3.2 Data Registers. Mitsubishi MOTION CONTROLLERS Q172DCPU

3 POSITIONING DEDICATED SIGNALS

3.2 Data Registers to to

D800

D0

Device No. to

D640 to

D704 to

D758

(1) Data register list

SV13 SV22

Application Device No.

D0

Application

Axis monitor device

(20 points 32 axes) to

Axis monitor device

(20 points 32 axes)

Real mode……each axis

Virtual mode….output module

D640

Control change register

(2 points 32 axes)

Control change register

(2 points 32 axes) to

D704

Common device (Command signal)

(54 points)

Common device (Command signal)

(54 points) to

D758

Unusable

(42 points)

Unusable

(42 points) to

D800 to

Virtual servomotor axis monitor device (Note)

(10 points 32 axes)

(Mechanical system setting axis only)

D1120

Synchronous encoder axis monitor device (Note) (10 points 12 axes) to

D1240

CAM axis monitor device (Note)

(10 points 32 axes)

User device

(7392 points) to

D1560 to

User device

(6632 points)

D8191 D8191

Usable in the user device.

(Note): When it is used in the SV22 real mode only, it can be used as an user device.

POINT

• Total number of user device points

7392 points (SV13) / 6632 points

(Note)

(SV22)

(Note): Up to 7272 points can be used when not using it in the virtual mode.

3 - 40


Axis

No.

Device No.

(2) Axis monitor device list

Signal name

1 D0 to D19

2 D20 to D39

3 D40 to D59

Signal name Refresh cycle Fetch cycle

4 D60 to D79 0

5 D80 to D99 1

6 D100 to D119 2

7 D120 to D139 3

Feed current value

Real current value Operation cycle

8 D140 to D159 4

9 D160 to D179 5

Deviation counter value

10 D180 to D199 6 Minor error code

11 D200 to D219 7 Major error code

Immediate

12 D220 to D239 8 Servo error code Main

13 D240 to D259

14 D260 to D279

Home position return

9 re-travel value

Operation cycle

15 D280 to D299 10 Travel value after

16 D300 to D319 11 proximity dog ON

17 D320 to D339 12 Execute program No.

18 D340 to D359 13 M-code

At start

Operation cycle

19 D360 to D379 14 Torque limit value

20 D380 to D399

21 D400 to D419

Data set pointer for

15 constant-speed control

At start/during start

22 D420 to D439 16

23 D440 to D459 17

Unusable (Note-1)

24 D460 to D479 18

25 D480 to D499 19

Real current value at stop input

Operation cycle

26 D500 to D519

27 D520 to D539

28 D540 to D559

29 D560 to D579

30 D580 to D599

31 D600 to D619

32 D620 to D639

Unit

Command unit

PLS

Signal direction

Monitor device

PLS

Command unit

%

Command unit

Monitor device

(Note-1): It can be used as the travel value change register. The travel value change register can be set to the device optionally in the servo program. Refer to Section 6.15 for details.

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 - 41


Axis

No.

Device No.

(3) Control change register list

Signal name

0

JOG speed setting

1

Signal name

Refresh cycle Fetch cycle

At start

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.

Unit

Command unit

Signal direction

Command device

3 - 42


Device

No.

Signal name

D704 PLC ready flag request

D705

D706

Speed switching point specified flag request

All axes servo ON command request

D707

D708

Real mode/virtual mode switching request (SV22)

JOG operation simultaneous start command request

D709 Unusable

D710

D711

D712

D713

D714

D715

D716

D717

D718

D719

JOG operation simultaneous start axis setting register

Manual pulse generator axis

1 No. setting register





15 input magnification setting register

(Note-1), (Note-2)

(4) Common device list


Main cycle

Signal direction

Command device

Device

No.

Signal name

D752

D753

Manual pulse generator 1 smoothing magnification setting register


D754


D755

Manual pulse generator 1 enable flag request

D756

Manual pulse generator 2 enable flag request


At the manual pulse generator enable flag

Main cycle

Signal direction

Command device

At start

At the manual pulse generator enable flag

D758

D759

D760

D761

D762

D763

D764

D765

D766

D767

D768

D769

D770

D771

D772

D773

D774

D775

D776

D777

Command device

D778

D779

Unusable

(42 points)

D780

D781

D782

D783

D784

D785

D786

D787

D788

D789

D790

D791

D792

D793

D794

D795

D796

D797

D798

D799

(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.

3 - 43


3.2.1 Axis monitor devices

The monitoring data area is used by the Motion CPU to store data such as the feed current value during positioning control, the real current value and the deviation counter value.

It can be used to check the positioning control state using the Motion SFC program.

The user cannot write data to the monitoring data area (except the travel value change register).

Refer to "APPENDIX 4 Processing Times of the Motion CPU" for the delay time between a positioning device (input, internal relay and special relay) turning on/off and storage of data in the monitor data area.

(1) Feed current value storage register (D0+20n, D1+20n)

…..……...…….. Monitor device

(a) This register stores the target address output to the servo amplifier on the basis of the positioning address/travel value specified with the servo program.

1) A part for the amount of the travel value from "0" after starting is stored in the fixed-pitch feed control.

2) The current value from address at the time of starting is stored in the speed/position switching control.

However, the address at the time of starting varies depending on the

ON/OFF state of the feed current value update command (M3212+20n) at the start.

• M3212+20n: OFF ..... Resets the feed current value to "0" at the start.

• M3212+20n: ON ..... Not reset the feed current value at the start.

3) "0" is stored during speed control.

(b) The stroke range check is performed on this feed current value data.

(2) Real current value storage register (D2+20n, D3+20n)

....…….. Monitor device

(a) This register stores the real current value which took the droop pulses of the servo amplifier into consideration to the feed current value.

(b) The "feed current value" is equal to the "real current value" in the stopped state.

(3) Deviation counter value storage register (D4+20n, D5+20n)


This register stores the droop pulses read from the servo amplifier.

3 - 44


(4) Minor error code storage register (D6+20n) ............. Monitor device

(a) This register stores the corresponding error code (Refer to APPENDIX 1.2) at the minor error occurrence. If another minor error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Minor error codes can be cleared by an error reset command (M3207+20n).

(5) Major error code storage register (D7+20n) ............. Monitor device

(a) This register stores the corresponding error code (Refer to APPENDIX 1.3) at the major error occurrence. If another major error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Major error codes can be cleared by an error reset command (M3207+20n).

(6) Servo error code storage register (D8+20n) ......... Monitor device

(a) This register stores the corresponding error code (Refer to APPENDIX 1.4) at the servo error occurrence. If another servo error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Servo error codes can be cleared by an error reset command (M3208+20n).

(7) Home position return re-travel value storage register (D9+20n)


If the position stopped in the position specified with the travel value after proximity dog ON (Refer to Section 6.23.1) using MT Developer is not zero point, it made to travel to zero point by re-travel in the Motion CPU. The travel value (signed) of making it travel to zero point by re-travel at this time is stored.

(Data does not change with the last value in the data setting type.)

The following value is stored according to the number of feedback pulses of the motor connected.

Number of feedback pulses

Less than 131072[PLS]

131072[PLS] or more, 262144[PLS] or less

More than 262144[PLS]

Storage data

Feedback pulses

1/10 of feedback pulses

1/10000 of feedback pulses

(8) Travel value after proximity dog ON storage register

(D10+20n, D11+20n) ………………………………… Monitor device

(a) This register stores the travel value (unsigned) from the proximity dog ON to home position return completion after the home position return start.

(b) The travel value (signed) of the position control is stored at the time of speed/position switching control.

3 - 45


(9) Execute program No. storage register (D12+20n)


(a) This register stores the starting program No. at the servo program starting.

(b) The following value is stored in the JOG operation and manual pulse generator operation.

1) JOG operation...................................... FFFF

2) Manual pulse generator operation ...... FFFE

3) Power supply on................................... FF00

(c) When the following control is being executed using MT Developer in the test mode, FFFD is stored in this register.

• Home position return

(10) M-code storage register (D13+20n) ..........……….. Monitor device

(a) This register stores the M-code (Note) set to the executed servo program at the positioning start.

If M-code is not set in the servo program, the value "0" is stored.

(b) It does not change except positioning start using the servo program.

(c) The value "0" is stored at leading edge of PLC ready flag (M2000).

REMARK

(Note): Refer to the following sections for M-codes and reading M-codes.

• M-code ......................... Section 7.1

• Reading M-code ........... APPENDIX 2.1

(11) Torque limit value storage register (D14+20n) ...... Monitor device

This register stores the torque limit value imposed on the servo amplifier.

The default value "300[%]" is stored at the power supply of servo amplifier ON.

3 - 46


(12) Data set pointer for constant-speed control (D15+20n)


This pointer is used in the constant-speed control when specifying positioning data indirectly and substituting positioning data during operation.

It stores a "point" that indicates which of the values stored in indirect devices has been input to the Motion CPU when positioning is being repeated by using a repetition instructions (FOR-TIMES, FOR-ON or FOR-OFF).

Use this pointer in conjunction with the updated data set pointer (controlled by the user in the Motion SFC program) - which indicates the extent to which the positioning data has been updated using the Motion SFC program - to confirm which positioning data is to be updated.

Data set pointer for constant-speed control and updated data set pointer are described here using the example servo program below.

Pass point

<K 0>

9

*

CPSTART2

Axis

Axis

Speed

FOR-TIMES

1

2

3

4

5

6

7

8

*

9

ABS-2

Axis

Axis

ABS-2

Axis

Axis

ABS-2

Axis

Axis

ABS-2

Axis

Axis

ABS-2

Axis

Axis

ABS-2

Axis

Axis

ABS-2

Axis

Axis

ABS-2

Axis

Axis

NEXT

CPEND

1

2

1,

2,

1,

2,

1,

2,

1,

2,

1,

2,

1,

2,

1,

2,

1,

2,

D3200

D3000

D3002

. . . 0

. . . 1

D3004

D3006

. . . 2

D3008

D3010

. . . 3

D3012

D3014

. . . 4

D3016

D3018

. . . 5

D3020

D3022

. . . 6

D3024

D3026

. . . 7

D3028

D3030

Point

Repetition instructions

FOR-TIMES

FOR-ON

FOR-OFF

NEXT

0, 1, 2, etc., starting from the first instructions defined by the above repetition instructions :

The input situation of positioning data to the Motion CPU is shown the next page by executing the 2-axes constant-speed control using above the servo program and updating the positioning data in indirect devices D3000 to D3006.

3 - 47


[Input situation of positioning data in the Motion CPU]

Update of data using the Motion SFC program

Updated data

(A)

(B)

Updating

Indirect device D

0

2

(1)

(2)

(A)

(B)

0

Point

Input

First positioning

Positioning data input to the Motion CPU at each point

Positioning point

Data set pointer for constant-speed control

Point 0 6

(13)

5

(11)

4

(9)

3

(7)

2

(5)

1

(3)

0

(1)

Indicates the last positioning data input to the Motion CPU.

(C)

(D)

4

6

8

10

(3)

(4)

(5)

(6)

(C)

(D)

1

2

1

(14)

7

(15)

(12)

6

(13)

(10)

5

(11)

(8)

4

(9)

(6)

3

(7)

(4)

2

(5)

(2)

1

(3)

Each time the positioning at a point is completed, the value increases by one.

12 (7) (6) (4)

3

(16) (14) (12) (10) (8)

14

16

18

20

22

(8)

(9)

(10)

(11)

(12)

4

5

2 0

(A)

7 6

(15) (13)

5

(11)

4

(9)

3

(7)

(B) (16) (14) (12) (10) (8)

2

(5)

(6)

24

26

28

(13)

(14)

(15)

30 (16)

6

7

3 1

(C)

(D)

0

(A)

7 6 5

(15) (13) (11)

4

(9)

3

(7)

(B) (16) (14) (12) (10) (8)

4 2

(5)

(6)

1

(C)

(D)

0

(A)

7 6 5

(15) (13) (11)

4

(9)

(B) (16) (14) (12) (10)

Update data set pointer

Indicates the last positioning data updated by the Motion

SFC program last time.

The user controls this pointer in the

Motion SFC program.

1 5 3

(7)

(8)

2

(5)

(6)

(C)

(D)

0 7 6 5

(A) (15) (13) (11)

(B) (16) (14) (12)

6 4

(9)

3

(7)

(10) (8)

2

(5)

(6)

1

(C)

(D)

0

(A)

7 6

(15) (13)

(B) (16) (14)

7 5

(11)

4

(9)

3

(7)

(12) (10) (8)

2

(5)

(6)

1

(C)

(D)

0

(A)

7

(15)

(B) (16)

Second positioning

Point 0 6 5 4 3

(13) (11) (9)

(14) (12) (10)

(7)

(8)

2

(5)

(6)

1

(C)

(D)

0

(A)

(B)

The internal processing shown above is described in the next page.

3 - 48


[Internal processing]

(a) The positioning data ((1) to (14)) of points 0 to 6 is input to the Motion CPU by the starting. The last point "6" of the input data to be input is stored in the data set pointer for constant-speed control at this time.

The "6" stored in the data set pointer for constant-speed control indicates that updating of the positioning data stored in points 0 to 6 is possible.

(b) The positioning data ((A) to (D)) of points 0 to 1 is updated using the Motion

SFC program.

The last point "1" of the positioning data to be rewritten is stored in the updated data set pointer (which must be controlled by the user in the

Motion SFC program). Updating of positioning data of points 2 to 6 (data (5) to (14)) remains possible.

(c) On completion of the positioning for point 0, the value in the data set pointer for constant-speed control is automatically incremented by one to "7".

The positioning data ((1) to (2)) of point 0 is discarded and the positioning data ((15) to (16)) for point 7 is input to the Motion CPU at this time.

(d) Hereafter, whenever positioning of each point is completed, the positioning data shifts one place.

The positioning data that can be updated is the data after that indicated by the updated data set pointer: this is the data which has not yet been input to the Motion CPU.

Even if the values of the indirect devices D8 and D10 are updated by the

Motion SFC program after the positioning completion of the point 3, the positioning data of point 2 that is input to the Motion CPU will not be updated and the second positioning will be executed using the unupdated data. The data set pointer for constant-speed control has not yet been input to the Motion CPU, and indicates the positioning data which a user can update using the Motion SFC program.

POINT

Number of points that can be defined by a repeat instruction

• Create the servo program at least eight points.

• If there are less than eight points and they include pass points of few travel value, the positioning at each point may be completed, and the data input to the Motion

CPU, before the data has been updated using the Motion SFC program.

• Create a sufficient number of points to ensure that data will not be input before the

Motion CPU has updated the values in the indirect devices.

(13) Real current value at STOP input storage register

(D18+20n, D19+20n) .............……………………... Monitor device

This register stores the real current value at the STOP signal (STOP) input of the Q172DLX.

3 - 49


3.2.2 Control change registers

This area stores the JOG operation speed data.

Table 3.1 Data storage area for control change list

Name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

D641, D640 D643, D642 D645, D644 D647, D646 D649, D648 D651, D650 D653, D652 D655, D654

Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16

JOG speed setting register






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

(1) JOG speed setting registers (D640+2n, D641+2n)

....…….. Command device

(a) This register stores the JOG speed at the JOG operation.

Unit

Item

(b) Setting range of the JOG speed is shown below.

JOG speed

Setting range

1 to

600000000

Unit

10 -2

[mm/min]

Setting range

1 to

600000000

Unit

10 -3

[inch/min]

Setting range Unit (Note-1)

1 to

2147483647

Setting Unit

10 -3

[degree/min]

1 to

2147483647

[PLS/s]

(Note-1) : When the " speed control 10 multiplier setting for degree axis" is set to "valid" in the fixed parameter, the unit is

" 10 -2 [degree/min] ".

(c) The JOG speed is the value stored in the JOG speed setting registers at leading edge of JOG start signal.

Even if data is changed during JOG operation, JOG speed cannot be changed.

(d) Refer to Section 6.21 for details of JOG operation.

3 - 50


3.2.3 Common devices

(1) Common bit device SET/RST request register (D704 to D708,

D755 to D757) ..…........….................................... Command device

Because cannot be turn on/off in every bit from the PLC CPU, the bit device is assigned to D register, and each bit device turns on with the lowest rank bit 0 to

1 and each bit device becomes off with 1 to 0.

The details of request register are shown below.

(Refer to Section "3.1.3 Common devices" for the bit device M2000 to M2053.)

Details of the request register

No. Function

1 PLC ready flag

2 Speed switching point specified flag

3 All axes servo ON command

4 Real mode/virtual mode switching request (SV22)

5 JOG operation simultaneous start command

6 Manual pulse generator 1 enable flag



Bit device

M2000

M2040

M2042

M2043

M2048

M2051

M2052

M2053

Request register

D704

D705

D706

D707

D708

D755

D756

D757

(2) JOG operation simultaneous start axis setting registers (D710 to

D713) ....….……………..….……………………… Command device

(a) These registers set the axis No. and direction which start simultaneously the

JOG operation. b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D710 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 Forward rotation

JOG

D711 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17



Reverse rotation

JOG

(Note-1) : Make JOG operation simultaneous start axis setting with 1/0.

1 : Simultaneous start execution

0 : Simultaneous start not execution

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

(b) Refer to Section 6.21.3 for details of the JOG operation simultaneous start.

(3) Manual pulse generator axis No. setting registers (D714 to D719)

....…….. Command device

(a) These registers stores the axis No. controlled with the manual pulse generator.

3 - 51

3 POSITIONING DEDICATED SIGNALS b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0


P1


P2



P3



(Note-1) : Make the axis No. controlled with the manual pulse generator

setting with 1/0.

1 : Specified axis

0 : Unspecified axis

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

(b) Refer to Section 6.22 for details of the manual pulse generator operation.

(4) Manual pulse generator 1-pulse input magnification setting registers (D720 to D751) ..................................... Command device

(a) These register set the magnification (1 to 10000) per pulse of number of the input pulses from manual pulse generator at the pulse generator operation.

1-pulse input magnification setting register

D720

D721

D722

D723

D724

D725

D726

D727

D728

D729

D730

D731

D732

D733

D734

Axis No.

Axis 1

Axis 2

Axis 3

Axis 4

Axis 5

Axis 6

Axis 7

Axis 8

Axis 9

Axis 10

Axis 11

Axis 12

Axis 13

Axis 14

Axis 15

Setting range

1-pulse input magnification setting register

D736

D737

D738

D739

D740

D741

1 to 10000

D742

D743

D744

D745

D746

D747

D748

D749

D750

Axis No.

Axis 17

Axis 18

Axis 19

Axis 20

Axis 21

Axis 22

Axis 23

Axis 24

Axis 25

Axis 26

Axis 27

Axis 28

Axis 29

Axis 30

Axis 31

Setting range

1 to 10000

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

(b) Refer to Section 6.22 for details of the manual pulse generator operation.

3 - 52


(5) Manual pulse generator smoothing magnification setting registers

(D752 to D754) .................................................... Command device

(a) These registers set the smoothing time constants of manual pulse generators.

Manual pulse generator smoothing magnification setting register

Manual pulse generator 1 (P1): D752



Setting range

0 to 59

(b) When the smoothing magnification is set, the smoothing time constant is as indicated by the following expression.

Smoothing time constant (t) = (smoothing magnification + 1) 56.8 [ms]

(c) Operation

Manual pulse generator input

Manual pulse generator enable flag (M2051)

OFF

V

ON

V

1 t t t t

Output speed (V

1

) [PLS/s] = (Number of input pulses/s) (Manual pulse

generator 1-pulse input magnification setting)

Travel value (L) =

(Travel value per pulse)

×

Number of input pulses

(Manual pulse generator 1-pulse input magnification setting)

REMARK

(1) The travel value per pulse of the manual pulse generator is shown below.

• Setting unit mm :0.1[µm] inch :0.00001[inch] degree :0.00001[degree]

PLS :1[PLS]

(2) The smoothing time constant is 56.8[ms] to 3408[ms].

3 - 53

3.2 Data Registers. Mitsubishi MOTION CONTROLLERS Q172DCPU

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