3.1 Internal Relays. Mitsubishi MOTION CONTROLLERS Q172DCPU

3 POSITIONING DEDICATED SIGNALS

3.1 Internal Relays

(1) Internal relay list

Device No.

SV13 SV22

Purpose Device No. Purpose to

M2000 to

M2320 to

M2400 to

M3040 to

M3072 to

M3136 to

M3200 to

M3840 to

M8191

(2000 points)

Common device

(320 points)

Unusable

(80 points)

Axis status

(20 points 32 axes)

Unusable

(32 points)

Common device (Command signal)

(64 points)

Unusable

(64 points)

Axis command signal

(20 points 32 axes)

User device

(4352 points) to

M2000 to

M2320 to

M2400 to

(2000 points)

Common device

(320 points)

Unusable

(80 points)

Axis status

(20 points 32 axes)

Real mode……Each axis

Virtual mode….Output module

Unusable

(32 points)

M3040 to

M3072 to

M3136 to

M3200 to

M3840 to

M4000 to

M4640 to

M4688 to

Common device (Command signal)

(64 points)

Unusable

(64 points)

Axis command signal

(20 points 32 axes)

Real mode……Each axis

Virtual mode….Output module

Unusable

(160 points)

Virtual servomotor axis status

(20 points 32 axes)

Synchronous encoder axis status

(4 points 12 axes)

Unusable (Note-1)

(112 points)

(Note-1)

M4800 to

M5440 to

Virtual servomotor axis command signal (Note-1)

(20 points 32 axes)

Synchronous encoder axis command signal

(4 points 12 axes)

M5488 to

M8191

User device

(2704 points)

It can be used as an user device.

(Note-1): It can be used as an user device in the SV22 real mode only.

POINT

• Total number of user device points

6352 points (SV13) / 4074 points

(Note)

(SV22)

(Note): Up to 6096 points can be used when not using it in the virtual mode.

3 - 3


Axis No.

25

26

27

28

29

30

31

32

19

20

21

22

15

16

17

18

11

12

13

14

7

8

9

10

23

24

1

2

3

4

5

6

(2) Axis status list

Device No.

M2880 to M2899

M2900 to M2919

M2920 to M2939

M2940 to M2959

M2960 to M2979

M2980 to M2999

M3000 to M3019

M3020 to M3039

19 M-code outputting signal

Signal name

M2400 to M2419

M2420 to M2439

M2440 to M2459

M2460 to M2479

M2480 to M2499

M2500 to M2519

M2520 to M2539

M2540 to M2559

M2560 to M2579

M2580 to M2599

M2600 to M2619

M2620 to M2639

M2640 to M2659

M2660 to M2679

M2680 to M2699

M2700 to M2719

M2720 to M2739

M2740 to M2759

M2760 to M2779

M2780 to M2799

M2800 to M2819

M2820 to M2839

M2840 to M2859

M2860 to M2879

18

Signal name

0 Positioning start complete

1 Positioning complete

2 In-position

3 Command in-position

4 Speed controlling

5 Speed/position switching latch

6 Zero pass

7 Error detection

8 Servo error detection

9 Home position return request

10 Home position return complete

11 FLS

12

13

External signals

RLS

STOP

14 DOG/CHANGE

15 Servo ready

16 Torque limiting

17 Unusable

Virtual mode continuation operation disable warning signal (SV22)

(Note-1)

Refresh cycle

Operation cycle

Immediate

Operation cycle

Main cycle

Operation cycle

Main cycle

Operation cycle

At virtual mode transition

Operation cycle

Fetch cycle Signal direction

Status signal

Status signal

(Note-1): It is unusable in the SV13/SV22 real mode.

POINT

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

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

However, when the project of Q172DCPU is replaced with Q173DCPU, this area cannot be used.

3 - 4


Axis No. Device No.

(3) Axis command signal list

1 M3200 to M3219

2 M3220 to M3239

3 M3240 to M3259

Signal name

4 M3260 to M3279

5 M3280 to M3299

6 M3300 to M3319

7 M3320 to M3339

0 Stop command

1 Rapid stop command

2 Forward rotation JOG start command

3 Reverse rotation JOG start command

8 M3340 to M3359

9 M3360 to M3379

10 M3380 to M3399

4 Complete signal OFF command

Speed/position switching enable

5 command

Signal name

Refresh cycle

11 M3400 to M3419

12 M3420 to M3439

13 M3440 to M3459

6 Unusable

7 Error reset command

8 Servo error reset command

14 M3460 to M3479

15 M3480 to M3499

16 M3500 to M3519 10

17 M3520 to M3539 11

18

19

M3540 to M3559

M3560 to M3579

External stop input disable at start

9 command

Unusable

Feed current value update request

12 command

20 M3580 to M3599

21 M3600 to M3619

Address clutch reference setting

13 command (SV22 only)

(Note-1)

22

23

M3620 to M3639

M3640 to M3659

Cam reference position setting

14 command (SV22 only)

(Note-1)

24 M3660 to M3679 15 Servo OFF command

25 M3680 to M3699 16 Gain changing command

26 M3700 to M3719 17 Unusable

27 M3720 to M3739 18 Control loop changing command

28 M3740 to M3759

29 M3760 to M3779

30 M3780 to M3799

31 M3800 to M3819

32 M3820 to M3839

Fetch cycle

Operation cycle

Main cycle

Operation cycle

Main cycle

At start

At start


Operation cycle

Operation cycle

(Note-2)

Operation cycle

Signal direction

Command signal

Command signal

Command signal

Command signal

(Note-1): It is unusable in the SV13/SV22 real mode.

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

POINT

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

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

However, when the project of Q172DCPU is replaced with Q173DCPU, this area cannot be used.

3 - 5


Device

No.

Signal name

M2000 PLC ready flag

M2001 Axis 1

M2002 Axis 2

M2003 Axis 3

M2004 Axis 4

M2005 Axis 5

M2006 Axis 6

M2007 Axis 7

M2008 Axis 8

M2009 Axis 9

M2010 Axis 10

M2011 Axis 11

M2012 Axis 12

M2013 Axis 13

M2014 Axis 14

M2015 Axis 15

M2016 Axis 16

M2017 Axis 17

Start accept flag

M2018 Axis 18

M2019 Axis 19

M2020 Axis 20

M2021 Axis 21

M2022 Axis 22

M2023 Axis 23

M2024 Axis 24

M2025 Axis 25

M2026 Axis 26

M2027 Axis 27

M2028 Axis 28

M2029 Axis 29

M2030 Axis 30

M2031 Axis 31

M2032 Axis 32

M2033 Unusable

M2034 (2 points)

M2035

Motion error history clear request flag

M2036

M2037

Unusable

(2 points)

M2038 Motion SFC debugging flag

M2039 Motion error detection flag

M2040

Speed switching point specified flag

M2041 System setting error flag

M2042 All axes servo ON command

M2043

Real mode/virtual mode switching request (SV22)

M2044

Real mode/virtual mode switching status (SV22)

M2045

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

M2046 Out-of-sync warning (SV22)

M2047 Motion slot fault detection flag

(4) Common device list

Refresh cycle

Operation cycle

Fetch cycle

Main cycle

Signal direction

Command signal

(Note-4)

M3072

Status signal

(Note-1),

(Note-2)

Remark Device

No.

M2053

Signal name

Manual pulse generator 3 enable flag

Refresh cycle

M2054 Operation cycle over flag Operation cycle

M2055

M2056

M2057

M2058

M2059

M2060

Unusable

(6 points)

— —

M2085 Axis

—

M2086 Axis

Main cycle

Command signal

M3080

— —

M2089 Axis

—

M2090 Axis

At debugging mode transition

Status signal

Immediate M2093

Operation cycle

At start

Operation cycle


Command signal

Status signal

Command signal

M3073

M2094

M2095

M2096

M2097

M2098

M3074 M2099

M2100

M3075

Unusable

(8 points)


Operation cycle

Status signal

Speed changing accepting flag

Synchronous encoder current value changing flag

(Note-3)

(12 axes)

Operation cycle

Operation cycle

M2048

JOG operation simultaneous start command

M2049 All axes servo ON accept flag

M2050 Unusable

M2051


M2052


Main cycle

Command signal

M3076

Status

Operation cycle signal

Main cycle

M2113

Command signal

—

Unusable

M2115

M3077 (6 points)

M2116

M3078

M2117

M2118

Fetch cycle

Main cycle

Signal direction

Remark

(Note-4)

Command signal

Status signal

M3079

Status signal

(Note-1),

(Note-2)

Status signal

(Note-1),

(Note-2)

3 - 6


M2178

M2179

M2180

M2181

M2182

M2183

M2184

M2185

M2186

M2187

M2161

M2162

M2163

M2164

M2165

M2166

M2167

M2168

M2169

M2170

M2171

M2172

M2173

Unusable

(28 points)

M2174

(Note-5)

M2175

M2176

M2177

Device

Signal name

No.

M2119

M2120

M2121

M2122

M2123

Unusable

(9 points)

M2124

M2125

M2126

M2127

M2128 Axis 1

M2129 Axis 2

M2130 Axis 3

M2131 Axis 4

M2132 Axis 5

M2133 Axis 6

M2134 Axis 7

M2135 Axis 8

M2136 Axis 9

M2137 Axis 10

M2138 Axis 11

M2139 Axis 12

M2140 Axis 13

M2141 Axis 14

M2142 Axis 15

M2143 Axis 16 Automatic

M2144 Axis 17 decelerating flag

M2145 Axis 18

M2146 Axis 19

M2147 Axis 20

M2148 Axis 21

M2149 Axis 22

M2150 Axis 23

M2151 Axis 24

M2152 Axis 25

M2153 Axis 26

M2154 Axis 27

M2155 Axis 28

M2156 Axis 29

M2157 Axis 30

M2158 Axis 31

M2159 Axis 32

M2160

Common device list (Continued)

Refresh cycle Fetch cycle

Signal direction

Remark Device

(Note-4)

No.

M2188

M2189

M2190

M2191

— —

Operation cycle

Status signal

(Note-1),

(Note-2)

Signal name

M2209

M2210

M2211

M2212

M2213

M2214

M2215

M2216

M2217

M2218

M2219

M2220

M2221

M2222

M2223

M2224

M2225

M2226

M2227

M2228

M2229

M2193

M2194

M2195

M2196

M2197

M2198

M2199

M2200

M2201

M2202

M2203

M2204

M2205

M2206

M2207

M2208

Unusable

(36 points)

(Note-5)

M2230

M2231

M2232

M2233

Unusable

(16 points)

M2234

M2235

M2236

M2237

M2238

M2239

— —

M2242 Axis

—

M2243 Axis

M2253 Axis 14

M2254 Axis 15

Refresh cycle

Speed change "0" accepting flag

Operation cycle

3 - 7

Fetch cycle

Signal direction

Remark

(Note-4)

Status signal

(Note-1),

(Note-2)


Device

No.

M2257 Axis 18

M2258 Axis 19

M2259 Axis 20

M2260 Axis 21

M2261 Axis 22

Signal name

M2262 Axis 23

M2263 Axis 24

M2264 Axis 25


M2265 Axis 26

M2266 Axis 27

M2267 Axis 28

M2268 Axis 29

M2269 Axis 30

M2270 Axis 31

M2271 Axis 32

M2272 Axis 1

M2273 Axis 2

M2274 Axis 3

M2275 Axis 4

M2276 Axis 5

M2277 Axis 6

M2278 Axis 7

M2279 Axis 8

Control loop

M2280 Axis 9

M2281 Axis 10 monitor status

M2282 Axis 11

M2283 Axis 12

M2284 Axis 13

M2285 Axis 14

M2286 Axis 15

M2287 Axis 16

M2288 Axis 17

Common device list (Continued)

Refresh cycle

Operation cycle

Fetch cycle

Signal direction

Remark

(Note-4)

Device

No.

Signal name

24

Control loop monitor status

Refresh cycle

Operation cycle

Fetch cycle

Signal direction

Remark

(Note-4)

Status signal

(Note-1),

(Note-2)

Status signal

(Note-1),

(Note-2)

M2304

M2305

M2306

M2307

M2308

M2309

M2310

M2311

M2312

M2313

Unusable

(16 points)

M2314

M2315

M2316

M2317

M2318

M2319

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

(Note-2): Device area of 9 axes or more is unusable in the Q172DCPU.

(Note-3): This signal is unusable in the SV13/SV22 real mode.

(Note-4): It can also be ordered the device of a remark column.

(Note-5): These devices can be used as the clutch statuses.

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

Refer to Chapter 7 of the "Q173DCPU/Q172DCPU Motion controller (SV22)

Programming Manual (VIRTUAL MODE)" for details.

3 - 8


(5) Common device list (Command signal)

Device No.

M3072

M3073

M3074

M3075

M3076

Signal name

PLC ready flag

Speed switching point specified flag

All axes servo ON command

Real mode/virtual mode switching request (SV22)

JOG operation simultaneous start command



Refresh cycle Fetch cycle

Main cycle

At start

Operation cycle


Signal direction

Command signal

Remark

(Note-1), (Note-2)

M2000

M2040

M2042

M2043

M2048

M3077

M3078

Main cycle

M2051

M2052

M3079

M3080


Motion error history clear request flag

M2053

M2035

M3081 to

Unusable

(Note-3)

(55 points)

— — — —

M3135

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

(Note-2): It can also be ordered the device of a remark column.

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

POINT

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

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

M2053. Use the above devices in the case.

And, it can also be turned ON/OFF by the data register. (Refer to Section 3.2.3)

3 - 9


3.1.1 Axis statuses

(1) Positioning start complete signal (M2400+20n) .......... Status signal

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

It can be used to read a M-code at the positioning start.

(Refer to Section 7.1.)

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

(M3204+20n) or positioning completion.

At leading edge of complete signal OFF command (M3204+20n)

V

Dwell time t

Servo program start

Start accept flag

(M2001 to M2032)

Positioning start complete signal

(M2400+20n)

Complete signal OFF command

(M3204+20n)

At positioning completion

V

OFF

OFF

OFF

ON

ON

ON

Dwell time

Positioning completion t

Servo program start

Start accept flag

(M2001 to M2032)


(M2400+20n)

OFF

OFF

ON

ON

3 - 10


(2) Positioning complete signal (M2401+20n) ..................Status signal

(a) This signal turns on with the completion of the command output to positioning address for the axis specified with the servo program.

It does not turn on at the start or stop on the way using home position return, JOG operation, manual pulse generator operation or speed control.

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

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

(Refer to Section 7.1.)

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

(M3204+20n) or positioning start.

At leading edge of complete signal OFF command (M3204+20n)

V

Dwell time t

Servo program start

Start accept flag

(M2001 to M2032)

Positioning complete signal

(M2401+20n)

OFF

OFF

Complete signal OFF command (M3204+20n)

OFF

At next positioning start

V

ON

Dwell time

ON

OFF

ON

ON

Positioning completion

Positioning start t

Servo program start

Start accept flag

(M2001 to M2032)


(M2401+20n)

OFF

OFF

ON

ON

OFF

ON

CAUTION

The deviation counter value is not considered, so that the positioning complete signal (M2401+20n) turns on with the completion of the command output to positioning address. Use the positioning complete signal (M2401+20n) together with the in-position signal (M2402+20n) to confirm the positioning completion of servo axis in the final instruction under program.

3 - 11


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

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

It turns off at the start.

Number of droop pulses In-position range t

In-position

(M2402+20n)

ON

OFF

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

• When the servo power supply is turned on.

• After the automatic deceleration is started during positioning control.

• After the deceleration is started with the JOG start signal OFF.

• During the manual pulse generator operation.

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

• After the deceleration is started with the stop command.

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

(4) Command in-position signal (M2403+20n) .................Status signal

(a) This signal turns on when the absolute value of difference between the command position and feed current value becomes below the "command in-position range" set in the fixed parameters.

This signal turns off in the following cases.

• Positioning control start

• Home position return

• Speed control

• JOG operation

• Manual pulse generator operation

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

This check is not executed during speed control or speed control in the speed/position switching control.

(b)

Command in-position

(M2403+20n)

ON

V

Position control start

OFF

Command in-position setting

Speed/position control start

Execution of command in-position check

Switch from speed to position

Command in-position setting t

Execution of command in-position check

3 - 12


(5) Speed controlling signal (M2404+20n) ........................Status signal

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

It is turning on while the switching from speed control to position control by the external CHANGE signal at the speed/position switching control.

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

At speed/position switching control

CHANGE

At speed control

Speed control start

At position control

Positioning start

Speed/position control start t

ON

Speed controlling signal

(M2404+20n)

OFF

Speed control

Position control

(6) Speed/position switching latch signal (M2405+20n)

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

(a) This signal turns on when the control is switched from speed control to position control.

It can be used as an interlock signal to enable or disable changing of the travel value in position control.

(b) The signal turns off at the following start.

• Position control

• Speed/position control

• Speed control

• JOG operation

• Manual pulse generator operation

CHANGE

Start

Speed/position control start t

Speed/position switching latch signal(M2405+20n)

ON

OFF

ON

CHANGE signal from external source

OFF

3 - 13


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

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

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

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

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

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

The applicable error code (Note-1) is stored in the minor error code storage register with detection of a minor error. (Refer to Section 3.2.1)

The applicable error code (Note-1) is stored in the major error code storage register with detection of a major error. (Refer to Section 3.2.1)

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

Error detection

ON

Error detection signal

(M2407+20n)

OFF

Error reset command

(M3207+20n)

OFF

REMARK

ON

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

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

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

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

Section 3.2.1)

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

Servo error detection

ON

Servo error detection signal

(M2408+20n)

OFF

Servo error reset command

(M3208+20n)

OFF

ON

3 - 14


REMARK

(Note-1): Refer to APPENDIX 1.4 for the error codes on errors detected at the servo amplifier side.

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

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

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

(a) When not using an absolute position system

1) This signal turns on in the following cases:

• Multiple CPU system power supply on or reset

• Servo amplifier power supply on

• Home position return start

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

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

(b) When using an absolute position system

1) This signal turns on in the following cases:

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

• Home position return start

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

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

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

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

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

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

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

CAUTION

When using the absolute position system function, on starting up, and when the Motion controller or absolute value motor has been replaced, always perform a home position return.

In the case of the absolute position system, use the PLC program to check the home position return request before performing the positioning operation.

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

3 - 15


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

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

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

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

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

(12) FLS signal (M2411+20n) (Note-1) ...................................Status signal

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

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

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

(b) The state for the upper stroke limit switch input (FLS) when the FLS signal is ON/OFF is shown below.

1) Q172DLX use

(Note-2)

FLS signal : ON

Q172DLX

FLS

FLS

FLS signal : OFF

Q172DLX

FLS

FLS

COM

2) Servo amplifier input use

(Note-3)

FLS signal : ON

MR-J3- B

FLS

DI1

COM

FLS signal : OFF

MR-J3- B

FLS

DI1

DICOM DICOM

(Note-1): Refer to the "Q173DCPU/Q172DCPU Motion controller Programming Manual

(COMMON)" for an external signal.

(Note-2): Refer to the "Q173DCPU/Q172DCPU User’s Manual" for a pin configuration.

(Note-3): Refer to the "MR-J3- B Servo Amplifier Instruction Manual" for a pin configuration.

3 - 16


(13) RLS signal (M2412+20n) (Note-1) .................................. Status signal

(a) This signal is controlled by the ON/OFF state for the lower stroke limit switch input (FLS) of the Q172DLX/servo amplifier.

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

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

(b) The state of the lower stroke limit switch input (RLS) when the RLS signal is ON/OFF is shown below.

1) Q172DLX use

(Note-2)

RLS signal : ON

Q172DLX

RLS

RLS

RLS signal : OFF

Q172DLX

RLS

RLS

COM COM

2) Servo amplifier input use (Note-3)

RLS signal : ON

MR-J3- B

RLS

DI2

RLS signal : OFF

MR-J3- B

RLS

DI2

DICOM DICOM





(14) STOP signal (M2413+20n) ........................................Status signal

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

(STOP) of the Q172DLX.

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

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

(b) The state of the stop signal input (STOP) of the Q172DLX when the STOP signal input is ON/OFF is shown below.

STOP signal : ON

Q172DLX

STOP

STOP

STOP signal : OFF

Q172DLX

STOP

STOP

COM COM

3 - 17


(15) DOG/CHANGE signal (M2414+20n) (Note-1) ..................Status signal

(a) This signal turns on/off by the proximity dog input (DOG) of the

Q172DLX/servo amplifier at the home position return.

This signal turns on/off by the speed/position switching input (CHANGE) of the Q172DLX at the speed/position switching control.

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

(b) When using the Q172DLX, "Normally open contact input" and "Normally closed contact input" of the system setting can be selected.

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

CHANGE signal is ON/OFF is shown below.

1) Q172DLX use

(Note-2)

DOG/CHANGE signal : ON

Q172DLX

DOG/CHANGE

DOG/CHANGE

DOG/CHANGE signal : OFF

Q172DLX

DOG/CHANGE

DOG/CHANGE

COM COM

2) Servo amplifier input use

(Note-3)

DOG/CHANGE signal : ON

MR-J3- B

DOG/CHANGE

DI3

DOG/CHANGE signal : OFF

MR-J3- B

DOG/CHANGE

DI3

DICOM DICOM





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

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

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

• M2042 is off

• Servo amplifier is not mounted

• Servo parameter is not set

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

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

• Servo error occurs

Refer to "APPENDIX 1.4 Servo errors" for details.

3 - 18


Q61P Q03UD

CPU

Q172D

CPU

Q38DB

Communication is normal

Servo ready signal : ON

AMP

M

AMP

M

POINT

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

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

This signal turns on while torque limit is executed.

The signal toward the torque limiting axis turns on

(18) M-code outputting signal (M2419+20n) .....................Status signal

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

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

FIN signal are inputted.

M-code M1 M2 M3

ON

M-code outputting signal

(M2419+20n)

FIN signal

(M3219+20n)

OFF

OFF

ON

POINTS

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

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

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

3 - 19


3.1.2 Axis command signals

(1) Stop command (M3200+20n) ............................... Command signal

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

ON

Stop command

(M3200+20n)

OFF

V

Stop command for specified axis

Control when stop command turns off

Setting speed

Stop t

Deceleration stop processing

(b) The details of stop processing when the stop command turns on are shown below. (Refer to Section 6.13 or 6.14 for details of the speed control.)

Processing at the turning stop command on

Control details during execution

During control During deceleration stop processing

Positioning control

Speed control ( , )

JOG operation

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

The deceleration stop processing is continued.

Speed control with fixed position stop

Manual pulse generator operation

An immediate stop is executed without deceleration processing.

Home position return

(1) The axis decelerates to a stop in the deceleration time set in the parameter block.

(2) A "stop error during home position return" occurs and the error code [202] is stored in the minor error storage register for each axis.

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

(M2401+20n) turns ON.)

POINT

If it is made to stop by turning on the stop command (M3200+20n) during a home position return, execute the home position return again.

If the stop command is turned on after the proximity dog ON in the proximity dog type, execute the home position return after move to before the proximity dog ON by the JOG operation or positioning.

3 - 20


(2) Rapid stop command (M3201+20n) ..................... Command signal

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

ON

Rapid stop command

(M3201+20n)

OFF

V

Rapid stop command for specified axis

Control when rapid stop command turns off

Setting speed

Stop t

Rapid stop processing

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

Processing at the turning rapid stop command on

Control details during execution

During control During deceleration stop processing

Position control

Speed control ( , )

JOG operation

Speed control with fixed position stop

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

Deceleration processing is stopped and rapid stop processing is executed.

Manual pulse generator operation

An immediate stop is executed without deceleration processing.

(1) The axis decelerates to a stop in the rapid stop deceleration time set in the parameter block.

Home position return

(2) A "stop error during home position return" error occurs and the error code [203] is stored in the minor error storage register for each axis.

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

(M2401+20n) turns ON.)

POINT

If it is made to stop rapidly by turning on the rapid stop command (M3201+20n) during a home position return, execute the home position return again.

If the rapid stop command turned on after the proximity dog ON in the proximity dog type, execute the home position return after move to before the proximity dog ON by the JOG operation or positioning.

3 - 21


(3) Forward rotation JOG start command (M3202+20n)/Reverse rotation JOG start command (M3203+20n) ......... Command signal

(a) JOG operation to the address increase direction is executed while forward rotation JOG start command (M3202+20n) is turning on.

When M3202+20n is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.

(b) JOG operation to the address decrease direction is executed while reverse rotation JOG start command (M3203+20n) is turning on.

When M3203+20n is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.

POINT

Take an interlock so that the forward rotation JOG start command (M3202+20n) and reverse rotation JOG start command (M3203+20n) may not turn on simultaneously.

(4) Complete signal OFF command (M3204+20n)

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

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

(M2400+20n) and positioning complete signal (M2401+20n).

Dwell time Dwell time t

ON


(M2400+20n)

Positioning complete signal (M2401+20n)

Complete signal OFF command (M3204+20n)

OFF

OFF

OFF

ON

ON

POINT

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

If it is turned on with a PLS instruction, it cannot be turned off the positioning start complete signal (M2400+20n) and the positioning complete signal (M2401+20n).

3 - 22


(5) Speed/position switching enable command (M3205+20n)

......... Command signal

(a) This command is used to make the CHANGE signal (speed/position switching signal) effective from an external source.

• ON .......... Control switches from speed control to position control when the CHANGE signal turned on.

• OFF .......... Control does not switch from speed to position control even if the CHANGE signal turns on.

Control does not switch from speed control to position control because M3205+20n turns off

CHANGE CHANGE Control switches from speed control to position control because

M3205+20n turns on t

ON

Speed/position switching enable command (M3205+20n)

OFF

CHANGE signal from external source

OFF

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

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

ON

Error detection signal

(M2407+20n)

OFF

ON

Error reset command

(M3207+20n)

Minor error code storage register (D6+20n)

Major error code storage register (D7+20n)

OFF

**

**

00

00

** : Error code

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

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

ON

Servo error detection signal

(M2408+20n)

OFF

ON

Servo error reset command

(M3208+20n)

Servo error code storage register

OFF

** 00

** : Error code

3 - 23


REMARK

Refer to APPENDIX 1 for details on the minor error code, major error code and servo error code storage registers.

(8) External stop input disable at start command (M3209+20n)

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

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

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

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

POINT

When it stops an axis with the external stop input after it starts by turning on the external stop input disable at start command (M3209+20n), switch the external stop input from OFF ON (if the external stop input is turning on at the starting, switch it from ON OFF ON).

(9) Feed current value update request command (M3212+20n)

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

This signal is used to set whether the feed current value will be cleared or not at the starting in speed/position switching control.

• ON .......... The feed current value is updated from the starting.

The feed current value is not cleared at the starting.

• OFF .......... The feed current value is updated from the starting.

The feed current value is cleared at the starting.

POINT

When it starts by turning on the feed current value update request command

(M3212+20n), keep M3212+20n on until completion of the positioning control.

If M3212+20n is turned off on the way, the feed current value may not be reliable.

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

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

• M3215+20n: OFF ..... Servo ON

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

This command becomes invalid during positioning, and should therefore be executed after completion of positioning.

CAUTION

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

3 - 24


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

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

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

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

Refer to the "MR-J3- B Servo Amplifier Instruction Manual" for details of gain changing function.

Instruction Manual list is shown below.

Servo amplifier type Instruction manual name

MR-J3- B MR-J3- B Servo Amplifier Instruction Manual (SH-030051)

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

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

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

ON/OFF.

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

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

Fully closed loop control change

Semi closed loop control change

ON

Control loop changing command

(M3218+20n)

OFF

ON


(M2272+n)

OFF

Refer to the "Fully closed loop control MR-J3- B-RJ006 Servo Amplifier

Instruction Manual" for details of control loop changing.

Instruction Manual list is shown below.

Servo amplifier type

MR-J3- B-RJ006

Instruction manual name

Fully closed loop control MR-J3- B-RJ006

Servo Amplifier Instruction Manual (SH-030056)

POINTS

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

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

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

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

Motion controller

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

3 - 25


(13) FIN signal (M3219+20n) .................................... Command signal

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

Positioning to the next block begins after the FIN signal changes as above.

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

<K 0>

Point

1

2

3

4

CPSTART2

Axis

Axis

Speed

1

2

FIN acceleration/

deceleration

ABS-2

Axis

Axis

M-code

1,

2,

ABS-2

Axis

Axis

M-code

ABS-2

Axis

Axis

M-code

ABS-2

Axis

Axis

CPEND

1,

2,

1,

2,

1,

2,

Point 1 WAIT 2

M-code 10 11

10000

100

M-code outputting signal

(M2419+20n)

FIN signal

(M3219+20n)

200000

200000

10

300000

250000

11

350000

300000

12

400000

400000

Timing Chart for Operation Description

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

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

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

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

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

POINTS

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

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

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

3 - 26


3.1.3 Common devices

POINTS

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

In this manual, in order to indicate that internal relays for positioning control are not latched, the expression used in this text is "M2000 to M2319".

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

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

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

1) The positioning control, home position return, JOG operation or manual pulse generator operation using the servo program which performs the

Motion SFC program when the M2000 is ON.

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

MT Developer.

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

OFF only.

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

ON.

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

1) Processing details

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

• Turn the PCPU READY complete flag (SM500) on. (Motion SFC program can be executed.)

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

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

(c) 1) is not executed.

3 - 27


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

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

V

Deceleration stop

Positioning start t

PLC ready flag

(M2000)

OFF

PCPU READY complete flag

(SM500)

OFF

ON

ON

Clear a M-code

PCPU READY complete flag

(SM500) does not turn on because during deceleration.

(d) The following processings are performed when the M2000 turns ON to

OFF.

1) Processing details

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

• Deceleration stop of the starting axis.

• Stop to execute the Motion SFC program.

• Turn all points of the real output PY off.

(e) Operation setting at STOP RUN

The condition which the PLC ready flag (M2000) turns on is set in the system setting. Select the following either.

1) M2000 is turned on by switching from STOP to RUN. (Default)

The condition which M2000 turns OFF to ON.

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

• Turn the power supply on where the RUN/STOP switch is moved to

RUN.

The condition which M2000 turns ON to OFF.

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

2) M2000 is turned on by switching from STOP to RUN and setting 1 in the set register.

(M2000 is turned on by set "1" to the switch RUN setting register.)

The condition which M2000 is turned ON to OFF.

• Set "1" to the setting register D704 of the PLC ready flag where the

RUN/STOP switch is moved to RUN. (The Motion CPU detects the change of the lowest rank bit 0 1 in D704.)

3 - 28


The condition which M2000 is turned ON to OFF.

• Set "0" to the setting register D704 of the PLC ready flag where the

RUN/STOP switch is moved to RUN. (The Motion CPU detects the change of the lowest rank bit 1 0 in D704.)

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

(2) Start accept flag (M2001 to M2032) ............................ Status signal

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

Servo program start

Start accept flag

(M2001+n)

Positioning complete

(M2401+20n)

Positioning start complete (M2400+20n)

OFF

V

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

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

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

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

Normal positioning completion Positioning stop during control

V

Dwell time

Positioning completion t

Servo program start

Positioning start t

Positioning stop completion

ON ON

OFF Start accept flag

(M2001+n)

OFF

ON

Positioning complete

(M2401+20n)

Positioning start complete (M2400+20n)

OFF

OFF

ON

2) This flag turns on at the positioning control by turning on the JOG start command (M3202+20n or M3203+20n), and turns off at the positioning stop by turning off the JOG start command.

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

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

(M2051 to M2053: OFF).

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

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

CHGA instruction

Start accept flag

(M2001 to M2032)

OFF

ON

Current value changing processing

Turns off at the completion of current value change.

3 - 29


The start accept flag list is shown below.

Axis No. Device No. Axis No.

Device No. Axis No.

Device No. Axis No. Device No.

1 M2001 9 M2009 17 M2017 25 M2025

2 M2002 10 M2010 18 M2018 26 M2026

3 M2003 11 M2011 19 M2019 27 M2027

4 M2004 12 M2012 20 M2020 28 M2028

5 M2005 13 M2013 21 M2021 29 M2029

6 M2006 14 M2014 22 M2022 30 M2030

7 M2007 15 M2015 23 M2023 31 M2031

8 M2008 16 M2016 24 M2024 32 M2032

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

CAUTION

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

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

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

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

.……. Command signal

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

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

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

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

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

It turns off with release of the debug mode.

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

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

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

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

M2039 ON to OFF.

3 - 30


V

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

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

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

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

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

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

M2040 OFF

V

M2040 ON

Pass points of the constant speed control

(When the speed change

is specified with P3.)

Speed switching point specified flag (M2040)

OFF

Servo program start

P1

ON

P2

Start accept flag

(M2001+n)

OFF

P3 P4 t t

Pass points of the constant speed control

(When the speed change

is specified with P3.)

Speed switching point specified flag (M2040)

OFF

ON

P1

Servo program start

ON

Start accept flag

(M2001+n)

OFF

P2 P3 P4

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

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

• ON .......... Error

• OFF .......... Normal

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

The error contents can be confirmed using the Motion CPU error batch monitor of MT Developer.

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

REMARK

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

3 - 31


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

This command is used to enable servo operation.

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

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

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

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

• Servo error state

ON


(M2042)

OFF

ON

All axes servo ON accept flag

(M2049)

OFF

ON

(Note)

Each axis servo ready state OFF

(Note): Refer to "3.1.1 Axis statuses "Servo ready signal"" for details.

POINT

When M2042 turns on, it is not turned off even if the CPU is set in the STOP state.

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

This flag is used as judgement which modules installed in the motion slot of the main base unit is "normal" or "abnormal".

• ON .......... Installing module is abnormal

• OFF .......... Installing module is normal

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

(a) Perform the disposal (stop the starting axis, servo OFF, etc.) of error detection using the Motion SFC program.

(10) JOG operation simultaneous start command (M2048)

.……. Command signal

(a) When M2048 turns on, JOG operation simultaneous start based on the

JOG operation execution axis set in the JOG operation simultaneous start axis setting register (D710 to D713).

(b) When M2048 turns off, the axis during operation decelerates to a stop.

3 - 32


(11) All axes servo ON accept flag (M2049) .................... Status signal

This flag turns on when the Motion CPU accepts the all axes servo ON command (M2042).

Since the servo ready state of each axis is not checked, confirm it in the servo ready signal (M2415+20n).

ON


(M2042)

OFF

ON

All axes servo ON accept flag

(M2049)

OFF

ON

Each axis servo ready state

(Note)

OFF

(Note): Refer to "3.1.1 Axis statuses "Servo ready signal"" for details.

(12) Manual pulse generator enable flag (M2051 to M2053)

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

This flag set the enabled or disabled state for positioning with the pulse input from the manual pulse generators connected to P1 to P3 (Note) of the Q173DPX.

• ON .......... Positioning control is executed by the input from the manual pulse generators.

• OFF .......... Positioning control cannot be executed by the manual pulse generators because of the input from the manual pulse generators is ignored.

Default value is invalid (OFF).

REMARK

(Note): Refer to the "Q173DCPU/Q172DCPU User's Manual" for P1 to P3 connector of the Q173DPX.

(13) Operation cycle over flag (M2054) ............................ Status signal

This flag turns on when the time concerning motion operation exceeds the operation cycle of the Motion CPU setting (SD523). Perform the following operation, in making it turn off.

• Turn the power supply of the Multiple CPU system on to off

• Reset the Multiple CPU system

• Reset using the user program

[Error measures]

1) Change the operation cycle into a large value in the system setting.

2) The number of instruction completions of an event task or NMI task in the Motion SFC program.

3 - 33


(14) Speed change accepting flag (M2061 to M2092)

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

This flag turns on during speed change by the control change (CHGV) instruction (or Motion dedicated PLC instruction (D(P).CHGV)) of the Motion

SFC program.

CHGV instruction

ON

Speed change accepting flag

OFF

0 to 4ms

Speed change

Setting speed

Speed after speed change

Speed change completion t

The speed change accepting flag list is shown below.


Device No. Axis No.


1 M2061 9 M2069 17 M2077 25 M2085

2 M2062 10 M2070 18 M2078 26 M2086

3 M2063 11 M2071 19 M2079 27 M2087

4 M2064 12 M2072 20 M2080 28 M2088

5 M2065 13 M2073 21 M2081 29 M2089

6 M2066 14 M2074 22 M2082 30 M2090

7 M2067 15 M2075 23 M2083 31 M2091

8 M2068 16 M2076 24 M2084 32 M2092


REMARK

In the SV22 virtual mode, the flag is that of the virtual servomotor axis.

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(15) Automatic decelerating flag (M2128 to M2159) ......... Status signal

This signal turns on while automatic deceleration processing is performed during the positioning control or position follow-up control.

(a) This flag turns on while automatic deceleration to the command address at the position follow-up control, but it turns off if the command address is changed.

(b) This signal turns on while automatic deceleration processing is performed during execution of positioning to final point while in constant speed control.

V

P1

P2

Automatic decelerating flag

ON

OFF

P3 t

V


ON

OFF

P1

The automatic decelerating flag is turns on after the execution of positioning to final point (P3) even if automatic deceleration processing start while executing the positioning to P2.

P2 t

P3

POINT

Set a travel value in which automatic deceleration processing can be started at the final positioning point, therefore the automatic decelerating flag turns on at the start point of automatic deceleration processing after this final point.

(c) The signal turns off when all normal start complete commands became achieve.

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(d) In any of the following cases, this flag does not turn off.

• When deceleration due to JOG signal off

• During manual pulse generator operation

• During deceleration due to stop command or stop cause occurrence

• When travel value is 0

V t


ON

OFF

The automatic decelerating flag list is shown below.


Device No. Axis No.


1 M2128 9 M2136 17 M2144 25 M2152

2 M2129 10 M2137 18 M2145 26 M2153

3 M2130 11 M2138 19 M2146 27 M2154

4 M2131 12 M2139 20 M2147 28 M2155

5 M2132 13 M2140 21 M2148 29 M2156

6 M2133 14 M2141 22 M2149 30 M2157

7 M2134 15 M2142 23 M2150 31 M2158

8 M2135 16 M2143 24 M2151 32 M2159


REMARK

In the SV22 virtual mode, the flag is that of the virtual servomotor axis.

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(16) Speed change "0" accepting flag (M2240 to M2271)

....………. Status signal

This flag turns on while a speed change request to speed "0" or negative speed change is being accepted.

It turns on when the speed change request to speed "0" or negative speed change is accepted during a start. After that, this signal turns off when a speed change is accepted or on completion of a stop due to a stop cause.

Deceleration stop at the speed change

"0" accept.

Speed change "0"

V

V

1

Thereafter, by changing speed to except "0", it starts continuously.

Speed change V

2

V

2 t

Start accept flag



OFF

ON

The speed change "0" accepting flag list is shown below.


Device No. Axis No.


1 M2240 9 M2248 17 M2256 25 M2264

2 M2241 10 M2249 18 M2257 26 M2265

3 M2242 11 M2250 19 M2258 27 M2266

4 M2243 12 M2251 20 M2259 28 M2267

5 M2244 13 M2252 21 M2260 29 M2268

6 M2245 14 M2253 22 M2261 30 M2269

7 M2246 15 M2254 23 M2262 31 M2270

8 M2247 16 M2255 24 M2263 32 M2271


REMARK

(1) Even if it has stopped, when the start accept flag (M2001 to M2032) is ON state, the state where the request of speed change "0" is accepted is indicated.

Confirm by this speed change "0" accepting flag.

(2) During interpolation, the flags corresponding to the interpolation axes are set.

(3) In any of the following cases, the speed change "0" request is invalid.

• After deceleration by the JOG signal off

• During manual pulse generator operation

• After positioning automatic deceleration start

• After deceleration due to stop cause

(4) During the SV22 virtual mode, the flag is that of the virtual servomotor axis.

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(a) The flag turns off if a speed change request occurs during deceleration to a stop due to speed change "0".

V

V

1

Speed change "0"

Speed change V

2

V

2 t

Start accept flag


OFF

ON

(b) The flag turns off if a stop cause occurs after speed change "0" accept.

V

Speed change "0"

Stop cause t

Start accept flag


OFF

ON

(c) The speed change "0" accepting flag does not turn on if a speed change "0" occurs after an automatic deceleration start.

Automatic deceleration start

V

Speed change "0" t

Start accept flag


(OFF)

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(d) Even if it is speed change "0" after the automatic deceleration start to the

"command address", speed change "0" accepting flag turns on.

V

Command address P1

V

1

Automatic deceleration start

Speed change "0"

Command address P2

P1

Speed change V

2

V

2

P2 t

Start accept flag


OFF

ON

REMARK

It does not start, even if the "command address" is changed during speed change

"0" accepting.

(17) Control loop monitor status (M2272 to M2303)

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

When using the fully closed loop control servo amplifier, this signal is used to check the fully closed loop control/semi closed loop control of servo amplifier.

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

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

It can be changed the fully closed loop control/semi closed loop control of servo amplifier in the Motion controller by the control loop changing command ON/OFF.

Fully closed loop control change

Semi closed loop control change

ON

Control loop changing command

(M3218+20n)

OFF

ON


(M2272+n)

OFF

The Control loop monitor status list is shown below.


Device No. Axis No.


1 M2272 9 M2280 17 M2288 25 M2296

2 M2273 10 M2281 18 M2289 26 M2297

3 M2274 11 M2282 19 M2290 27 M2298

4 M2275 12 M2283 20 M2291 28 M2299

5 M2276 13 M2284 21 M2292 29 M2300

6 M2277 14 M2285 22 M2293 30 M2301

7 M2278 15 M2286 23 M2294 31 M2302

8 M2279 16 M2287 24 M2295 32 M2303


3 - 39

3.1 Internal Relays. Mitsubishi MOTION CONTROLLERS Q172DCPU

CAUTION

CAUTION

CAUTION

CAUTION

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3.1 Internal Relays. Mitsubishi MOTION CONTROLLERS Q172DCPU

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