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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.
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3. For injury prevention
CAUTION
Do not apply a voltage other than that specified in the instruction manual on any terminal.
Doing so may lead to destruction or damage.
Do not mistake the terminal connections, as this may lead to destruction or damage.
Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this timing, these parts become very hot and may lead to burns.
Always turn the power OFF before touching the servomotor shaft or coupled machines, as these parts may lead to injuries.
Do not go near the machine during test operations or during operations such as teaching.
Doing so may lead to injuries.
4. Various precautions
Strictly observe the following precautions.
Mistaken handling of the unit may lead to faults, injuries or electric shocks.
(1) System structure
CAUTION
Always install a leakage breaker on the Motion controller and servo amplifier power source.
If installation of an electromagnetic contactor for power shut off during an error, etc., is specified in the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor.
Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off.
Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the correct combinations listed in the instruction manual. Other combinations may lead to fire or faults.
Use the Motion controller, base unit and motion module with the correct combinations listed in the instruction manual. Other combinations may lead to faults.
If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller, servo amplifier and servomotor, make sure that the safety standards are satisfied.
Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system.
In systems where coasting of the servomotor will be a problem during the forced stop, emergency stop, servo OFF or power supply OFF, use dynamic brakes.
Make sure that the system considers the coasting amount even when using dynamic brakes.
In systems where perpendicular shaft dropping may be a problem during the forced stop, emergency stop, servo OFF or power supply OFF, use both dynamic brakes and electromagnetic brakes.
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CAUTION
The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF. These brakes must not be used for normal braking.
The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications, and must not be used for normal braking.
The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max. speed.
Use wires and cables that have a wire diameter, heat resistance and bending resistance compatible with the system.
Use wires and cables within the length of the range described in the instruction manual.
The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor.
Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation.
There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure (when the ball screw and servomotor are connected with a timing belt, etc.). Install a stopping device to ensure safety on the machine side.
(2) Parameter settings and programming
CAUTION
Set the parameter values to those that are compatible with the Motion controller, servo amplifier, servomotor and regenerative resistor model and the system application. The protective functions may not function if the settings are incorrect.
The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode, servo amplifier and servo power supply module. The protective functions may not function if the settings are incorrect.
Set the mechanical brake output and dynamic brake output validity parameters to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.
Set the stroke limit input validity parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect.
Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect.
Set the servomotor capacity and type (standard, low-inertia, flat, etc.) parameter to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.
Set the servo amplifier capacity and type parameters to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.
Use the program commands for the program with the conditions specified in the instruction manual.
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CAUTION
Set the sequence function program capacity setting, device capacity, latch validity range, I/O assignment setting, and validity of continuous operation during error detection to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.
Some devices used in the program have fixed applications, so use these with the conditions specified in the instruction manual.
The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error, etc. Thus, an error correspondence interlock program specified in the instruction manual must be used.
Use the interlock program specified in the intelligent function module's instruction manual for the program corresponding to the intelligent function module.
(3) Transportation and installation
CAUTION
Transport the product with the correct method according to the mass.
Use the servomotor suspension bolts only for the transportation of the servomotor. Do not transport the servomotor with machine installed on it.
Do not stack products past the limit.
When transporting the Motion controller or servo amplifier, never hold the connected wires or cables.
When transporting the servomotor, never hold the cables, shaft or detector.
When transporting the Motion controller or servo amplifier, never hold the front case as it may fall off.
When transporting, installing or removing the Motion controller or servo amplifier, never hold the edges.
Install the unit according to the instruction manual in a place where the mass can be withstood.
Do not get on or place heavy objects on the product.
Always observe the installation direction.
Keep the designated clearance between the Motion controller or servo amplifier and control panel inner surface or the Motion controller and servo amplifier, Motion controller or servo amplifier and other devices.
Do not install or operate Motion controller, servo amplifiers or servomotors that are damaged or that have missing parts.
Do not block the intake/outtake ports of the Motion controller, servo amplifier and servomotor with cooling fan.
Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the Motion controller, servo amplifier or servomotor.
The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or apply strong impacts on them.
Securely fix the Motion controller, servo amplifier and servomotor to the machine according to the instruction manual. If the fixing is insufficient, these may come off during operation.
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CAUTION
Always install the servomotor with reduction gears in the designated direction. Failing to do so may lead to oil leaks.
Store and use the unit in the following environmental conditions.
Conditions
Environment
Motion controller/Servo amplifier Servomotor
Ambient temperature
Ambient humidity
According to each instruction manual.
According to each instruction manual.
0°C to +40°C (With no freezing)
(32°F to +104°F)
80% RH or less
(With no dew condensation)
-20°C to +65°C
(-4°F to +149°F)
Storage temperature
According to each instruction manual.
Atmosphere
Indoors (where not subject to direct sunlight).
No corrosive gases, flammable gases, oil mist or dust must exist
Altitude
1000m (3280.84ft.) or less above sea level
Vibration
According to each instruction manual
When coupling with the synchronous encoder or servomotor shaft end, do not apply impact such as by hitting with a hammer. Doing so may lead to detector damage.
Do not apply a load larger than the tolerable load onto the synchronous encoder and servomotor shaft. Doing so may lead to shaft breakage.
When not using the module for a long time, disconnect the power line from the Motion controller or servo amplifier.
Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store.
When storing for a long time, please contact with our sales representative.
Also, execute a trial operation.
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(4) Wiring
CAUTION
Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor.
After wiring, install the protective covers such as the terminal covers to the original positions.
Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier.
Correctly connect the output side (terminal U, V, W) and ground. Incorrect connections will lead the servomotor to operate abnormally.
Do not connect a commercial power supply to the servomotor, as this may lead to trouble.
Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control signal output of brake signals, etc. Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning.
Servo amplifier
DOCOM
24VDC
Servo amplifier
DOCOM
24VDC
Control output signal
DICOM
RA
Control output signal
DICOM
RA
For the sink output interface For the source output interface
Do not connect or disconnect the connection cables between each unit, the encoder cable or
PLC expansion cable while the power is ON.
Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may lead to the cables combing off during operation.
Do not bundle the power line or cables.
(5) Trial operation and adjustment
CAUTION
Confirm and adjust the program and each parameter before operation. Unpredictable movements may occur depending on the machine.
Extreme adjustments and changes may lead to unstable operation, so never make them.
When using the absolute position system function, on starting up, and when the Motion controller or absolute value motor has been replaced, always perform a home position return.
Before starting test operation, set the parameter speed limit value to the slowest value, and make sure that operation can be stopped immediately by the forced stop, etc. if a hazardous state occurs.
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(6) Usage methods
CAUTION
Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the
Motion controller, servo amplifier or servomotor.
Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection.
Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized.
Do not make any modifications to the unit.
Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the
Motion controller or servo amplifier.
When using the CE Mark-compliant equipment, refer to 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.)
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(8) Maintenance, inspection and part replacement
CAUTION
Perform the daily and periodic inspections according to the instruction manual.
Perform maintenance and inspection after backing up the program and parameters for the Motion controller and servo amplifier.
Do not place fingers or hands in the clearance when opening or closing any opening.
Periodically replace consumable parts such as batteries according to the instruction manual.
Do not touch the lead sections such as ICs or the connector contacts.
Before touching the module, always touch grounded metal, etc. to discharge static electricity from human body. Failure to do so may cause the module to fail or malfunction.
Do not directly touch the module's conductive parts and electronic components.
Touching them could cause an operation failure or give damage to the module.
Do not place the Motion controller or servo amplifier on metal that may cause a power leakage or wood, plastic or vinyl that may cause static electricity buildup.
Do not perform a megger test (insulation resistance measurement) during inspection.
When replacing the Motion controller or servo amplifier, always set the new module settings correctly.
When the Motion controller or absolute value motor has been replaced, carry out a home position return operation using one of the following methods, otherwise position displacement could occur.
1) After writing the servo data to the Motion controller using programming software, switch on the power again, then perform a home position return operation.
2) Using the backup function of the programming software, load the data backed up before replacement.
After maintenance and inspections are completed, confirm that the position detection of the absolute position detector function is correct.
Do not drop or impact the battery installed to the module.
Doing so may damage the battery, causing battery liquid to leak in the battery. Do not use the dropped or impacted battery, but dispose of it.
Do not short circuit, charge, overheat, incinerate or disassemble the batteries.
The electrolytic capacitor will generate gas during a fault, so do not place your face near the
Motion controller or servo amplifier.
The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary damage from faults. Replacements can be made by our sales representative.
Lock the control panel and prevent access to those who are not certified to handle or install electric equipment.
Do not burn or break a module and servo amplifier. Doing so may cause a toxic gas.
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(9) About processing of waste
When you discard Motion controller, servo amplifier, a battery (primary battery) and other option articles, please follow the law of each country (area).
CAUTION
This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life.
When considering this product for operation in special applications such as machinery or systems used in passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating applications, please contact your nearest Mitsubishi sales representative.
Although this product was manufactured under conditions of strict quality control, you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident.
(10) General cautions
All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections. When operating the product, always return the covers and partitions to the designated positions, and operate according to the instruction manual.
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REVISIONS
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
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INTRODUCTION
Thank you for choosing the Mitsubishi Motion controller Q173D(S)CPU/Q172D(S)CPU.
Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the Motion controller you have purchased, so as to ensure correct use.
CONTENTS
Safety Precautions .........................................................................................................................................A- 1
Revisions ........................................................................................................................................................A-11
Contents .........................................................................................................................................................A-12
About Manuals ...............................................................................................................................................A-15
Manual Page Organization ............................................................................................................................A-17
1. OVERVIEW 1- 1 to 1-30
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
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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
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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
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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
(
—
)
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(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)
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(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)
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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2 MULTIPLE CPU SYSTEM
2. MULTIPLE CPU SYSTEM
2.1 Multiple CPU System
2.1.1 Overview
(1) What is Multiple CPU system ?
A Multiple CPU system is a system in which more than one PLC CPU module and Motion CPU module (up to 4 modules) are mounted on several main base unit in order to control the I/O modules and intelligent function modules.
Each Motion CPU controls the servo amplifiers connected by SSCNET cable.
(2) System configuration based on load distribution
(a) By distributing such tasks as servo control, machine control and information control among multiple processors, the flexible system configuration can be realized.
(b) You can increase the number of control axes by using a multiple Motion
CPU modules.
It is possible to control up to 96 axes by using the three CPU modules
(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
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2 MULTIPLE CPU SYSTEM
2.1.3 Precautions for using I/O modules and intelligent function modules
(1) Modules controllable by the Motion CPU
Modules controllable by the Motion CPU are shown below.
• Motion modules (Q172DLX, Q172DEX, Q173DPX)
• I/O modules (QX , 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.
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2 MULTIPLE CPU SYSTEM
2.1.4 Modules subject to installation restrictions
(1) Modules subject to install restrictions for the Motion CPU are sown below. Use within the restrictions listed below.
(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.
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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.
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2 MULTIPLE CPU SYSTEM
2.1.5 How to reset the Multiple CPU system
The entire Multiple CPU system can be reset by resetting CPU No.1.
The CPU modules of No.2 to No.4, I/O modules and intelligent function modules will be reset when PLC CPU No.1 is reset.
If a stop error occurs in any of the CPUs on the Multiple CPU system, either reset CPU
No.1 or restart the Multiple CPU system (power supply ON OFF ON) for recovery.
(Recovery is not allowed by resetting the error-stopped CPU modules other than CPU
No.1.)
POINT
(1) It is not possible to reset the CPU modules of No.2 to No.4 individually in the
Multiple CPU system.
If an attempt to reset any of those PLC CPU modules during operation of the
Multiple CPU system, a "MULTI CPU DOWN (error code: 7000)" error will occur for the other CPUs, and the entire Multiple CPU system will be halted.
However, depending on the timing in which any of PLC CPU modules other than No.1 has been reset, an error other than the "MULTI CPU DOWN" may halt the other PLC CPUs/Motion CPUs.
(2) A "MULTI CPU DOWN (error code: 7000)" error will occur regardless of the operation mode(All stop by stop error of CPU "n"/continue) set at the "Multiple
CPU setting" screen when any of PLC CPU modules of No.2 to No.4 is reset.
(Refer to Section 2.1.6.)
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2 MULTIPLE CPU SYSTEM
2.1.6 Operation for CPU module stop error
The entire system will behaves differently depending whether a stop error occurs in
CPU No.1 or any of CPU No.2 to No.4 in the Multiple CPU system.
(1) When a stop error occurs at CPU No.1
(a) A "MULTI CPU DOWN (error code: 7000)" error occurs at the other CPUs and the Multiple CPU system will be halted when a stop error occurs at the
PLC CPU No.1.
(Note-1)
(b) The following procedure to restore the system is shown below.
1) Confirm the error cause with the PLC diagnostics on GX 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)
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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.
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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.
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2 MULTIPLE CPU SYSTEM
2.2 Starting Up the Multiple CPU System
This section describes a standard procedure to start up the Multiple CPU system.
2.2.1 Startup Flow of the Multiple CPU system
START
Definition of functions with Multiple CPU system
Control and function executed in each
CPU module are defined.
Application and assignment of device
When automatic refresh of the CPU shared memory is performed, the number of refresh points is continuously obtained.
Selection of module
Select the module to achieve the function with the Multiple CPU system.
PLC CPU
Motion CPU
Installation of module
Install the selected module on the main base unit and extension base unit.
Start-up of GX 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.
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2 MULTIPLE CPU SYSTEM
2.3 Communication Between the PLC CPU and the Motion CPU in the Multiple CPU System
2.3.1 CPU shared memory
(1) Structure of CPU shared memory
The CPU shared memory is memory provided for each CPU module 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.
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2 MULTIPLE CPU SYSTEM
(a) Self CPU operation information area (0H to 1FFH)
1) The following information of self CPU is stored as the Multiple CPU system
Table 2.3 Table of self CPU operation information areas
CPU shared memory address
Name Detail Description
(Note)
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
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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).
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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.
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2 MULTIPLE CPU SYSTEM
(3) Memory configuration of Multiple CPU high speed transmission area
Memory configuration of Multiple CPU high speed transmission area is shown below.
1)
Multiple CPU high speed transmission area
[Variable in 0 to
14k[points]
(Note-1)
]
2)
CPU No.1 send area
3)
CPU No.2 send area
6)
User setting area
7)
Automatic refresh area
4)
CPU No.3 send area
5)
CPU No.4 send area
(Note-1): Multiple CPU high speed transmission area;
14k[points]: Maximum value when constituted with two CPUs
13k[points]: Maximum value when constituted with three CPUs
12k[points]: Maximum value when constituted with four CPUs
Table 2.5 Description of area
No. Name
1)
Multiple CPU high speed transmission area
2)
3)
4)
5)
6)
CPU No. n send area
(n=1 to 4)
7)
User setting area
Automatic refresh area
Description
• Area for data transmission between each CPU module in the Multiple CPU system.
• The area up to 14k [points] is divided between each
CPU module that constitutes the Multiple CPU system.
• Area to store the send data of each CPU module.
• Sends the data stored in the send area of self CPU to the other CPUs.
• Other CPU send area stores the data received from the other CPUs.
• Area for data communication with other CPUs using the Multiple CPU area device.
• Can be accessed by the user program using the
Multiple CPU area device.
• Refer to Section 2.3.2 (1) for details of this area.
• Area for communicating device data with other CPUs by the communication using the automatic refresh.
• Access by user program is disabled.
• Refer to Section "(4)(b) Automatic refresh setting" for details of this area.
Size
Setting range Setting unit
0 to 14k
0 to 14k
0 to 14k
0 to 14k
1k
1k
2
2
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2 MULTIPLE CPU SYSTEM
(4) Parameter setting
The parameter setting list for use with the Multiple CPU high speed transmission is shown in Table 2.6.
Table 2.6 Multiple CPU high speed transmission parameter list
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.
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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]
—
— —
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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
—
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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.
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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.
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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.
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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.
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2 MULTIPLE CPU SYSTEM
2.3.3 Multiple CPU high speed refresh function
This function is used to update the data between internal devices of Motion CPU and the Multiple CPU high speed transmission area. This occurs every operation cycle as defined in the device setting of automatic refresh in the self CPU.
Classification Item
Display
Setting No.
CPU
Description
Setting No. which executes high speed refresh is displayed.
CPU No. set in the automatic refresh setting is automatically displayed by setting devices.
Self CPU : Refresh from the internal device of Motion CPU to Multiple CPU high speed transmission area.
Other CPU : Refresh form the Multiple CPU high speed transmission area to internal device of Motion CPU.
1 to 128
(Up to 128)
CPU No. 1 to No.4
Restriction
User setting
Device setting
Set the device No. of Motion CPU to execute the high speed refreshes.
Usable device : D, W, #,
SD, M, X, Y, B, SM
• The start device number must be a multiple of 16 for the bit device.
• Do not set a device not setting also set in the automatic refresh.
• No. of "start device + number of points" cannot exceed setting range of each setting No. in automatic refresh setting.
• Do not overlap the device No. between setting No..
Points
Set the number of points to refresh data of each data in word unit.
(Note) Refresh is not executed when not set.
Refresh cycle Operation cycle (fixed)
Range: 2 to 256 [points]
Unit: 2 points
(Note-1)
—
• Sets the total of all CPUs to 256 points or lower.
—
(Note-1) : Point in word unit.
(1) Application example of Multiple CPU high speed refresh function
Multiple CPU high speed refresh function is used as in the following applications.
1) Read the data such as the real current value and synchronous encoder current value with PLC CPU at high speed.
2) Exchange the FIN waiting signal at high speed.
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2 MULTIPLE CPU SYSTEM
(2) Operation example of Multiple CPU high speed refresh function
(a) Parameter setting
The automatic refresh setting of Multiple CPU high speed refresh is shown below.
• CPU No.1 (PLC CPU) (GX 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>
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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.
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2 MULTIPLE CPU SYSTEM
2.3.4 Clock synchronization between Multiple CPU
The clock of each CPU is synchronized with the clock of CPU No. 1.
The clock data used for synchronization in a Multiple CPU system can be edited.
(1) Setting of clock data
Set the clock of CPU No.1. The Motion CPU module operates automatically by the clock of CPU No.1.
POINT
The clock data of CPU No.1 is automatically set even if the clocks of CPU No. 2 to
4 are set independently.
(2) Synchronization of clock data
All clocks are synchronized with CPU No.1 immediately after turning
ON/resetting power and every 1-second interval thereafter.
(3) Information of clock
The clock data that CPU No. 1 transmits is year, month, day, day of week, hour, minute and second.
(4) Error
Since CPU No.1 sets the clock data at 1-second intervals, an error of up to 1 second may occur to the clock of CPU No.2 to 4.
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2 MULTIPLE CPU SYSTEM
2.3.5 Multiple CPU synchronous startup
Multiple CPU synchronous startup function synchronizes the startups of CPU No.1 to
CPU No.4. (It takes about ten seconds to startup for Motion CPU.)
Since this function monitors the startup of each CPU module, when other CPU is accessed by a user program, an interlock program which checks the CPU module startup is unnecessary.
With the Multiple CPU synchronous startup function, the startup is synchronized with the slowest CPU module to startup; therefore, the system startup may be slow.
POINT
Multiple CPU synchronous startup function is for accessing each CPU module in a
Multiple CPU system without needing an interlock.
This function is not for starting an operation simultaneously among CPU modules after startup.
(1) Multiple CPU synchronous startup setting
To use the Multiple CPU synchronous startup function, check No.1 to No.4 of target CPU in Multiple CPU settings in system setting of MT 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).
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2 MULTIPLE CPU SYSTEM
2.3.6 Control instruction from PLC CPU to Motion CPU
Control can be instructed from the PLC CPU to the Motion CPU using the Motion dedicated PLC instructions listed in the table below.
Refer to the "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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.)
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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.
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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.
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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.
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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.
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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.
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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])
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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.
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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".
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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
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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
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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.
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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
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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.)
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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
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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.
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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
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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".
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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.
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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
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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.
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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)
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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.
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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.
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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).
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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.
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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.
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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.
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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
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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
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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.
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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.
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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.
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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
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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.
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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.
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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.
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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.
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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
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Table of contents
- 2 SAFETY PRECAUTIONS
- 12 REVISIONS
- 13 INTRODUCTION
- 13 CONTENTS
- 16 About Manuals
- 18 Manual Page Organization
- 20 1. OVERVIEW
- 20 1.1 Overview
- 22 1.2 Features
- 22 1.2.1 Features of Motion CPU
- 24 1.2.2 Basic specifications of Q173D(S)CPU/Q172D(S)CPU
- 29 1.3 Hardware Configuration
- 29 1.3.1 Motion system configuration
- 32 1.3.2 Q173DSCPU/Q172DSCPU System overall configuration
- 33 1.3.3 Q173DCPU(-S1)/Q172DCPU(-S1) System overall configuration
- 34 1.3.4 Software packages
- 36 1.3.5 Restrictions on motion systems
- 40 1.4 Checking Serial Number and Operating System Software Version
- 40 1.4.1 Checking serial number
- 43 1.4.2 Checking operating system software version
- 45 1.5 Restrictions by the Software's Version
- 49 1.6 Programming Software Version
- 50 2. MULTIPLE CPU SYSTEM
- 50 2.1 Multiple CPU System
- 50 2.1.1 Overview
- 51 2.1.2 Installation position of CPU module
- 52 2.1.3 Precautions for using I/O modules and intelligent function modules
- 53 2.1.4 Modules subject to installation restrictions
- 55 2.1.5 How to reset the Multiple CPU system
- 56 2.1.6 Operation for CPU module stop error
- 59 2.2 Starting Up the Multiple CPU System
- 59 2.2.1 Startup Flow of the Multiple CPU system
- 61 2.3 Communication Between the PLC CPU and the Motion CPU in the Multiple CPU System
- 61 2.3.1 CPU shared memory
- 64 2.3.2 Multiple CPU high speed transmission
- 79 2.3.3 Multiple CPU high speed refresh function
- 83 2.3.4 Clock synchronization between Multiple CPU
- 84 2.3.5 Multiple CPU synchronous startup
- 85 2.3.6 Control instruction from PLC CPU to Motion CPU
- 86 3. COMMON PARAMETERS
- 86 3.1 System Settings
- 87 3.1.1 System data settings
- 89 3.1.2 Common system parameters
- 95 3.1.3 Individual parameters
- 103 3.2 I/O Number Assignment
- 103 3.2.1 I/O number assignment of each module
- 105 3.2.2 I/O number of each CPU modules
- 106 3.2.3 I/O number setting
- 107 3.3 Servo Parameters
- 108 3.4 Servo External Signal Parameters
- 112 4. AUXILIARY AND APPLIED FUNCTIONS
- 112 4.1 Limit Switch Output Function
- 112 4.1.1 Operations
- 115 4.1.2 Limit output setting data
- 119 4.2 Absolute Position System
- 121 4.2.1 Current value control
- 123 4.3 High-Speed Reading of Specified Data
- 125 4.4 ROM Operation Function
- 125 4.4.1 Specifications of 7-segment LED/switches
- 127 4.4.2 Outline of ROM operation
- 132 4.4.3 Operating procedure of the ROM operation function
- 134 4.5 Security Function
- 134 4.5.1 Protection by password
- 141 4.5.2 Protection by software security key
- 146 4.6 All Clear Function
- 147 4.7 Communication Via Network
- 147 4.7.1 Specifications of the communications via network
- 148 4.8 Monitor Function of the Main Cycle
- 149 4.9 Servo Parameter Read/Change Function
- 151 4.10 Optional Data Monitor Function
- 153 4.11 SSCNET Control Function
- 154 4.11.1 Connect/disconnect function of SSCNET communication
- 158 4.11.2 Amplifier-less operation function
- 162 4.12 Remote Operation
- 162 4.12.1 Remote RUN/STOP
- 164 4.12.2 Remote latch clear
- 165 4.13 Communication Function via PERIPHERAL I/F
- 165 4.13.1 Direct connection
- 168 4.13.2 Connection via HUB
- 174 4.13.3 MC protocol communication
- 181 4.14 Mark Detection Function
- 192 APPENDICES
- 192 APPENDIX 1 Special Relays/Special Registers
- 192 APPENDIX 1.1 Special relays
- 196 APPENDIX 1.2 Special registers
- 203 APPENDIX 1.3 Replacement of special relays/special registers
- 206 APPENDIX 2 System Setting Errors
- 208 APPENDIX 3 Self-diagnosis Error
- 219 APPENDIX 4 Differences Between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/Q172DCPU(-S1)/Q173HCPU/Q172HCPU
- 219 APPENDIX 4.1 Differences between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/Q172DCPU(-S1)/Q173HCPU/Q172HCPU
- 223 APPENDIX 4.2 Comparison of devices
- 231 APPENDIX 4.3 Differences of the operating system software
- 234 WARRANTY