3 times

Steady "A1" display

4 digits error code is displayed in two flashes of 2 digits each.

Stop

Stop

Stop

Stop

Diagnostic timing

Always

At power ON/

At reset

Always

At power ON/

At reset

1403 Always

1413 —

CONTROL-BUS. ERR.

No.

(Note-2)

Always

Base Stop

1416 CPU No.

(Note-1)

(Note-1) : CPU No. is stored in slot No. of common information classification.

At power ON/

At reset

(Note-2) : Base No. stored in "common information classification code" of "error information classification code" "0 : Main base, 1 to 7 : Number of extension bases.

APP - 18

APPENDICES

Error code

(SD0)

1000

1001

1002

Error contents and cause Corrective action

1006

1007

1008

1009

1105 The CPU shared memory in the CPU module is faulty.

1150

The memory of the CPU module in the Multiple CPU high speed transmission area is faulty.

1300

1401

1403

There is an output module with a blown fuse.

(1) There was no response from the Motion module/intelligent function module in the initial processing.

(2) The size of the buffer memory of the Motion module/intelligent function module is invalid.

(3) The unsupported module is mounted.

(1) An error is detected at the intelligent function module.

(2) The I/O module (including intelligent function module) is nearly removed or completely removed/mounted during running.

1414

1415 Fault of the main or extension base unit was detected.

1416 System bus fault was detected at power-on or reset.

(1) Take noise reduction measures.

(2) Reset the CPU module and RUN it again. If the same error is displayed again, this suggests a CPU module hardware fault.

Explain the error symptom and get advice from our sales representative.

Check FUSE. LED of the output modules and replace the module whose

LED is lit.

(1) Set the Motion module/intelligent function module used in the Motion

CPU in the system setting.

(2) When the unsupported module is mounted, remove it.

When the corresponding module is supported, this suggests the Motion module, intelligent function module, CPU module and/or base unit is expecting a hardware fault.

Explain the error symptom and get advice from our sales representative.

The CPU module, base unit and/or the intelligent function module that was accessed is experiencing a hardware fault.

Explain the error symptom and get advice from our sales representative.

Reset the CPU module and RUN it again. If the same error is displayed again, the intelligent function module, CPU module or base unit is faulty.

Explain the error symptom and get advice from our sales representative.

APP - 19

APPENDICES

Table 3.1 Multiple CPU related errors which occurs in Motion CPU (1000 to 9999)

(Continued)

Item

Error code

(SD0)

Error message

Common information

(SD5 to SD15)

Individual Information

(SD16 to SD26)

7-segment LED display

CPU operation status

Diagnostic timing

1431

Multiple CPU high speed bus

1432

MULTI-C.BUS ERR.

Battery

1430 —

1433

1434

Power supply

1435

1500 AC/DC DOWN

1600 BATTERY ERROR

Handling the intelligent function module/

Multiple CPU module

2100

Module No.

2107

2124 — "AL" flashes 3 times

SP. UNIT LAY ERR.

2125

Steady "A1" display

4 digits error code is displayed in two flashes of 2 digits each.

2140

Module No.

2150 SP. UNIT VER. ERR.

CPU No.

Drive name

"AL" flashes 3 times

Steady "A1" display

4 digits error code is displayed in two flashes of 2 digits each.

None

Steady "BT1"

Steady "BT2"

Stop

Continue

Continue Always

Stop

At power ON/

At reset

Always

Always

At power ON/

At reset

APP - 20

APPENDICES

Error code

(SD0)

1430

1431

1432

1433

1434

1435

1500

1600

2100

2107

2124

2125

2140

2150

Error contents and cause Corrective action

The error of self CPU is detected in the Multiple CPU high speed bus.

The communication error with other CPU is detected in the Multiple

CPU high speed bus.

The communication time out with other CPU is detected in the

Multiple CPU high speed bus.

The communication error with other CPU is detected in the Multiple

CPU high speed bus.

Reset the CPU module and RUN it again. If the same error is displayed again, this suggests a CPU module hardware fault.

Explain the error symptom and get advice from our sales representative.

(1) Take noise reduction measures.

(2) Check the main base unit mounting status of the CPU module.

(3) Reset the CPU module and RUN it again. If the same error is displayed again, this suggests a CPU module or base unit hardware fault.

Explain the error symptom and get advice from our sales representative.

Reset the CPU module and RUN it again. If the same error is displayed again, this suggests a CPU module hardware fault.

Explain the error symptom and get advice from our sales representative.

(1) Take noise reduction measures.

(2) Check the main base unit mounting status of the CPU module.

(3) Reset the CPU module and RUN it again. If the same error is displayed again, this suggests a CPU module or base unit hardware fault.

Explain the error symptom and get advice from our sales representative.

A momentary power supply interruption has occurred.

The power supply went off.

(1) The battery voltage in the CPU module has dropped below stipulated level.

(2) The battery holder unit that install the battery is not mounted to the

CPU module.

Check the power supply.

(1) Change the battery.

(2) Mount the battery holder unit that installs the battery.

In the I/O assignment setting of PLC CPU, the intelligent function module was allocated to an I/O module or vice versa.

The first I/O No. set in the system settings is overlapped with the one for another module.

(1) A module is mounted on the 65th or higher slot.

(2) The extension base unit set to "None" is mounted.

(1) A module which the CPU cannot recognize has been mounted.

(2) There was no response form the intelligent function module.

Make the PLC parameter's I/O assignment setting again so it is consistent with the actual status of the intelligent function module and the CPU module.

Make the I/O No. setting again so it is consistent with the actual status of the modules.

(1) Remove the module mounted on the 65th or later slot.

(2) Remove the extension base unit set to "None".

(1) Install an usable module.

(2) The intelligent function module is experiencing a hardware fault.

Explain the error symptom and get advice from our sales representative.

The motion modules (Q172DLX, Q172DEX, Q173DPX, Q172LX,

Q172EX (-S1/-S2/-S3), Q173PX (-S1)) are installed in CPU slot or

I/O 0 to 2 slot.

Remove the Motion modules installed CPU slot or I/O 0 to 2 slot.

In a Multiple CPU system, the control CPU of intelligent function module incompatible with the Multiple CPU system is set to other than

CPU No.1.

(1) Change to the intelligent function module (function version B or later) compatible with the Multiple CPU system.

(2) Change the control CPU of intelligent function module incompatible with the Multiple CPU system to CPU No.1.

APP - 21

APPENDICES

Table 3.1 Multiple CPU related errors which occurs in Motion CPU (1000 to 9999)

(Continued)

Item

Error code

(SD0)

Error message

Common information

(SD5 to SD15)

Individual Information

(SD16 to SD26)

7-segment LED display

CPU operation status

Diagnostic timing

Parameter

Multiple CPU

3001

3012

3013

3015

PARAMETER ERROR —

7000

MULTI CPU DOWN

7002

7010

CPU No.

(Note-1) (Note-4)

CPU No.

(Note-1)

CPU No.

(Note-1)

Parameter No.

Parameter No./

CPU No.

"AL" flashes 3 times

Steady "A1" display

4 digits error code is displayed in two flashes of 2 digits each.

Stop

At power ON/

At reset/

STOP RUN

At power ON/

At reset

Always supply ON/ at reset

At power at reset

7013

7020 MULTI CPU ERROR

CPU No.

CPU No.

(Note-1)

7030

CPU LAY. ERROR

CPU No.

— Stop

At power supply ON/ at reset

7031

7035 Module No.

(Note-1) : CPU No. is stored in slot No. of common information classification.

(Note-4) : Because a stop error or CPU No. except CPU No. that it was reset becomes MULTI CPU DOWN simultaneously, a stop error or CPU No. except

CPU No. that it was reset may store in the classification of common error information depending on timing.

APP - 22

APPENDICES

Error code

(SD0)

3001

3012

3013

3015

7000

7002

Error contents and cause Corrective action

The parameter settings are corrupted.

Multiple CPU setting of Multiple CPU setting parameter or control

CPU setting of system setting differs from that of the reference CPU settings.

Multiple CPU automatic refresh setting is any of the following.

(1) When a bit device is specified as a refresh device, a number other than a multiple of 16 is specified for the refresh start device.

(2) The device specified is other than the one that may be specified.

(3) The number of send points is an odd number.

(4) The total number of send points is greater than the maximum number of refresh points.

(1) "Use multiple CPU high speed transmission " is not set in the

Multiple CPU setting of Universal module QCPU.

(2) In a Multiple CPU system, the CPU verified is different from the one set in the parameter setting.

(1) Check the parameter item corresponding the numerical value

(parameter No.), and correct it.

(2) Rewrite corrected parameters to the CPU module, reload or reset the

Multiple CPU system power supply.

(3) If the same error occurs, it is thought to be a hardware error.

Explain the error symptom and get advice from our sales representative.

Match the Multiple CPU setting of Multiple CPU setting parameter or control

CPU setting of system setting with that of the reference CPU (CPU No.1) settings.

Check the following in the Multiple CPU automatic refresh setting and make correction.

(1) When specifying the bit device, specify a multiple of 16 for the refresh start device.

(2) Specify the device that may be specified for the refresh device.

(3) Set the number of send points to an even number.

(4) Set the total number of send points is within the range of the maximum number of refresh points.

(1) Set "Use multiple CPU high speed transmission " in the Universal module QCPU.

(2) Check the parameter item corresponding to the numerical value

(parameter No./CPU No.) and parameter of target CPU, and correct them.

In the operating mode of a Multiple CPU system, a CPU error occurred at the CPU where "All station stop by stop error of CPU" was selected.

In a Multiple CPU system, CPU No.1 resulted in stop error at poweron and the other CPU cannot start. (This error occurred at CPU No.2 to 4)

Check the error of the CPU resulting in CPU module fault, and remove the errors.

There is no response from the target CPU module in a Multiple CPU system during initial communication.

Reset the CPU module and RUN it again. If the same error is displayed again, this suggests the hardware fault of any of the CPU modules.

Explain the error symptom and get advice from our sales representative.

7010 In a Multiple CPU system, a faulty CPU module was mounted. Replace the faulty CPU module.

7011

7013

7020

7030

7031

7035

Either of the following settings was made in a Multiple CPU system.

(1) Multiple CPU automatic refresh setting was made for the inapplicable CPU module.

(2) "I/O sharing when using multiple CPUs" setting was made for the inapplicable CPU module.

The system configuration for using the Multiple CPU high speed transmission function is not met.

(1) The QnUD(E)(H)CPU is not used for the CPU No.1.

(2) The Multiple CPU high speed main base unit (Q3 DB) is not used.

(1) CPU module which cannot be mounted in QnUD(E)(H)CPU is mounted. (The module may break down.)

(2) Q173HCPU, Q172HCPU, Q173CPUN, Q172CPUN is mounted.

In the operating mode of a Multiple CPU system, an error occurred in the CPU where "system stop" was not selected. (The CPU module where no error occurred was used to detect an error.)

An assignment error occurred in the CPU-mountable slot (CPU slot,

I/O slot 0 to 2) in excess of the number of CPU slot (with in the range of CPU number setting parameter).

An assignment error occurred in the CPU slot (within the range of the

CPU number setting parameter).

The CPU module has been mounted on the inapplicable slot.

(1) Correct the Multiple CPU automatic refresh setting.

(2) Correct the "I/O sharing when using multiple CPUs" setting.

Change to the system configuration to meet the conditions for using the

Multiple CPU high speed transmission function.

Remove Q173HCPU, Q172HCPU, Q173CPUN, Q172CPUN.

Check the error of the CPU resulting in CPU module fault, and remove the error.

(1) Set the same value to the number of CPU modules specified in the

Multiple CPU setting of the PLC parameter and the number of mounted

CPU modules (including CPU (empty)).

(2) Make the same as the state of the installation of CPU module set in the system setting.

Mount the CPU module on the applicable slot.

APP - 23

APPENDICES

Error code

(SD0)

10003

10004

10005

1 0

(2) Motion CPU-specific errors

Each digit of error code has been described as follows.

Refer to programming manuals for error details.

Digit

Tens digit

Hundreds digit

Thousands digit

:

: Details code

:

: Positioning CPU division

(0 : Motion CPU)

Ten thousands digit : Except PLC CPU

Minor/major error

Minor/major error (Virtual servo motor axis)(SV22)

Minor/major error (Synchronous encoder axis)(SV22)

Servo error

Details code

003

004

005

006

007

008

009

Servo program setting error (SV13/SV22)/

Motion program setting error (SV43)

Mode switching error (SV22)

Manual pulse generator axis setting error

TEST mode request error 010

011

014

016

020

021

022

023

030

WDT error

System setting error

Motion slot fault

Motion SFC control error (F/FS)

Motion SFC control error (G)

Motion SFC control error (K or others (Not F/FS, G))

Motion SFC control error (Motion SFC chart)

Motion CPU internal bus error

050 Safety observation error (Alarm)

051 Safety observation error (Warning)

Table 3.2 Motion CPU-specific errors (10000 to 10999)

Error messages

Common information

(SD5 to SD15)

Individual information

(SD16 to SD26)

7-segment LED display CPU operation status

None

10006

"AL" flashes 3 times

Steady "S01" display

10007

10008

10009

MC.UNIT ERROR

10010

10011

10014

10016

10020

10021

10022

10023

10030

10050

10051

— —

None

Steady ". . . " display

"AL" flashes 3 times

Steady "L01" display

None

Continue

Stop

Continue

Stop

Continue

APP - 24

APPENDICES

Error code

(SD0)

Error contents and cause

10003 Minor/major errors had occurred.

10004 Minor/major errors had occurred in virtual servomotor axis. (SV22)

10005

Minor/major errors had occurred in synchronous encoder axis.

(SV22)

10006

10007

10008

10009

The servo errors had occurred in the servo amplifier connected to the Motion CPU.

Servo program setting (SV13/SV22)/Motion program setting error

(SV43) error occurred.

Real mode/virtual mode switching error occurred. (SV22)

Manual pulse generator axis setting error occurred.

10010 Test mode request error occurred.

10011 WDT error occurred at Motion CPU.

10014 System setting error occurred at Motion CPU.

10016 Motion slot fault occurred at Motion CPU.

10020

10022

10023

10030 Motion CPU internal bus error occurred.

10050

10051

Safety observation error (alarm) occurred.

Safety observation error (warning) occurred.

Corrective action

Check the Motion error history of MT Developer2 and the minor/major error codes of minor/major error code of minor/major error code storage device, and remove the error cause.

Refer to the error codes for error details.

Check the Motion error history of MT Developer2 and the servo error codes of servo error code storage device, and remove the error cause of servo amplifier.

Refer to the servo error code for details.

Check the Motion error history of MT Developer2 and the servo program setting error (SV13/SV22)/Motion program setting error (SV43) storage device (error program No., error item information), and remove the error cause.

Refer to the error codes for details.

Check the Motion error history of MT Developer2 and the real mode/virtual mode switching error storage device, and remove the error cause.

Refer to the real mode/virtual mode switching error codes for details.

Check the Motion error history of MT Developer2 and the manual pulse generator axis setting error storage device, and remove the error cause.

Refer to the manual pulse generator axis setting error codes for details.

Check the Motion error history of MT Developer2 and the test mode request error storage device, and remove the error cause.

Check the Motion error history of MT Developer2 and the Motion CPU WDT error factors, and remove the error cause.

Check the error message on error monitor screen of MT Developer2, and remove the error cause. And then, turn on the power supply again or reset the Multiple CPU system.

Check the Motion error history of MT Developer2, and remove the error cause.

Refer to the Motion SFC error code for details.

Motion CPU module hardware fault.

Explain the error symptom and get advice from our sales representative.

Check the Motion error history of MT Developer2 or the Safety observation error code storage device, then release the error cause.

For the details of the error definition, check the Safety observation error code.

APP - 25

APPENDICES

(3) Self-diagnostic error information

No. Name Meaning errors

Diagnostic error code

Details

• Error codes for errors found by diagnosis are stored as BIN data.

SD1

SD2

SD3

SD4

Clock time for diagnostic error occurrence

Error information categories

Clock time for diagnostic error occurrence

Error information category code

• The year (last two digits) and month that SD0 data was updated is stored as BCD 2-digit code.

B15 to B8

Year(0 to 99)

B7 to B0

Month(1 to 12)

Example : January 2006

H0601

• The day and hour that SD0 data was updated is stored as BCD 2-digit code.

B15 to B8

Day(1 to 31)

B7 to B0

Hour(0 to 23)

Example : 25st, 10 a.m

H2510

• The minute and second that SD0 data was updated is stored as BCD 2-digit code.

B15 to B8

Minute(0 to 59)

B7 to B0

Second(0 to 59)

Example : 35min., 48 sec.

H3548

• Category codes which help indicate what type of information is being stored in the error common information areas (SD5 to SD15) and error individual information areas (SD16 to SD26) are stored. The category code for judging the error information type is stored.

B15 to B8 B7 to B0

Individual information category codes

Common information category codes

• The common information category codes store the following codes.

0: No error

1: Module No./CPU No./Base No.

• The individual information category codes store the following codes.

0: No error

5: Parameter No.

13:Parameter No./CPU No.

• Common information corresponding to the diagnostic error (SD0) is stored.

• The error common information type can be judged by SD4(common information category code).

1: Module No./CPU No./Base No.

SD5 to

SD15

Error common information

SD16 to

SD26

Error individual information

Error common information

Error individual information

No. Meaning

SD5 Module No./CPU No./Base No.

SD6

SD7 to

SD15

Empty

• Individual information corresponding to the diagnostic error (SD0) is stored.

• The error individual information type can be judged by SD4(individual information category code).

5: Parameter No.

No.

SD16

SD17 to

SD26

Meaning

Empty

0401H

0406H

0E00H

0E01H

E008H

: Base setting

: Motion slot setting

: Multiple CPU setting (Number of Multiple CPU's)

: Multiple CPU setting (Operation mode/ Multiple CPU synchronous startup)

: Multiple CPU high speed transmission area setting

(CPU specific send range setting / (System area))

E009H/E00AH : Multiple CPU high speed transmission area setting(Automatic refresh setting)

E00BH : Synchronous setting

13: Parameter No./CPU No.

No.

SD16

SD17

SD18 to

SD26

Meaning

CPU No.(1 to 4)

Empty

APP - 26

APPENDICES

(4) Release of Multiple CPU related error

The release operation of errors that continues operation for CPU can be executed.

Release the errors in the following procedure.

1) Remove the error cause.

2) Turn off the Motion error detection flag (M2039).

The special relays, special registers and 7-segment LED for the errors are returned to the status before error occurs after release of errors.

If the same error is displayed again after release of errors, an error is set again, and the Motion error detection flag (M2039) turns on.

(5) Error setting on servo warning

QDS

Setting whether to output error on servo warning to the motion error history or self-diagnosis error of MT Developer2 is possible.

Set this parameter in the system basic setting of system setting.

(Refer to Section 3.1.3.)

APP - 27

APPENDICES

APPENDIX 4 Differences Between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/

Q172DCPU(-S1)/Q173HCPU/Q172HCPU

APPENDIX 4.1 Differences between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/

Q172DCPU(-S1)/Q173HCPU/Q172HCPU

Common differences to the operating system software are shown in Table 4.1.

Refer to "APPENDIX 4.3 Differences of the operating system software " for characteristic differences to the operating system software.

And, refer to "APPENDIX 4.2 Comparison of devices " for detailed differences of devices.

Table 4.1 Differences between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/

Q172DCPU(-S1)/Q173HCPU/Q172HCPU

Q173HCPU/Q172HCPU

Peripheral I/F

USB/RS-232/Ethernet

(Via PLC CPU)

PERIPHERAL I/F

(Motion CPU)

USB/RS-232/Ethernet

(Via PLC CPU)

PERIPHERAL I/F

(Motion CPU)

(Note-1)

USB/SSCNET

Add Q6BAT at continuous power

Battery Demand failure for 1 month or more.

Forced stop input

• Use EMI terminal of Motion CPU module.

• Use device set by forced stop input setting in the system setting.

Use device set by forced stop input setting in the system setting.

Multiple CPU high speed transmission memory for data transfer between CPU modules

Included —

Number of real I/O points

(PX/PY)

Internal relays (M)

Latch relays (L)

Special relays (M)

Special relays (SM)

256 points

(Built-in interface in Motion CPU

(Input 4 points) + I/O module)

256 points

(I/O module)

12288 points

None (Latch for M is possible by latch setting)

2256 points

256 points

(I/O module)

Total 8192 points

256 points

Special registers (D)

Special registers (SD)

Motion registers (#)

Multiple CPU area devices (U \G)

Motion dedicated

PLC instructions

2256 points

12288 points

Up to 14336 points

SV13/

SV22

D(P).DDRD, D(P).DDWR,

D(P).SFCS, D(P).SVST,

D(P).CHGT, D(P).CHGT2,

D(P).CHGV, D(P).CHGA,

D(P).GINT

D(P).DDRD, D(P).DDWR,

D(P).SFCS, D(P).SVST,

D(P).CHGT, D(P).CHGV,

D(P).CHGA, D(P).GINT

D(P).DDRD, D(P).DDWR,

D(P).SFCS, D(P).SVST,

SV43 —

D(P).CHGT, D(P).CHGV,

D(P).CHGA

Multiple instructions are executable continuously without interlock condition by the self CPU high speed interrupt accept flag from CPU .

:CPU No.

256 points

8192 points

S(P).DDRD, S(P).DDWR,

S(P).SFCS, S(P).SVST,

S(P).CHGT, S(P).CHGV,

S(P).CHGA, S(P).GINT

S(P).DDRD, S(P).DDWR,

S(P).SFCS, S(P).SVST,

S(P).CHGT, S(P).CHGV,

S(P).CHGA

Interlock condition by the to self

CPU high speed interrupt accept flag from CPU is necessary.

(Note-1): Q173DCPU-S1/Q172DCPU-S1 only

APP - 28

APPENDICES

Table 4.1 Differences between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/

Q172DCPU(-S1)/Q173HCPU/Q172HCPU (Continued)

CPU empty slot Settable between CPU modules

Q173HCPU/Q172HCPU

SV13 Q172DLX, Q173DPX, Q173DSXY

Q172DLX, Q173DPX,

Q173DSXY

(Note-1)

Q172LX, Q173PX

Motion modules

SV22

Q172DLX, Q172DEX, Q173DPX,

Q173DSXY

Q172DLX, Q172DEX, Q173DPX,

Q173DSXY

(Note-1)

Q172LX, Q172EX, Q173PX

System setting

Latch clear

RUN/STOP

ROM operation

SV43

• QnUD(E)(H)CPU is set as CPU No.1.

• Only Multiple CPU high speed main base unit

(Q35DB/Q38DB/Q312DB) can be used as main base unit.

• Q172DLX, Q172DEX and Q173DPX cannot be installed to I/O 0 to 2 slot.

Q172DLX, Q173DPX

Remote operation

Remote operation, RUN/STOP switch

• ROM writing is executed with mode operated by RAM/ mode operated by ROM.

• ROM writing can be executed for the data of MT Developer2.

Q172LX, Q173PX

• QnUD(H)CPU is set to CPU

No.1.

• Q3 B can be used as a main base unit.

• Q172LX, Q172EX and Q173PX can be mounted to I/O 0 to 2 slot.

L.CLR switch

RUN/STOP switch

Rom writing is executed with installation mode/ mode written in

ROM.

Model of operating system software

SV13/

SV22

SW8DNC-SV Q SW6RN-SV Q

CPU module No.1

Installation orders CPU No.2 or later

SV43 — SW7DNC-SV Q SW5RN-SV Q

QnUD(E)(H)CPU

No restriction

Qn(H)CPU

Install Motion CPU module on the right-hand side of PLC CPU module.

Combination of Motion CPU modules

Combination with

Q173DCPU(-S1)/Q172D(-S1)CPU

Combination with

Q173DSCPU/Q172DSCPU

Combination with

Q173CPUN(-T)/Q172CPUN(-T).

Not settable between CPU modules

CPU shared

Multiple CPU high speed transmission area memory

Access by

Multiple CPU shared memory

Provided None

Possible Impossible

Memory Multiple CPU high speed transmission area in CPU shared memory

Automatic refresh area in CPU shared memory

Automatic refresh

Automatic refresh setting

Multiple CPU high speed refresh function

32 range possible 4 range possible

Provided None

LED display

Latch range setting

Latch (1)

Latch (2)

All clear function

7-segment LED display

It is possible to clear with latch clear(1) and latch clear (1)(2) of remote latch clear.

It is possible to clear with lath clear(1)(2) of remote latch clear.

Execute with installation mode

Each LED of MODE, RUN, ERR,

M.RUN, BAT and BOOT

Range which can be cleared with the latch clear key.

Range which cannot be cleared with the latch clear key.

Turn off the PLC ready flag

(M2000) and test mode ON flag

(M9075) to execute all clear.

(Note-1): Q173DCPU-S1/Q172DCPU-S1 only

APP - 29

APPENDICES

Table 4.1 Differences between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/

Q172DCPU(-S1)/Q173HCPU/Q172HCPU (Continued)

Release of Multiple CPU related error

Self-diagnosis error

Motion error detection flag

(M2039)

Software stroke limit

Battery error check of Motion

CPU

Error setting on servo warning

Q173HCPU/Q172HCPU

When the Motion CPU-specific errors occur, "10000 to 10999" is set in diagnostic errors (SD0) depending on the type of error.

At this time, the self-diagnostic error flag (SM1) and diagnostic error flag (SM0) also turn ON.

Turn off M2039.

Store the error code to be released in the special register

D9060 and turn off to on the special relay M9060.

When the Motion CPU-specific errors occur, 10000 is set in diagnostic errors (D9008).

At this time, the self-diagnostic error flag (M9008) and diagnostic error flag (M9010) do not turn ON.

M2039 turns ON even if any errors occur in the Motion CPU module.

Invalid setting (All units) possible

When the Motion CPU-specific errors occur, M2039 turn ON.

M2039 dose not turn ON at the

Multiple CPU related errors (Error code of D9008: less then 10000) occurrence. (SV13/SV22)

(Note): Unusable for SV43 use.

Invalid setting (degree axis only) possible

Invalid setting possible Anytime valid

Anytime output error

Servo external signal

Optional data monitor function

Axis label

Mark detection function

Speed-torque control function

Torque limit value

PI-PID switching command

Servo parameter read/change function

Selectable whether or not output error

Q172DLX signal, Amplifier input,

DI signal, Bit device

Up to 6 data

(Up to 3 data in SSCNET )

32 characters

Up to 32

Provided

Individual change/monitoring of positive/negative direction torque limit value

Provided

Q172DLX signal, Amplifier input

Up to 3 data

None

None

None

Batch change/monitoring of positive/negative direction torque limit value

None

Provided None

Security function

Digital oscilloscope function

Communication speed

Transmission distance

Standard cable

Long distance cable

Protection by software security key or password

Word 16CH, Bit 16CH

Real-time display possible

Protection by password

Word 4CH, Bit 8CH

Real-time display possible

Word 4CH, Bit 8CH

Real-time display not possible

50Mbps

Up to 20m (65.62ft.) between stations

Maximum overall distance 320m(1049.87ft.) (20m (65.62ft.) ×16 axes)

Up to 50m (164.04ft.) between stations

Maximum overall distance 800m (2624.67ft.) (50m (164.04ft.) ×16 axes)

Servo amplifier

MR-J3- B, MR-J3W- B, MR-J3- B-RJ004, MR-J3- B-RJ006,

MR-J3- B-RJ080W, MR-J3- B Safety

MR-J3- B, MR-J3W- B,

MR-J3- B-RJ004,

MR-J3- B-RJ006,

MR-J3- B Safety

APP - 30

APPENDICES

Table 4.1 Differences between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/

Q172DCPU(-S1)/Q173HCPU/Q172HCPU (Continued)

Communication speed

Transmission distance

Servo amplifier

Standard cable

Long distance cable

Q173HCPU/Q172HCPU

150Mbps

Up to 20m (65.62ft.) between stations

Maximum overall distance

320m(1049.87ft.)

(20m (65.62ft.) ×16 axes)

Up to 100m (328.08ft.) between stations

Maximum overall distance

1600m (5249.34ft.)

(100m (328.08ft.) ×16 axes)

MR-J4- B, MR-J4W- B —

APP - 31

APPENDICES

APPENDIX 4.2 Comparison of devices

(1) Motion registers

(a) Monitor devices

Table 4.2 Motion registers (Monitor devices) list

Q173DSCPU/

Q172DSCPU

Device No.

Q173DCPU(-S1)/

Q172DCPU(-S1)

#8000 to #8019

#8020 to #8039

#8040 to #8059

#8060 to #8079

#8080 to #8099

#8100 to #8119

#8120 to #8139

#8140 to #8159

#8160 to #8179

#8180 to #8199

#8200 to #8219

#8220 to #8239

#8240 to #8259

#8260 to #8279

#8280 to #8299

#8300 to #8319

#8320 to #8339

#8340 to #8359

#8360 to #8379

#8380 to #8399

#8400 to #8419

#8420 to #8439

#8440 to #8459

#8460 to #8479

#8480 to #8499

#8500 to #8519

#8520 to #8539

#8540 to #8559

#8560 to #8579

#8580 to #8599

#8600 to #8619

#8620 to #8639

Q173HCPU/

Q172HCPU

#8064 to #8067 Axis 1 monitor device

#8068 to #8071 Axis 2 monitor device

#8072 to #8075 Axis 3 monitor device

#8076 to #8079 Axis 4 monitor device

#8080 to #8083 Axis 5 monitor device

Name Remark

#8084 to #8087 Axis 6 monitor device

#8088 to #8091 Axis 7 monitor device

#8092 to #8095 Axis 8 monitor device

#8096 to #8099 Axis 9 monitor device

#8100 to #8103 Axis 10 monitor device

#8104 to #8107 Axis 11 monitor device

#8108 to #8111 Axis 12 monitor device

#8112 to #8115 Axis 13 monitor device

#8116 to #8119 Axis 14 monitor device

#8120 to #8123 Axis 15 monitor device

#8124 to #8127 Axis 16 monitor device

#8128 to #8131 Axis 17 monitor device

#8132 to #8135 Axis 18 monitor device

#8136 to #8139 Axis 19 monitor device

#8140 to #8143 Axis 20 monitor device

#8144 to #8147 Axis 21 monitor device

#8148 to #8151 Axis 22 monitor device

#8152 to #8155 Axis 23 monitor device

#8156 to #8159 Axis 24 monitor device

#8160 to #8163 Axis 25 monitor device

#8164 to #8167 Axis 26 monitor device

#8168 to #8171 Axis 27 monitor device

#8172 to #8175 Axis 28 monitor device

#8176 to #8179 Axis 29 monitor device

#8180 to #8183 Axis 30 monitor device

#8184 to #8187 Axis 31 monitor device

#8188 to #8191 Axis 32 monitor device

APP - 32

APPENDICES

Table 4.3 Monitor devices list

Device No.

(Note)

Q173DSCPU/

Q172DSCPU

Q173DCPU(-S1)/

Q172DCPU(-S1)

#8000 + 20n

#8001 + 20n

#8002 + 20n

#8003 + 20n

#8004 + 20n

#8005 + 20n

#8006 + 20n

#8007 + 20n

#8008 + 20n

#8009 + 20n

#8010 + 20n

#8011 + 20n

#8012 + 20n

Q173HCPU/

Q172HCPU

#8064 + 4n

#8065 + 4n

#8066 + 4n

#8067 + 4n

Servo amplifier type

Motor current

Motor speed

Name Remark

Home position return re-travel value

Servo amplifier display servo error code

Parameter error No.

Servo status 1

Servo status 2

Servo status 3

New device in

Q173DCPU/Q172DCPU

New device in

Q173DSCPU/Q172DSCPU

(Note): "n" in the device No. indicates the numerical value (axis No.1 to 32 : n= 0 to 31) which correspond to axis No.

(b) Motion error history

Table 4.4 Motion registers (Motion error history) list

Q173DSCPU/

Q172DSCPU

Device No.

Q173DCPU(-S1)/

Q172DCPU(-S1)

Q173HCPU/

Q172HCPU

(Note)

#8640 to #8651

#8652 to #8663

#8664 to #8675

#8676 to #8687

#8688 to #8699

#8700 to #8711

#8712 to #8723

#8724 to #8735

Name Remark

#8000 to #8007

Seventh error information in past

(Oldest error information)

#8008 to #8015 Sixth error information in past

#8016 to #8023 Fifth error information in past

#8024 to #8031 Fourth error information in past

#8032 to #8039 Third error information in past

#8040 to #8047 Second error information in past

#8048 to #8055 First error information in past

#8056 to #8063 Latest error information

(Note): Unusable for SV43 use.

APP - 33

APPENDICES

Table 4.5 Motion error history list (SV13/SV22)

Device No.

(Note)

Name Remark

Q173DSCPU/

Q172DSCPU

Q173DCPU(-S1)/

Q172DCPU(-S1)

#8640 + 12n

#8641 + 12n

#8642 + 12n

#8643 + 12n

#8644 + 12n

#8645 + 12n

#8646 + 12n

#8647 + 12n

#8648 + 12n

#8649 + 12n

#8650 + 12n

#8651 + 12n

Q173HCPU/

Q172HCPU

#8000 + 8n

#8001 + 8n

#8002 + 8n

#8003 + 8n

#8004 + 8n

#8005 + 8n

#8006 + 8n

#8007 + 8n

Error Motion SFC program No.

Error type

Error program No.

Error block No./Motion SFC list/Line No./Axis No.

Error code

Error occurrence time (Year/month)

Error occurrence time (Day/hour)

Error occurrence time (Minute/second)

Error setting data information

Unusable New device in

Q173DCPU/Q172DCPU

Error setting data

(Note): "n" in the device No. indicates the numerical value (n=0 to 7) which correspond to motion error history.

Table 4.6 Motion error history list (SV43)

Device No.

(Note)

Q173DCPU(-S1)/

Q172DCPU(-S1)

#8640 + 12n

#8641 + 12n

#8642 + 12n

#8643 + 12n

#8644 + 12n

#8645 + 12n

#8646 + 12n

#8647 + 12n

#8648 + 12n

#8649 + 12n

#8650 + 12n

#8651 + 12n

Q173HCPU/Q172HCPU

Error type

Axis No.

Error code

Program No.

Sequence No.

Error block No.

Error occurrence time (Year/month)

Error occurrence time (Day/hour)

Error occurrence time (Minute/second)

Error setting data information

Error setting data

Name Remark

New device in

Q173DCPU/Q172DCPU

(Note) : "n" in the device No. indicates the numerical value (n=0 to 7) which correspond to motion error history.

(c) Product information list device

Q173DSCPU/

Q172DSCPU

Table 4.7 Motion register (Product information list device) list

Device No.

(Note)

Q173DCPU(-S1)/

Q172DCPU(-S1)

#8736 to #8743

Q173HCPU/

Q172HCPU

Name Remark

Operating system software version

#8744 to #8751 — Motion CPU module serial number

New device in

Q173D(S)CPU/

Q172D(S)CPU

APP - 34

APPENDICES

(2) Special relays

Table 4.8 Special relay list

Q173DSCPU/

Q172DSCPU

SM60

SM53

Device No.

Q173DCPU(-S1)/

Q172DCPU(-S1)

Q173HCPU/

Q172HCPU

Name Remark

M9000/M2320 Fuse blown detection

M9005/M2321 AC/DC DOWN detection

SM51 M9007/M2323 Battery low latch

SM211

SM801

M9025/M3136

M9026/M2338

M9028/M3137

M9060/M3138

Clock data set request

Clock data error

Clock data read request

Diagnostic error reset

SM512 M9073/M2329 Motion CPU WDT error

SM500

SM501

SM502

SM513

M9074/M2330 PCPU READY complete

M9075/M2331 Test mode ON

M9076/M2332 External forced stop input

M9077/M2333 Manual pulse generator axis setting error

SM510 M9078/M2334 TEST mode request error

Servo program setting error (SV13/SV22)/

SM516 M9079/M2335

Motion program setting error (SV43)

SM528

SM529

M9216/M2345 No.1 CPU MULTR complete

M9217/M2346 No.2 CPU MULTR complete

SM246

SM247

SM58

SM59

SM220

SM221

SM222

SM223

SM530

SM531

SM240

SM241

SM242

SM243

SM244

SM245

M9218/M2347

M9219/M2348

M9240/M2336

M9241/M2337

M9242/M2338

M9243/M2339

M9244/M2340

M9245/M2341

No.3 CPU MULTR complete

No.4 CPU MULTR complete

No.1 CPU resetting

No.2 CPU resetting

No.3 CPU resetting

No.4 CPU resetting

No.1 CPU error

No.2 CPU error

M9246/M2342 No.3 CPU error

M9247/M2343 No.4 CPU error

Battery low warning latch

Battery low warning

CPU No.1 READY complete

CPU No.2 READY complete

CPU No.3 READY complete

CPU No.4 READY complete

SM503

SM508

SM526

SM527

Digital oscilloscope executing

Amplifier-less operation status flag

Over heat warning latch

Over heat warning

Rapid stop deceleration time setting error invalid

SM805 — — flag

Use M2039 for error reset operation.

New device in

Q173DCPU/Q172DCPU

New device in

Q173DSCPU/Q172DSCPU

APP - 35

APPENDICES

(3) Special registers

Table 4.9 Special registers list

Q173DSCPU/

Q172DSCPU

SD60

SD53

Device No.

Q173DCPU(-S1)/

Q172DCPU(-S1)

Q173HCPU/

Q172HCPU

D9000

D9005

Name Remark

Fuse blown No.

AC/DC DOWN counter No.

Clock time for diagnostic error occurrence

SD1 D9010

(Year, month)

Clock time for diagnostic error occurrence

SD2 D9011

(Day, hour)

Clock time for diagnostic error occurrence

SD3 D9012

(Minute, second)

SD4 D9013 Error information categories

SD5 D9014

SD6 —

SD7 —

SD8 —

SD9 —

SD11 —

SD12 —

SD13 —

SD14 —

SD15 —

SD16 —

SD17 —

SD18 —

SD19 —

SD20 —

SD22 —

SD23 —

SD24 —

SD25 —

SD26 —

SD203 D9015 Operating status of CPU

SD521

SD210

SD211

SD212

SD213

D9019

D9025

D9026

D9027

D9028

D9060

Maximum scan time

Clock data (Year, month)

Clock data (Day, hour)

Clock data (Minute, second)

Clock data (Day of week)

Diagnostic error reset error No.

SD395

SD508

D9061 Multiple CPU No.

SSCNET control (Status)

D9112

SD803 SSCNET control (Command)

SD510 D9182

Test mode request error

SD511 D9183

APP - 36

New device in

Q173DCPU/Q172DCPU

Use M2039 for error reset operation.

APPENDICES

SD515 D9187

SD522

SD516

D9188

D9189

Motion operation cycle

Error program No.

SD517 D9190 Error item information

SD502 D9191

Servo amplifier loading information

SD503 D9192

SD504 D9193

Real mode/virtual mode switching error

SD505 D9194 information

SD506 D9195

— D9196 PC link communication error codes

SD523

SD200

D9197

D9200

D9201

Operation cycle of the Motion CPU setting

State of switch

State of LED

SD524 — — Maximum Motion operation cycle

SD550 — —

System setting error information

SD551 — —

SD552 — — Servo parameter write/read request

SD700 —

SD701 —

SD703 —

SD704 —

SD720 —

444µs coasting timer

SD721 —

SD722 — —

222µs coasting timer

SD723 — —

SD804 — —

SD805 — —

Servo parameter write/read request

SD806 — —

SD807 — —

New device in

Q173DCPU/Q172DCPU

New device in

Q173DSCPU/Q172DSCPU

Table 4.9 Special registers list (Continued)

Q173DSCPU/

Q172DSCPU

Device No.

Q173DCPU(-S1)/

Q172DCPU(-S1)

Q173HCPU/

Q172HCPU

Name Remark

SD512 D9184 Motion CPU WDT error cause

SD513 D9185

Q173D(S)CPU/

Q172D(S)CPU does not support PC link communication.

Use 7-segment LED in

Q173D(S)CPU/

Q172D(S)CPU.

New device in

Q173DSCPU/Q172DSCPU

APP - 37

APPENDICES

(4) Other devices

Table 4.10 Other devices list

Internal relays/

Data registers

M2320 to M2399

M2400 to M3039

M3136 to M3199

Device area of 17 axes or more is usable as user devices in

Q172DSCPU.

Unusable

Device area of 9 axes or more is usable as user devices in

Q172DCPU(-S1).

Unusable

Special relay allocated devices

(Status)

Device area of 9 axes or more is unusable as user devices in

Q172HCPU.

Special relay allocated devices

(Command signal)

M3200 to M3839

D0 to D639

Device area of 17 axes or more is usable as user devices in

Q172DSCPU.

D640 to D703

Personal computer link communication error flag

Device area of 9 axes or more is usable as user devices in

Q172DCPU(-S1).

Device area of 9 axes or more is unusable in Q172HCPU.

— M2034

PI-PID switching command

PCPU READY complete

Home position return retravel value

M3217 + 20n

(Note-1)

SM500

— —

D759

D9 + 20n (Data shortened to 1 word)

(Note-1)

#8006 + 20n, #8007 + 20n

(Referring at monitoring)

(Note-1)

D9 + 20n

(Note-1)

Travel value change registers

Optional device

(Set for D16 + 20n, D17 + 20n are also usable.)

(Note-1)

Q173HCPU/Q172HCPU

D16 + 20n, D17 + 20n

(Note-1)

Indirect setting devices

(Word devices)

Indirect setting devices

(Bit devices)

High-speed reading function settable devices

Optional data monitor function settable devices

D0 to D8191

W0 to W1FFF

#0 to #7999

U \G10000 to U \G(10000 + p – 1)

(Note-2)

X0 to X1FFF

(Note-3)

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

B0 to B1FFF

F0 to F2047

U \G10000.0 to U \G(10000 + p – 1).F

(Note-2)

D0 to D8191

W0 to W1FFF

U \G10000 to U \G(10000 + p – 1)

(Note-2)

D0 to D8191

W0 to W1FFF

#0 to #7999

U \G10000 to U \G(10000 + p – 1)

(Note-2)

D800 to D8191

W0 to W1FFF

#0 to #7999

X0 to X1FFFF

Y0 to Y1FFF

M/L0 to M/L8191

M9000 to M9255

B0 to B1FFF

F0 to F2047

D800 to D3069, D3080 to D8191

W0 to W1FFF

D0 to D8191

W0 to W1FFF

#0 to #7999

(Note-1): "n" in the above device No. indicates the numerical value (axis No.1 to 32 : n= 0 to 31) which correspond to axis No.

(Note-2): "p" indicates the user setting area points of Multiple CPU high speed transmission area in each CPU.

(Note-3): 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.)

APP - 38

APPENDICES

Table 4.10 Other devices list (Continued)

Output device

Watch data

ON section setting

Output enable/disable bit

Forced output bit

X0 to X1FFF

(Note-3)

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

B0 to B1FFF

U \G10000.0 to U \G(10000 + p –1).F

(Note-2)

D0 to D8191

W0 to W1FFF

#0 to #9215

U \G10000 to U \G(10000 + p –1)

(Note-2)

D0 to D8191

W0 to W1FFF

#0 to #9215

Constant (Hn/Kn)

(Note-4)

U \G10000 to U \G(10000 + p – 1)

(Note-2)

X0 to X1FFF

(Note-3)

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

B0 to B1FFF

F0 to F2047

SM0 to SM1999

U \G10000.0 to U \G(10000 + p – 1).F

(Note-2)

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

L0 to L8191

B0 to B1FFF

D0 to D8191

W0 to W1FFF

#0 to #8191

D0 to D8191

W0 to W1FFF

#0 to #8191

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

L0 to L8191

B0 to B1FFF

F0 to F2047

M9000 to M9255

(Note-1): "n" in the above device No. indicates the numerical value (axis No.1 to 32 : n= 0 to 31) which correspond to axis No.

(Note-2): "p" indicates the user setting area points of Multiple CPU high speed transmission area in each CPU.

(Note-3): 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.)

(Note-4): Setting range varies depending on the setting units.

POINT

Refer to Chapter 2 for number of user setting area points of Multiple CPU high speed transmission area.

APP - 39

APPENDICES

APPENDIX 4.3 Differences of the operating system software

(1) Motion SFC (SV13/SV22)

Q173HCPU/Q172HCPU

Motion

SFC program capacity

Code total

(Motion SFC chart

+ Operation control

+ Transition)

Text total

(Operation control +

Transition)

Motion SFC program executing flag

652k bytes

668k bytes

543k bytes

484k bytes

Motion SFC program event task

Task Parameter

Limited count of repeat control

Operation control/transition control usable device

(Word device)

Operation control/transition control usable device

(Bit device)

Motion dedicated function

Instruction

Vision system dedicated function

(Note-1)

Fixed cycle (0.22ms/0.44ms,

0.88ms, 1.77 ms, 3.55 ms,

7.11 ms, 14.2 ms)

NMI task

Fixed cycle (0.44ms, 0.88ms,

1.77 ms, 3.55 ms, 7.11 ms,

14.2 ms)

Normal task : 1 to 100000

Event task : 1 to 10000

: 1 to 10000

D, W, U \G, SD, #, FT

X, PX, Y, PY, M, U \G . , B, F, SM

CHGV, CHGT, CHGT2, CHGP CHGV, CHGT

MVOPEN, MVLOAD, MVTRG, MVPST, MVIN, MVOUT,

MVFIN, MVCLOSE, MVCOM

Data control SCL, DSCL —

Program control IF - ELSE - IEND, SELECT - CASE - SEND, FOR - NEXT, BREAK

543k bytes

484k bytes

X, Y, M, B, U \G —

Fixed cycle (0.88ms, 1.77 ms,

3.55 ms, 7.11 ms, 14.2 ms)

D, W, Special D, #, FT

X, PX, Y, PY, M, L, B, F,

Special M

CHGV, CHGT

(Note-1): Unusable in Q173DCPU/Q172DCPU.

APP - 40

APPENDICES

(2) Virtual mode (SV22)

Q173HCPU/Q172HCPU

Internal relay/

Data register

M4640 to M4687

M5440 to M5487

D1120 to D1239

Unusable as user devices

Device area of 9 axes or more is usable as user devices in the

Q172DCPU.

Device area of 9 axes or more is unusable in the Q172HCPU.

Clutch status

Optional device

(Set for M2160 to M2223 are also usable.)

M2160 to M2223

Cam axis command signals

(Cam/ball screw switching command)

Smoothing clutch complete signals

Real mode axis information register

Optional device

(Set for M5488 to M5519 are also usable.)

Optional device

(Set for M5520 to M5583 are also usable.)

SD500, SD501

M5488 to M5519

M5520 to M5583

D790, D791

Indirect setting devices of mechanical system program

(Word device)

Indirect setting devices of mechanical system program

(Bit device)

D0 to D8191

W0 to W1FFF

#0 to #7999

U \G10000 to U \G(10000 + p –1)

(Note-1)

X0 to X1FFF

(Note-2)

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

B0 to B1FFF

D800 to D3069, D3080 to D8191

W0 to W1FFF

X0 to X1FFF

Y0 to Y1FFF

M/L0 to M/L8191

M9000 to M9255

B0 to B1FFF

F0 to F2047

U \G10000.0 to U \G(10000 + p –1).F

(Note-1)

F0 to F2047

Virtual servo motor

Command in-position range

Cam

Number of pulses per cam shaft revolution

Output unit

Speed change ratio of speed change gear

Permissible droop pulse value of output module

1 to 2147483647

1 to 1073741824[PLS]/

Word device (D, W, #, U \G)

1 to 32767

1 to 1073741824[PLS] mm, inch, PLS, degree mm, inch, PLS

Upper limit value : 0 to 65535

Lower limit value : 0 to 65535

1 to 1073741824 [PLS]

1 to 32767

1 to 1073741824[PLS]/ mm, inch, PLS

Upper limit value : 1 to 10000

Lower limit value : 1 to 10000

1 to 65535[ 100PLS]

(Note-1): "p" indicates user setting area points of Multiple CPU high speed transmission area in each CPU.

(Note-2): 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.)

POINT

Refer to Chapter 2 for number of user setting area points of Multiple CPU high speed transmission area.

APP - 41

APPENDICES

(3) Motion program (SV43)

DNC operation

Internal relay/

Data register

M4320 to M4335

Motion program capacity

Variable Device variable

Instructions

Jump/repetition processing

Instructions symbol

Multiprogramming depth of IF statement/WHILE statement

BSET, BRST

Setting range of M-code

None

Unusable

504k bytes

X, Y, M, B, F, D, W, #, U \G

CALL, GOSUB, GOSUBE, IF…GOTO,

IF…THEN…ELSE IF...ELSE...END,

WHILE…DO…BREAK...CONTINUE...END

AT (Acceleration): 1 to 65535[ 0.001s]

BT (Deceleration): 1 to 65535[ 0.001s]

AND (Conditional branch using word device)

Up to eight levels including IF statement and

While statement

Bit set and reset for word devices is possible.

0 to 32767

(32762 except special M-codes)

Provided

DNC status

248k bytes

X, Y, M, B, F, D, W, #

CALL, GOSUB, GOSUBE, IF…GOTO,

IF…THEN…ELSE...END, WHILE…DO… END

Up to three levels including IF statement and

While statement

0 to 9999

(9993 except special M-codes)

APP - 42

WARRANTY

Please confirm the following product warranty details before using this product.

1. Gratis Warranty Term and Gratis Warranty Range

We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced.

[

Gratis Warranty Term]

The term of warranty for Product is thirty six (36) months after your purchase or delivery of the Product to a place designated by you or forty two (42) months from the date of manufacture whichever comes first "Warranty Period".

Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work.

[

Gratis Warranty Range]

(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.

It can also be carried out by us or our service company upon your request and the actual cost will be charged.

However, it will not be charged if we are responsible for the cause of the failure.

(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the

Product and the caution label affixed to the Product.

(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;

1) A failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware or software problem

2) A failure caused by any alteration, etc. to the Product made on your side without our approval

3) A failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry

4) A failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and replaced

5) Any replacement of consumable parts (battery, fan, etc.)

6) A failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of voltage, and acts of God, including without limitation earthquake, lightning and natural disasters

7) A failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company

8) Any other failures which we are not responsible for or which you acknowledge we are not responsible for

2. Onerous Repair Term after Discontinuation of Production

(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued.

The announcement of the stop of production for each model can be seen in our Sales and Service, etc.

(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.

3.

Service in overseas countries

Our regional FA Center in overseas countries will accept the repair work of the Product; However, the terms and conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.

4.

Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability

Whether under or after the term of warranty, we assume no responsibility for any damages arisen from causes for which we are not responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product, any damages, secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company, any damages to products other than the Product, and also compensation for any replacement work, readjustment, start-up test run of local machines and the Product and any other operations conducted by you.

5.

Change of Product specifications

Specifications listed in our catalogs, manuals or technical documents may be changed without notice.

6.

Precautions for Choosing the Products

(1) For the use of our Motion controller, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in Motion controller, and a backup or fail-safe function should operate on an external system to Motion controller when any failure or malfunction occurs.

(2) Our Motion controller is designed and manufactured as a general purpose product for use at general industries.

Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used.

In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used.

We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation.

IB(NA)-0300134-D

MITSUBISHI ELECTRIC

HEADQUARTERS

MITSUBISHI ELECTRIC EUROPE B.V.

German Branch

Gothaer Straße 8

D-40880 Ratingen

Phone: +49 (0)2102 / 486-0

Fax: +49 (0)2102 / 486-1120

EUROPE

MITSUBISHI ELECTRIC EUROPE B.V.-org.sl.

Czech Branch

Avenir Business Park, Radlická 714/113a

CZ-158 00 Praha 5

Phone: +420 - 251 551 470

Fax: +420 - 251-551-471

CZECH REP.

FRANCE MITSUBISHI ELECTRIC EUROPE B.V.

French Branch

25, Boulevard des Bouvets

F-92741 Nanterre Cedex

Phone: +33 (0)1 / 55 68 55 68

Fax: +33 (0)1 / 55 68 57 57

IRELAND MITSUBISHI ELECTRIC EUROPE B.V.

Irish Branch

Westgate Business Park, Ballymount

IRL-Dublin 24

Phone: +353 (0)1 4198800

Fax: +353 (0)1 4198890

MITSUBISHI ELECTRIC EUROPE B.V.

Italian Branch

Viale Colleoni 7

I-20041 Agrate Brianza (MB)

Phone: +39 039 / 60 53 1

Fax: +39 039 / 60 53 312

ITALY

MITSUBISHI ELECTRIC EUROPE B.V.

Poland Branch

Krakowska 50

PL-32-083 Balice

Phone: +48 (0)12 / 630 47 00

Fax: +48 (0)12 / 630 47 01

MITSUBISHI ELECTRIC EUROPE B.V.

52, bld. 3 Kosmodamianskaya nab 8 floor

RU-115054 Мoscow

Phone: +7 495 721-2070

Fax: +7 495 721-2071

POLAND

RUSSIA

MITSUBISHI ELECTRIC EUROPE B.V.

Spanish Branch

Carretera de Rubí 76-80

SPAIN

E-08190 Sant Cugat del Vallés (Barcelona)

Phone: 902 131121 // +34 935653131

Fax: +34 935891579

MITSUBISHI ELECTRIC EUROPE B.V.

UK Branch

Travellers Lane

UK-Hatfield, Herts. AL10 8XB

Phone: +44 (0)1707 / 27 61 00

Fax: +44 (0)1707 / 27 86 95

UK

MITSUBISHI ELECTRIC CORPORATION

Office Tower “Z” 14 F

8-12,1 chome, Harumi Chuo-Ku

Tokyo 104-6212

Phone: +81 3 622 160 60

Fax: +81 3 622 160 75

MITSUBISHI ELECTRIC AUTOMATION, Inc.

500 Corporate Woods Parkway

Vernon Hills, IL 60061

Phone: +1 847 478 21 00

Fax: +1 847 478 22 53

JAPAN

USA

EUROPEAN REPRESENTATIVES

GEVA

Wiener Straße 89

AT-2500 Baden

Phone: +43 (0)2252 / 85 55 20

Fax: +43 (0)2252 / 488 60

TECHNIKON

Oktyabrskaya 19, Off. 705

BY-220030 Minsk

Phone: +375 (0)17 / 210 46 26

Fax: +375 (0)17 / 210 46 26

ESCO DRIVES & AUTOMATION

Culliganlaan 3

BE-1831 Diegem

Phone: +32 (0)2 / 717 64 30

Fax: +32 (0)2 / 717 64 31

AUSTRIA

BELARUS

BELGIUM

Koning & Hartman b.v.

Woluwelaan 31

BE-1800 Vilvoorde

Phone: +32 (0)2 / 257 02 40

Fax: +32 (0)2 / 257 02 49

BELGIUM

INEA RBT d.o.o.

Aleja Lipa 56

BOSNIA AND HERZEGOVINA

BA-71000 Sarajevo

Phone: +387 (0)33 / 921 164

Fax: +387 (0)33 / 524 539

AKHNATON

4, Andrei Ljapchev Blvd., PO Box 21

BG-1756 Sofia

Phone: +359 (0)2 / 817 6000

Fax: +359 (0)2 / 97 44 06 1

BULGARIA

INEA RBT d.o.o.

Losinjska 4 a

HR-10000 Zagreb

Phone: +385 (0)1 / 36 940 - 01/ -02/ -03

Fax: +385 (0)1 / 36 940 - 03

CROATIA

AutoCont C.S. s.r.o.

Technologická 374/6

CZ-708 00 Ostrava-Pustkovec

Phone: +420 595 691 150

Fax: +420 595 691 199

CZECH REPUBLIC

DENMARK Beijer Electronics A/S

Lykkegårdsvej 17

DK-4000 Roskilde

Phone: +45 (0)46/ 75 76 66

Fax: +45 (0)46 / 75 56 26

Beijer Electronics Eesti OÜ

Pärnu mnt.160i

EE-11317 Tallinn

Phone: +372 (0)6 / 51 81 40

Fax: +372 (0)6 / 51 81 49

ESTONIA

FINLAND Beijer Electronics OY

Peltoie 37

FIN-28400 Ulvila

Phone: +358 (0)207 / 463 540

Fax: +358 (0)207 / 463 541

UTECO

5, Mavrogenous Str.

GR-18542 Piraeus

Phone: +30 211 / 1206 900

Fax: +30 211 / 1206 999

MELTRADE Kft.

Fertő utca 14.

HU-1107 Budapest

Phone: +36 (0)1 / 431-9726

Fax: +36 (0)1 / 431-9727

Beijer Electronics SIA

Ritausmas iela 23

LV-1058 Riga

Phone: +371 (0)784 / 2280

Fax: +371 (0)784 / 2281

Beijer Electronics UAB

Savanoriu Pr. 187

LT-02300 Vilnius

Phone: +370 (0)5 / 232 3101

Fax: +370 (0)5 / 232 2980

GREECE

HUNGARY

LATVIA

LITHUANIA

EUROPEAN REPRESENTATIVES

ALFATRADE Ltd.

99, Paola Hill

Malta- Paola PLA 1702

Phone: +356 (0)21 / 697 816

Fax: +356 (0)21 / 697 817

INTEHSIS srl bld. Traian 23/1

MD-2060 Kishinev

Phone: +373 (0)22 / 66 4242

Fax: +373 (0)22 / 66 4280

HIFLEX AUTOM.TECHNIEK B.V.

Wolweverstraat 22

NL-2984 CD Ridderkerk

Phone: +31 (0)180 – 46 60 04

Fax: +31 (0)180 – 44 23 55

Koning & Hartman b.v.

Haarlerbergweg 21-23

NL-1101 CH Amsterdam

Phone: +31 (0)20 / 587 76 00

Fax: +31 (0)20 / 587 76 05

Beijer Electronics AS

Postboks 487

NO-3002 Drammen

Phone: +47 (0)32 / 24 30 00

Fax: +47 (0)32 / 84 85 77

Fonseca S.A.

R. João Francisco do Casal 87/89

PT - 3801-997 Aveiro, Esgueira

Phone: +351 (0)234 / 303 900

Fax: +351 (0)234 / 303 910

Sirius Trading & Services srl

Aleea Lacul Morii Nr. 3

RO-060841 Bucuresti, Sector 6

Phone: +40 (0)21 / 430 40 06

Fax: +40 (0)21 / 430 40 02

MALTA

MOLDOVA

NETHERLANDS

NETHERLANDS

NORWAY

PORTUGAL

ROMANIA

INEA SR d.o.o.

Izletnicka 10

SER-113000 Smederevo

Phone: +381 (0)26 / 615 401

Fax: +381 (0)26 / 615 401

SIMAP s.r.o.

Jána Derku 1671

SK-911 01 Trencín

Phone: +421 (0)32 743 04 72

Fax: +421 (0)32 743 75 20

PROCONT, spol. s r.o. Prešov

Kúpelná 1/A

SK-080 01 Prešov

Phone: +421 (0)51 7580 611

Fax: +421 (0)51 7580 650

INEA RBT d.o.o.

Stegne 11

SI-1000 Ljubljana

Phone: +386 (0)1 / 513 8116

Fax: +386 (0)1 / 513 8170

Beijer Electronics AB

Box 426

SE-20124 Malmö

Phone: +46 (0)40 / 35 86 00

Fax: +46 (0)40 / 93 23 01

SERBIA

SLOVAKIA

SLOVAKIA

SLOVENIA

SWEDEN

Omni Ray AG

Im Schörli 5

CH-8600 Dübendorf

Phone: +41 (0)44 / 802 28 80

Fax: +41 (0)44 / 802 28 28

SWITZERLAND

GTS TURKEY

Bayraktar Bulvari Nutuk Sok. No:5

TR-34775 Yukarı Dudullu-Ümraniye-İSTANBUL

Phone: +90 (0)216 526 39 90

Fax: +90 (0)216 526 3995

UKRAINE CSC Automation Ltd.

4-B, M. Raskovoyi St.

UA-02660 Kiev

Phone: +380 (0)44 / 494 33 55

Fax: +380 (0)44 / 494-33-66

Systemgroup

2 M. Krivonosa St.

UA-03680 Kiev

Phone: +380 (0)44 / 490 92 29

Fax: +380 (0)44 / 248 88 68

UKRAINE

EURASIAN REPRESENTATIVES

TOO Kazpromavtomatika

Ul. Zhambyla 28

KAZ-100017 Karaganda

Phone: +7 7212 / 50 10 00

Fax: +7 7212 / 50 11 50

KAZAKHSTAN

MIDDLE EAST REPRESENTATIVE

SHERF Motion Techn. Ltd.

Rehov Hamerkava 19

IL-58851 Holon

Phone: +972 (0)3 / 559 54 62

Fax: +972 (0)3 / 556 01 82

ISRAEL

CEG INTERNATIONAL

Cebaco Center/Block A Autostrade DORA

Lebanon - Beirut

Phone: +961 (0)1 / 240 430

Fax: +961 (0)1 / 240 438

LEBANON

AFRICAN REPRESENTATIVE

CBI Ltd.

Private Bag 2016

ZA-1600 Isando

Phone: + 27 (0)11 / 977 0770

Fax: + 27 (0)11 / 977 0761

SOUTH AFRICA

Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany

Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-4861120 /// [email protected] /// www.mitsubishi-automation.com

advertisement

Was this manual useful for you? Yes No
Thank you for your participation!

* Your assessment is very important for improving the workof artificial intelligence, which forms the content of this project

Related manuals

Download PDF

advertisement

Table of contents