APPENDICES. Mitsubishi MOTION CONTROLLERS Q172DCPU

APPENDICES

APPENDICES

APPENDIX 1 Error Codes Stored Using The Motion CPU

The servo program setting errors and positioning errors are detected in the Motion

CPU side.

(1) Servo program setting errors

These are positioning data errors set in the servo program, and it checks at the start of the each servo program.

They are errors that occur when the positioning data is specified indirectly.

The operations at the error occurrence are shown below.

• The servo program setting error flag (SM516) turns on.

• The erroneous servo program is stored in the error program No. storage register

(SD516).

• The error code is stored in the error item information register (SD517).

(2) Positioning error

(a) Positioning errors occurs at the positioning start or during positioning control.

There are minor errors, major errors and servo errors.

1) Minor errors…… These errors occur in the Motion SFC program or servo program, and the error codes 1 to 999 are used.

Check the error code, and remove the error cause by correcting the Motion SFC program or servo program.

2) Major errors…… These errors occur in the external input signals or control commands from the Motion SFC program, and the error codes 1000 to 1999 are used.

Check the error code, and remove the error cause of the external input signal state or Motion SFC program.

3) Servo errors ..… These errors detected in the servo amplifier, and the error codes 2000 to 2999 are used.

Check the error code, and remove the error cause of the servo amplifier side. APP.

APP - 1

APPENDICES

(b) The error detection signal of the erroneous axis turns on at the error occurrence, and the error codes are stored in the minor error code, major error code or servo error code storage register.

Table 1.1 Error code storage registers, error detection signals

Device

Error class

Axis

1

Axis

2

Axis

3

Axis

4

Axis

5

Axis

6

Error code storage register

Axis

7

Axis

8

Axis

9

Axis

10

Axis

11

Axis

12

Axis

13

Axis

14

Axis

15

Axis

16

Error detection signal

D6 D26 D46 D66 D86 D106 D126 D146 D166 D186 D206 D226 D246 D266 D286 D306


M2407+20n

D8 D28 D48 D68 D88 D108 D128 D148 D168 D188 D208 D228 D248 D268 D288 D308 M2408+20n

Device

Error class

Minor error

Major error

Servo error

Axis

17

Axis

18

Axis

19

Axis

20

Axis

21

Axis

Error code storage register

Axis Axis Axis Axis

22 23 24 25 26

Axis

27

Axis

28

Axis

29

Axis

30

Axis

31

Axis

32




M2407+20n

D328 D348 D368 D388 D408 D428 D448 D468 D488 D508 D528 D548 D568 D588 D608 D628 M2408+20n

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

(c) If another error occurs after an error code has been stored, the existing error code is overwritten, deleting it.

However, the error history can be checked using MT Developer.

(d) Error detection signals and error codes are held until the error code reset command (M3207+20n) or servo error reset command (M3208+20n) turns on.

POINTS

(1) Even if the servo error reset (M3208+20n) turns on at the servo error occurrence, the same error code might be stored again.

(2) Reset the servo error after removing the error cause of the servo amplifier side at the servo error occurrence.

APP - 2

APPENDICES

APPENDIX 1.1 Servo program setting errors (Stored in SD517)

The error codes, error contents and corrective actions for servo program setting errors are shown in Table 1.2.

In the error codes marked with "Note" indicates the axis No. (1 to 32).

Table 1.2 Servo program setting error list

Error code stored in SD517

1 n03

(Note)

4

5

Error name Error contents Error processing Corrective action

Parameter block No. The parameter block No. is outside setting error the range of 1 to 64.

Execute the servo program with the default value "1" of parameter block.

Set the parameter block No. within the range of 1 to 64.

Address (travel value) setting error

(Except the speed

(1) The address is outside the setting range at the positioning start for absolute data method. control and speed/position control.)

(Setting error for linear axis at the helical-interpolation.)

Unit Address setting range degree

0 to

35999999

10 –5

[degree]

(2) The travel value is set to

-2147483648 (H80000000) at the positioning start for incremental data method.

Command speed error

(1) Positioning control does not start. (All interpolation control at the interpolation control.)

(2) If the error is detected

(1) If the control unit is

[degree], set the address within the range of 0 to

35999999. during the speed- switching control or constant-speed control, a deceleration stop is made.

(3) If an error occurs in one servo program, all servo programs do not execute during the simultaneous start.

(2) Set the travel value within the range of "0 to (2 31 -1)".

Set the command speed within the range of 1 to the speed limit value.

(1) The command speed is outside (1) Positioning control does the range of 1 to the speed limit value. not start if the command speed is "0" or less.

(2) The command speed is outside (2) If the command speed the setting range. exceeds the speed limit value, control with the

Unit Speed setting range speed limit value. mm inch

1 to

600000000

1 to

600000000 degree

1 to

2147483647

10 -2

[mm/min]

10 -3

[inch/min]

10 -3

[degree

/min]

Dwell time setting error

(Note-1)

PLS

1 to

2147483647

[PLS/s]

The dwell time is outside the range of 0 to 5000.

Control with the default value

"0".

Set the dwell time within the range of 0 to 5000.

6

7

M-code setting error The M-code is outside the range of 0 to 32767.

Torque limit value setting error

The torque limit value is outside the range of 1 to 1000.

Control with the torque limit value of the specified parameter block.

Set the M-code within the range of 0 to 32767.

Set the torque limit value within the range of 1 to 1000.

(Note-1): When the "speed control 10 multiplier setting for degree axis" is set to "valid", the setting range is 0.01 to

21474836.47 [degree/min].

APP - 3

APPENDICES

Table 1.2 Servo program setting error list (Continued)

Error code stored in SD517 n08

(Note) n09

(Note) n10

(Note)

11

12

13

14


Auxiliary point setting error

(At the auxiliary point-specified circular interpolation. )

(At the auxiliary point-specified helical interpolation.)

(1) The auxiliary point address is outside the setting range at the positioning start for absolute data method.


0 to

35999999

10 -5

[degree]

(2) The auxiliary point address is set to -2147483648 (H80000000) at the positioning start for

Radius setting error

(At the radiusspecified circular interpolation.)

(At the radiusspecified helical interpolation.) incremental data method.

(1) The radius is outside the setting range at the positioning control for absolute data method.


0 to

35999999

10 -5

[degree]

Positioning control does not (1) If the control unit is start. [degree], set the auxiliary point address within the range of 0 to 35999999.

(2) Set the auxiliary point address within the range of

0 to (2 31 -1).


[degree], set the radius within the range of 0 to

35999999.

(2) The radius is set to "0" or negative setting at the positioning start for incremental data method.

Central point setting (1) The central point address is error

(At the central pointspecified circular outside the setting range at the positioning start for absolute data method. interpolation.)

(At the central pointspecified helical interpolation.)


0 to

35999999

10 -5

[degree]

(2) The central point is set to

-2147483648 (H80000000) at the positioning start for incremental data method.

Interpolation control unit setting error

The interpolation control unit is set outside the range of 0 to 3.

Speed limit value setting error

The speed limit value is set outside the setting range.

Control with the default value "3".

Control with the default value 200000[PLS/s].

(2) Set the radius within the range of 1 to (2 31 -1).


[degree], set the central point address within the range of 0 to 35999999.

(2) Set the central point address within the range of

0 to (2 31 -1).

Acceleration time setting error

FIN acceleration/ deceleration setting error

The acceleration time is set to "0".

The FIN acceleration/deceleration time is set except 1 to 5000.

Fixed position stop acceleration/ deceleration time setting error

Deceleration time setting error

The fixed position stop acceleration/ deceleration time is set to "0".

The deceleration time is set to "0".

Control with the default value "1000".

Set the interpolation control unit within the range of 0 to 3.

Set the speed limit value within the setting range.

[For PLS]

1 to 2147483647[PLS/s]

Set the acceleration time within the range of 1 to 65535.

The FIN acceleration/ deceleration time within the range of 1 to 5000.

Set the fixed position stop acceleration/deceleration time within the range of 1 to 65535.

Set the deceleration time within the range of 1 to 65535.

APP - 4

APPENDICES



15

16

17


Rapid stop deceleration time setting error

Torque limit value setting error

Allowable error range for circular interpolation setting error

The rapid stop deceleration time is Control with the default value set to "0". "1000".

Set the rapid stop deceleration time within the range of 1 to

65535.

The torque limit value is outside the range of 1 to 1000.


"300[%]".

Set the torque limit value within the range of 1 to 1000.

The allowable error range for circular interpolation is outside the setting range.


"100[PLS]".

Set the allowable error range for circular interpolation within the setting range.

Unit Address setting range

mm

inch degree

0 to

100000

[µm]

10 -5 [inch]

10 -5

[degree]

PLS [PLS]

18

19

20

21

22

23

24

25

Repeat count error The repeat count is outside the

START instruction setting error range of 1 to 32767.

(1) The servo program specified with the START instruction does not exist.

(2) There is a START instruction in the specified servo program.

Control the repeat count with

"1".

Positioning control does not start.

Set the repeat count within the range of 1 to 32767.

(1) Create the servo program specified with the START instruction.

(2) Delete the servo program specified with the START instruction.

(3) Do not overlap the starting axis.

(3) The starting axis of the specified servo program overlap.

Point setting error Point is not specified in the instruction at the constant-speed control.

Reference axis speed setting error

The axis except interpolation axis is set as the reference axis at the linear interpolation of the reference axis speed-specified method.

Set a point between CPSTART and CPEND.

Set one of the interpolation axes as the reference axis.

S-curve ratio setting S-curve ratio is set outside the error range of 0 to 100[%] at the S-curve acceleration/deceleration.

Control the S-curve ratio with

100[%].

Set the S-curve ratio within the range of 0 to 100[%].

VSTART setting error

Cancel function start program No. error

Not even one speed-switching point has been set between a

VSTART and VEND instruction, or between FOR and NEXT instruction.

The start program No. for the cancel function is set outside the range 0 to 4095.


Set the speed switching point between the VSTART and

VEND instructions or the FOR and NEXT instructions.

Start after set the start program No. within the range of 0 to 4095.

High-Speed oscillation command amplitude error

Operation cannot be started because the amplitude specified with the high-speed oscillation function is outside the range 1 to

2147483647.

Start after set the command amplitude within the range of 1 to 214783647.

APP - 5

APPENDICES


Error code stored in D517

26

27

28

41

900

901

902

903

904

905

Error name Error contents Error processing

High-Speed oscillation command starting angle error

Operation cannot be started because the starting angle specified with the high-speed oscillation function is outside the

High-Speed oscillation command frequency error range of 0 to 3599

( 0.1[degrees]).

Operation cannot be started because the frequency specified with the high-speed oscillation function is outside the range of 1 to 5000[CPM].

Number of helical interpolation pitches error

Device error of the

The specified number of pitches of helical interpolation is outside the range of 0 to 999.

Any unauthorized devices are set home position return in the home position return data data for indirect for indirect setting. setting

START instruction setting error

The servo program specified with the servo program start does not exist.

START instruction setting error

Servo program instruction code error

The axis No. set in the servo program start is different from the axis No. set in the servo program.

The instruction code cannot be decoded.

(A non-existent instruction code has been specified.)

Start error

Start error

Start error

A virtual mode program was started in the real mode.

A real mode program was started in the virtual mode.

(1) Operation disable instructions

(VPF, VPR, VPSTART, PVF,

PVR, ZERO, VVF, VVR, OSC) was started in virtual mode.


(ZERO, OSC, CHGA-C,

CHGA-E) was started in real mode axis.


(CHGA-C, CHGA-E) from the

D(P).SVST instruction of

Motion dedicated instruction was started.


Corrective action

Start after set the starting angle within the range of 0 to

3599 ( 0.1 [degree]).

Start after set the frequency within the range of 1 to

5000[CPM].

Set the specified number of pitches within the range of 0 to

999.

Review the devices of home position return data for indirect setting.

Set the correct servo program

No..

Set the correct axis No.

Set the correct instruction code.

Check the program mode allocation.

Correct the servo program.

Use the D(P).CHGA instruction of Motion dedicated instruction.

APP - 6

APPENDICES


Error name

Axis No. setting error

906

907

908

Start error

Start error


Error contents Error processing

(1) Unused axis of the system setting is set in the Motion

SFC program set in the servo program start.

(2) It was started by setting the real mode axis in the virtual servo program.

(3) It was started in the condition that the real mode axis had been mixed with virtual axis in the interpolation axis.

(4) It was started by setting the virtual axis in the real mode program in virtual mode.

It was started during processing for switching from real mode to virtual mode.

It was stated during processing for switching from virtual mode to real mode.


Corrective action

Set the axis No. set in the system setting or mechanical system program.

Use M2043 (real mode/virtual mode switching request),

M2044 (real mode/virtual mode switching status) as interlocks for start.

APP - 7

APPENDICES

APPENDIX 1.2 Minor errors

These errors are detected in the PLC program or servo program, and the error codes of 1 to 999 are used.

Minor errors include the setting data errors, starting errors, positioning control errors and current value/speed change errors and system errors.

(1) Setting data errors (1 to 99)

These errors occur when the data set in the parameters for positioning control is not correct.

The error codes, causes, processing, and corrective actions are shown in Table

1.3.

Table 1.3 Setting data error (1 to 99) list

Error code

21

22

23

24

25

26

27

40

Erroneous data

Check timing Error cause

Error processing

Corrective action

Home position return start The home position address is of the count, proximity dog, data set, dog cradle, stopper and limit switch combined type outside the range of 0 to

35999999 ( 10 –5 [degree]) with degree axis.

Home position return data

Home position return start

The home position return speed is outside the range of 1 to of the count, proximity speed limit value. dog, dog cradle, stopper and limit switch combined

The creep speed is outside the type range of 1 to home position return speed.


The travel value after the proximity dog ON is outside the of the count type range of 0 to (2 31 -1) ( unit).

Home position return is not started.

Home position return start The parameter block No. is of the count, proximity dog, dog cradle, stopper outside the range of 1 to 64. and limit switch combined type

Parameter block


Torque limit value at the creep speed is outside the range of 1 of the stopper type to 1000[%].

Home position return start Dwell time at the home position of the usable retry function return is outside the range of 0 to 5000[ms].

Interpolation control start

The interpolation control unit of the parameter block is different

Control with the control unit of from the control unit of the fixed the fixed parameters. parameters.

Set the home position address within the setting range using

MT Developer.

Set the home position return speed or less to the speed limit value using MT Developer.

Set the creep speed below to the home position return speed or less using MT Developer.

Set the travel value after the proximity dog ON within the setting range using MT Developer.

Set the parameter block No. within the setting range using MT

Developer.

Set the torque limit value at the creep speed within the setting range using MT Developer.

Set the dwell time at the home position return retry within the setting range using MT Developer.

Set the same control unit of the fixed parameters and servo parameters.

POINT

When the interpolation control unit of parameter block is different from the control unit of fixed parameters, an error code may not be stored with the combination of units.

Refer to Section 6.1.4 for details.

APP - 8

APPENDICES

Error code

(2) Positioning control start errors (100 to 199)

These errors are detected at the positioning control start.

The error codes, causes, processing, and corrective actions are shown in Table

1.4.

Table 1.4 Positioning control start error (100 to 199) list

Control mode

Error cause

Error processing

Corrective action

100

101

• The PLC ready flag (M2000) or PCPU ready flag (SM500) is OFF.

• The start accept flag (M2001 to M2032) for applicable axis is ON.

• Set the Motion CPU to RUN.

• Turn the PLC ready flag

(M2000) on.

• Take an interlock in the program not to start the starting axis. (Use the start accept flag OFF of the applicable axis as the starting condition).

• Turn the stop command

(M3200+20n) off and start. 103

104

105

(Note)

106

(Note)

107

• The stop command

(M3200+20n) for applicable axis is ON.

• The rapid stop command

(M3201+20n) for applicable axis is ON.

• The feed current value is outside the range of stroke limit at the start.

• Positioning is outside the range of stroke limit.

• The address that does not generate an arc is set at the auxiliary point-specified circular interpolation or auxiliary point-specified helical interpolation.

Relationship between the start point, auxiliary point and end point.

• Turn the rapid stop command

(M3201+20n) off and start.

• Set within the stroke limit range by the JOG operation.

• Set within the stroke limit

Positioning control does not start. range by the home position return or current value change.

• Perform the positioning within the range of stroke limit.

• Correct the addresses of the servo program.

108

(Note)

• The address that does not generate an arc is set at the

R (radius) specified circular interpolation R (radius) specified helical interpolation.

Relationship between the start point, radius and end point.

(Note): These errors are stored the error codes of the all applicable interpolation axes at the interpolation operation.

APP - 9

APPENDICES

Error code

Table 1.4 Positioning control start error (100 to 199) list (Continued)

Control mode

Error cause

Error processing

Corrective action

109

• The address that does not generate an arc is set at the central point-specified circular interpolation or central point-specified helical interpolation.

Relationship between the start point, central point and end point.

• Correct the addresses of the servo program.

110

(Note)

111

115

116

• The difference between the end point address and ideal end point is outside the allowable error range for circular interpolation at the circular interpolation.

Positioning control

• The speed/position control does not restarting was performed, although it was not after stop start.

• Do not re-start except the stop during speed/position switching control. during operation of the speed/position switching control.

• The home position return complete signal

(M2410+20n) turned on at the home position return of proximity dog, dog cradle and stopper type.

• The setting JOG speed is

"0".

• The setting JOG speed exceeded the JOG speed limit value.

Control with the

JOG speed limit value.

• Do not start continuously for the home position return.

Return to a point before the proximity dog signal ON by

JOG operation or positioning operation, etc., and perform the home position return.

• Set the correct speed (within the setting range).

• The setting JOG speed limit value exceeded the setting range.

Control with the maximum setting range of each control unit.

• Set the correct JOG speed limit value (within the setting range).

(Note): These errors are stored the error codes of the all applicable interpolation axes at the interpolation operation.

APP - 10

APPENDICES

Error code


Control mode

Error cause

Error processing

Corrective action

117

• Both of forward and reverse rotation were set at the simultaneous start for the

JOG operation.

• The speed-switching point exceeded the end address.

118 • The address of the positioning in the reverse direction is not set.

Only the applicable axis set to the forward direction starts.

• Set a correct data.

Positioning

• Set the speed-switching point before the end address. control does not

• Set the forward direction start. address.

120

• ZCT not set

The zero pass signal

(M2406+20n) turned off at the re-travel at the home position return for proximity dog, count and limit switch

Home position return is combined type or start in the completed home position return for not correctly. data set type.

• Execute the home position return after the zero point passed.

121

130

• When "Not execute servo program" is selected in the operation setting for incompletion of home position return, the home position return request signal

(M2409+20n) turns on.

• Speed control with fixed position stop with was started for the axis set in except unit [degree].

• Speed control with fixed position stop was started in the axis which is not "stroke limit invalid".

• Execute servo program after home position return.

• In the system which enables execution of servo program even if the home position return request signal (M2409+20n) turns on, set "Execute servo

Positioning control does not start. program" as "operation setting for incompletion of home position return".

• Set the unit [degree] in the axis which starts speed control with fixed position stop.

• Set the stroke limit invalid

"(Upper stroke limit value) equal to (lower stroke limit value)" in the axis which starts speed control with fixed position stop.

APP - 11

APPENDICES

Error code


Control mode

Error cause

Error processing

Corrective action

140

151

152

153

141

142

145

• The travel value of the reference axis is set at "0" in the linear interpolation for reference axis specification.

• Do not set axis of travel value

"0" as the reference axis.

• The position command device of position follow-up control is set the odd number.

• Set the even number for the position command device of position follow-up control.

• The positioning control which use the external input signal was executed for the axis which has not set the external input signal in the system settings.

• Unusable instructions were started in the external input signal setting via servo amplifier.

• Not allowed axis started in the virtual mode. (It cannot be started with error at real mode/virtual mode switching.

• Set the external input signal in the system setting.

Positioning control

• Do not start the speed/position does not switching control and count type start. home position return in the external input signal setting via servo amplifier.

• Start in the virtual mode again after correct the error cause in the real mode.

• It started at the virtual mode and during deceleration by all axes servo OFF (M2042

OFF).

• It started at the virtual mode and during deceleration by occurrence of the output module servo error.

APP - 12

APPENDICES

Error code

(3) Positioning control errors (200 to 299)

These are errors detected during the positioning control.

The error codes, causes, processing and corrective actions are shown in Table

1.5.

Table 1.5 Positioning control error (200 to 299) list

Control mode

Error cause

Error processing

Corrective action

200

201

202

203

204

206

• The PLC ready flag (M2000) turned off during the control by the servo program.

• The PLC ready flag (M2000) turned off during the home position return.

Deceleration stop


(M2000) on after all axes have stopped.

• Perform the home position return again after turning the

PLC ready flag (M2000) on or turning the stop command

(M3200+20n) or rapid stop command (M3201+20n) off.

• The stop command

(M3200+20n) turned on during the home position return.

• The rapid stop command

(M3201+20n) turned on during the home position return.

• The PLC ready flag (M2000) turned off to on again during deceleration by turning off the PLC ready flag (M2000).

Rapid stop

Return to a point before the proximity dog signal ON using JOG operation or positioning operation, and perform the home position return again in the proximity dog type.


No

(M2000) off to on after all axes have stopped. operation Turn the PLC ready flag

(M2000) off to on during deceleration is "no operation".

• All axes rapid stop is executed using the test mode of MT Developer during the home position return.

Rapid stop

• Return to a point before the proximity dog signal ON using

JOG operation or positioning operation, and perform the home position return again in the proximity dog type.

• Return to a point before the proximity dog signal ON using

JOG operation or positioning operation, and perform the home position return again, when the proximity dog signal turns off in the count type.

Perform the home position return operation again, when the proximity dog signal turns on in the count type.

APP - 13

APPENDICES

Error code

Table 1.5 Positioning control error (200 to 299) list (Continued)

Control mode

Error cause

Error processing

Corrective action

207

208

209

210

211

214

• The feed current value exceeded the stroke limit range during positioning control. Only the axis exceed the stroke limit range is stored at the circular/helical interpolation.

All interpolation axes are stored in the linear interpolation.

• The feed current value of another axis exceeded the stroke limit value during the circular/helical interpolation control or simultaneous manual pulse generator operation. (For detection of other axis errors).

• An overrun occurred because the setting travel value is less than the deceleration distance at the speed/position switching

(CHANGE) signal input during speed/position switching control, or at the proximity dog signal input during home position return of count type.

• The setting travel value

Deceleration stop exceeded the stroke limit range at the speed/position switching (CHANGE) signal input during the speed/ position switching control.

• During positioning control, an overrun occurred because the deceleration distance for the output speed is not attained at the point where the final positioning address was detected.

• The manual pulse generator was enabled during the start of the applicable axis, the

Manual pulse generator manual pulse generator operation was executed. input is ignored until the axis stops.

• Correct the stroke limit range or travel value setting so that positioning control is within the range of the stroke limit.

• Set the speed setting so that overrun does not occur.

• Set the travel value so that overrun does not occur.

• Correct the stroke limit range or setting travel value so that positioning control is within the range of stroke limit.

• Set the speed setting so that overrun does not occur.

• Set the travel value so that overrun does not occur.

• Execute the manual pulse generator operation after the applicable axis stopped.

APP - 14

APPENDICES

Error code

Table 1.5 Positioning control error (200 to 299) list (Continued)

Control mode

Error cause

Error processing

Corrective action

215

220

221

222

225

230

• The speed switching point address exceed the end point address.

• The positioning address in the reverse direction was set during the speed switching control.

Rapid stop

• Set the speed-switching point between the previous speed switching point address and the end point address.

• The same servo program was executed again.

• When the control unit is

"degrees" during the position follow-up control, the command address exceeded the range of 0 to

35999999.

• The command address for the position follow-up control exceeded the stroke limit range.

• Correct the Motion SFC program.

• When the control unit is

"degree", set the command address within the range of 0 to

35999999.

Deceleration stop

(M2001+n

OFF)

• Set the address within the stroke limit range.

• During the speed control with fixed position stop, the setting address exceeded the range of 0 to 35999999 at the fixed position stop command device ON.

• Set the command address within the range of 0 to

35999999.

• During the speed control with fixed position stop, the fixed position acceleration/deceleration time is "0" at the fixed position acceleration/deceleration time input.

• The speed at the pass point exceeded the speed limit value during the constantspeed control.


"1000".

• Set the acceleration/deceleration time within the range of 1 to

65535.

Control with the speed limit value.

• Set the speed command value within the range of 1 to speed limit value.

• When the skip is executed in the constant-speed control, the next interpolation instruction is an absolute

Immediate stop circular interpolation or absolute helical interpolation.

• Execute the absolute linear interpolation after a point which make a skip.

APP - 15

APPENDICES

Error code

(4) Current value/speed change errors (300 to 399)

These are errors detected at current value change or speed change.


1.6.

Table 1.6 Current value/speed change error (300 to 399) list

Control mode

Error cause

Error processing

Corrective action

300

• The current value was changed during positioning control of the applicable axis.

• The current value was changed for the axis that had not been started.

• The current value was changed for the servo OFF axis.

• The speed was changed for the axis during home position return.

Current value is not changed.

• Use the following devices as interlocks not to change the current value for the applicable axis.

(1) The start accept flag (M2001 to M2032) OFF for applicable axis.

(2) The servo READY signal

(M2415+20n) ON.

301

302

• The speed was changed for the axis during circular interpolation.

• The speed after speed change is set outside the range of 0 to speed limit value.

305

• The absolute value of speed after speed change is set outside the range of 0 to speed limit value.

• The current value was changed outside the range

309 of 0 to 35999999 ( 10 -5

[degrees]) for the degree axis.

• The speed was changed during high-speed oscillation.

310

• The speed change to "0" was requested during highspeed oscillation.

Speed is not changed.

Control

Current value is not changed.

Speed is not changed.

• The value outside the range

311 of 1 to 1000[%] was set in the torque limit value change request (CHGT).

• The torque limit value

312 change request (CHGT) was made for the axis that had not been started.

Torque limit value is not changed.

• Do not change speed during home position return.

• Do not change speed during circular interpolation.

• Set the speed after speed change within the range of 0 to speed limit value. with the speed limit value.

• Set the absolute value of speed after speed change within the range of 0 to speed limit value.

• Set the current value within the range of 0 to 35999999

( 10 -5 [degree]).

• Do not change speed during high-speed oscillation.

• Set the change request within the range of 1 to 1000[%].

• Request the change for the starting axis.

APP - 16

APPENDICES

Error code

(5) System errors (900 to 999)

Control mode

Table 1.7 System error (900 to 999) list

Error cause

Error processing

Corrective action

901

• The motor travel value while the power is off exceeded the "System setting modeallowable travel value during

Further operation is possible.

power off" set in the system settings at the turning on of the servo amplifier.

• Check the position.

• Check the battery of encoder.

APP - 17

APPENDICES

APPENDIX 1.3 Major errors

These errors occur by control command from the external input signal or Motion SFC program, and the error codes 1000 to 1999 are used.

Major errors include the positioning control start errors, positioning control errors, absolute position system errors and system errors.

(1) Positioning control start errors (1000 to 1099)

These errors are detected at the positioning control start.


1.8.

Table 1.8 Positioning control start error (1000 to 1099) list

Control mode

Error code

Error cause

Error processing

Corrective action

1000

• The external STOP signal of the applicable axis turned on.

• Turn the STOP signal off.

1001

1002

1004

1005

1003

• The external signal FLS

(upper limit LS) turned off at the forward direction

(address increase direction) start.

• The external signal RLS

(lower limit LS) turned off at the reverse direction

(address decrease direction) start.

• The external DOG (proximity dog) signal turned on at the home position return start of the proximity dog type.

• Move in the reverse direction by the JOG operation, etc. and set within the external limit range.

• Move in the forward direction by the JOG operation, etc. and set within the external limit range.

• Perform the home position return after move to the proximity dog

ON by the JOG operation, etc.

Positioning control at the home position return of does not the proximity dog type.

• Wait until the servo READY state (M2415+20n: ON). start.

• The applicable axis is not servo READY state.

(M2415+20n: OFF).

(1) The power supply of the servo amplifier is OFF.

(2) During initial processing after turning on the servo amplifier.

(3) The servo amplifier is not mounted.

(4) A servo error is occurred.

(5) Cable fault.

(6) Servo OFF command

(M3215+20n) is ON.

• The servo error detection signal of the applicable axis

(M2408+20n) turned on.

• Eliminate the servo error, reset the servo error detection signal

(M2408+20n) by the servo error reset command (M3208+20n), then start operation.

APP - 18

APPENDICES

Error code

(2) Positioning control errors (1100 to 1199)

These errors are detected at the positioning control.


1.9.

Table 1.9 Positioning control error (1100 to 1199) list

Control mode

Error cause

Error processing

Corrective action

1101

1102

1104

1105

1151

1103

• The external signal FLS

(upper limit LS) turned off during the forward direction

(address increase direction).

• The external signal RLS

(lower limit LS) turned off during the reverse direction

(address decrease direction).

• The external stop signal

(stop signal) turned on during home position return.

• The servo error detection signal turned on during positioning control.

• Travel in the reverse direction by the JOG operation, etc. and set within the external limit

Deceleration stop by

"Stop processing on STOP input" of the parameter block.

range.

• Travel in the forward direction by the JOG operation, etc. and set within the external limit range.

• Execute the home position return so that the external stop signal (stop signal) may not turn

Immediate stop without decelerating. on.

• Start after disposal at the servo error.

• The power supply of the servo amplifier turned off during positioning control.

(Servo not mounted status detection, cable fault, etc.)

• Home position return did not complete normally without

Turn the servo

READY

(M2415+

20n) off. stop within the in-position range of home position at

• Turn on the power supply of the servo amplifier.

• Check the connecting cable to the servo amplifier.

• Make the gain adjustment. the home position return.

• A synchronous encoder set in the system setting differs from a synchronous encoder actually connected.

Input from synchronous encoder does not accept.

• Set a synchronous encoder actually connected in the system setting.

• Q172DEX or encoder hardware error.

• Disconnected encoder cable.

Immediate input stop

• Check (replace) the Q172DEX or encoder.

• Check the encoder cable.

APP - 19

APPENDICES

Error code

(3) Absolute position system errors (1200 to 1299)

These errors are detected at the absolute position system.


1.10.

Table 1.10 Absolute position system error (1200 to 1299) list

Control mode

Error cause

Error processing

Corrective action

1201

1202

1203

1204

• A sum check error occurred with the backup data in the controller at the turning on servo amplifier power supply.

Home

• Home position return was not performed. position return

• CPU module battery error.

• Home position return started request ON but did not complete normally.

• Check the battery and execute a home position return.

• A communication error between the servo amplifier

Home position and encoder occurred at the return turning on servo amplifier request ON,

• Check the motor and encoder cables and execute a home position return again. power supply. servo error

[2016] set.

(Fully closed loop control servo amplifier use: Servo error [2070] is set.)

• Check the motor and encoder cables.

• The amount of change in encoder current value is excessive during operation.

A continual check is performed (both of servo

ON and OFF states) after the servo amplifier power has been turned ON.

• The following expression holds: "Encoder current value [PLS] feedback current value [PLS]

(encoder effective bit number)" during operation.

A continual check is performed (both of servo

ON and OFF states) after the servo amplifier power has been turned on.

Home position return request ON

APP - 20

APPENDICES

Error code

(4) System errors (1300 to 1399)

These errors are detected at the power-on.


1.11.

Table 1.11 System error (1300 to 1399) list

Control mode

Error cause

Error processing

Corrective action

1310

• Initial communication with the Multiple CPU system did not complete normally.

• Motion CPU fault.

Positioning control

• Replace the Motion CPU. does not start.

APP - 21

APPENDICES

APPENDIX 1.4 Servo errors

(1) Servo amplifier errors (2000 to 2899)

These errors are detected by the servo amplifier, and the error codes are [2000] to [2899].

The servo error detection signal (M2408+20n) turns on at the servo amplifier error occurrence. Eliminate the error cause, reset the servo amplifier error by turning on the servo error reset command (M3208+20n) and perform re-start.

(The servo error detection signal does not turn on because the codes [2100] to

[2599] are for warnings.)

(Note-1): As for the regenerative alarm (error code [2030]) or overload 1 or 2

(error codes [2050], [2051]), the state at the operation is held also for after the protection circuit operation in the servo amplifier. The memory contents are cleared with the external power supply off, but are not cleared by the reset signal.

(Note-2): If resetting by turning off the external power supply is repeated at the occurrence of error code [2030], [2050] or [2051], it may cause devices to be destroyed by overheating. Re-start operation after eliminating the cause of the error certainly.

Details of servo errors are shown in Table 1.12.

CAUTION

If a controller, servo amplifier self-diagnosis error occurs, check the points stated in this manual and clear the error.

APP - 22

APPENDICES

Table 1.12 Servo error (2000 to 2899) list

Error code

Error cause

Name Description

Error check

• Power supply voltage is low.

MR-J3-B: 160VAC or less

MR-J3-B1: 83 VAC or less

MR-J3-B4: 280 VAC or less

• There was an instantaneous control power failure of 60[ms] or longer.

• Shortage of power supply capacity caused the power supply voltage to drop at start, etc.

2010 Undervoltage

2012

Memory error 1

(RAM)

• The bus voltage dropped to the following value or less.

MR-J3-B: 200VDC

MR-J3-B1: 158VDC

MR-J3-B4: 380VDC

• Faulty parts in the servo amplifier

[Checking method]

Servo error [2010] occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.


(RAM memory error)

[Checking method]


Any time during operation

• Servo amplifier power on.

• Multiple CPU system power on.


(Printed board fault)

[Checking method]


Any time during operation • Faulty the controller

(Clock error transmitted from the controller)

[Checking method]

Servo error [2013] occurs if Motion CPU is used in the Multiple CPU system.

Error processing

Immediate stop

Corrective action

• Review the power supply.

• Replace the servo amplifier.



• Replace the Motion CPU.


2015

Memory error 2

(EEP-ROM)


(EEP-ROM fault)

[Checking method]


• The number of write times to EEP-ROM exceeded 100,000.



APP - 23

APPENDICES

Table 1.12 Servo error (2000 to 2899) list (Continued)

Error code

2016

Error cause

Name Description

Error check

• Encoder connector (CN2) disconnected.

• Encoder fault

Encoder error 1

(At power on)

• Encoder cable faulty

(Wire breakage or shorted)

• Encoder cable type (2-wire, 4-wire) selection was wrong in parameter setting.


(CPU/parts fault)

[Checking method]




2019

Memory error 3


(ROM memory fault)

[Checking method]

Servo error [2019] occurs if power is

(Flash ROM) switched on after disconnection of all cables but the control circuit power supply cables.

2020 Encoder error 2

• Encoder connector (CN2) disconnected.

• Encoder fault

• Encoder cable faulty

(Wire breakage or shorted)

• Power input wires and servomotor

2024

Main circuit error power wires are in contact.

[Checking method]

Servo error [2024] occurs if servo is switched on after disconnecting the U, V and W power cables from the servo amplifier.

• Sheathes of servomotor power cables deteriorated, resulting in ground fault.

• Main circuit of servo amplifier failed.

• Voltage drop in encoder

(Battery of servo amplifier disconnected.)


Error processing

Immediate stop

2025

Absolute position erase

• Battery voltage low

• Battery cable or battery is faulty.

• Home position return not set. (Power was switched on for the first time in the absolute position detection system.)



Corrective action

• Connect correctly.

• Replace the servomotor.

• Repair or replace the cable.

• Set the correct encoder type of servo parameter.




• Repair or replace the cable.

• Correct the wiring.

• Replace the cable.


Immediate stop

• After leaving the servo error

[2025] occurring for a few minutes, switch power off, then on again. Always make home position return again.

Home

• Replace the battery.

Always make home position position return return again. request

ON

• After leaving the servo error

[2025] occurring for a few minutes, switch power off, then on again. Always make home position return again.

APP - 24

APPENDICES


Error code

2027

2028

Error cause

Name Description

Error check

• Machine struck.

• Accuracy at initial magnetic pole detection is bad.

Error processing

Corrective action

• Check the machine.

• Review the parameter No.PS09 setting (magnetic pole detection voltage level).

• Correct the wiring. • Wrong wiring of the servomotor wires

(U, V, and W).

• Linear encoder resolution differs from the setting value.

Initial magnetic pole detection error


• Mismatch of the linear encoder mounting direction.


• Magnetic pole detection limit switch is not on.

Linear encoder error 2

• The temperature of linear encoder is high.

• The signal level of linear encoder has dropped.


• Review the parameter No.PS02 and PS03 setting (linear encoder resolution).

• Check the mounting of linear encoder.

Immediate

• Check the mounting direction of linear encoder. stop

• Connect the magnetic detection limit switch correctly.

• Set the limit switch to forced ON by the parameter No.PD02 setting. (When the amplifier input is used in the Motion CPU, do not set to forced ON since it is shared with the input signal.)

• Check the temperature of linear encoder and contact with the linear encoder manufacturer.


APP - 25

APPENDICES

2031 Overspeed


Error code

Error cause

Name Description

Error check

• Wrong setting of system setting

(regenerative brake)

• Built-in regenerative brake resistor or regenerative brake option is not connected.

• High-duty operation or continuous regenerative operation caused the permissible regenerative power of the regenerative brake option to be exceeded.

[Checking method]

Call the servo monitor and check the regenerative level.

2030

Regenerative alarm

• Power supply voltage is abnormal.

MR-J3-B: 260VAC or more

MR-J3-B1: More than 135VAC

MR-J3-B4: 535VAC or more

• Built-in regenerative brake resistor or regenerative brake option faulty.

• Regenerative transistor faulty.

[Checking method]

• The regenerative brake option has overheated abnormally.

• Servo error [2030] occurs even after removal of the built-in regenerative brake resistor or regenerative brake option.

• Command speed is too high. (Motor speed has exceeded the instantaneous permissible speed.)

• Small acceleration/deceleration time constant caused overshoot to be large.


• Servo system is instable to cause overshoot.

• Electronic gear ratio is high.

• Encoder faulty.

Error processing

Immediate stop

Corrective action

• Check the regenerative brake of system setting and set correctly.


• Reduce the frequency of positioning.

(Call the regenerative level [%] of servo monitor and reduce the frequency of acceleration/deceleration or feed speed.)

• Use the regenerative brake option of larger capacity.

• Reduce the load.

• Review the power supply

• Replace the servo amplifier or regenerative brake option..


• Check the servo program or mechanical system program, and set correctly.

• If an overshoot occurs during acceleration/deceleration, check the acceleration/deceleration time in the fixed parameters.

• Re-set servo gain to proper value.

• If servo gain cannot be set to proper value:

1) Reduce load inertia moment ratio; or

2) Reexamine acceleration/ deceleration time constant.

• Set correctly.(Check if the number of pulses per revolution and travel value per revolution in the fixed parameters match the machine system.


APP - 26

APPENDICES


Error code

Error cause

Name Description

Error check

2032 Overcurrent

• Short occurred in servomotor power (U,

V, W).

• Transistor (IPM) of the servo amplifier faulty.

[Checking method]

Servo error [2032] occurs if power is switched on after U, V and W are disconnected.

• Ground fault occurred in servomotor power (U, V, W).

• External noise caused the overcurrent detection circuit to misoperate.

• Lead of built-in regenerative brake resistor or regenerative brake option is open or disconnected.

• Regenerative transistor faulty.

• Wire breakage of built-in regenerative brake resistor or regenerative brake option.

Error processing

Corrective action




• Take noise suppression measures.

• Replace the lead.


2033 Overvoltage

2034

Communications error

2035

Command frequency error

• Noise entered the commands from the

Motion CPU.

2036

Transmission error

• Capacity of built-in regenerative brake resistor or regenerative brake option is insufficient.

• Power supply voltage is high.

• Ground fault occurred in servomotor power (U, V, W).

• Data received from the Motion CPU faulty.

• There is excessive variation in the position commands and command speed is too high from the Motion CPU.

• Motion CPU failure

• Fault in communication with the Motion

CPU.



• For wire breakage of built-in regenerative brake resistor, replace the servo amplifier.

• For wire breakage of regenerative brake option, replace the regenerative brake option.

Immediate

• Add regenerative brake option or increase capacity. stop

• Review the power supply.


• Check the connection of

SSCNET cable.

• Check if there is a disconnection in the SSCNET cable.

• Check the command speed and the number of pulses per revolution/travel value per revolution of the fixed parameters.


SSCNET cable.


• Check if any relays or solenoids are operating in the vicinity.

• Replace the Motion CPU.


SSCNET cable.


APP - 27

APPENDICES


Error code

2042

2042

Error cause

Name Description

Error check

• Linear encoder signal resolution differs from the setting value.

• Initial magnetic pole detection has not been performed.

• Mismatch of the linear encoder mounting direction.

• Wrong wiring of the servomotor wires

(U, V, and W).

• The position deviation exceeded the detection level.

Error processing

Corrective action

• Review the settings of parameter

No.PS02 and PS03 setting

(linear encoder resolution).


• Perform initial magnetic pole detection.

• Check the mounting direction of linear encoder.

• Review the setting of parameter

No. PC27 (encoder pulse count polarity).


Linear servo control error

(Linear servo amplifier)

Fully closed control error

(Fully closed loop control servo amplifier)

• The speed deviation exceeded the detection level.

• The thrust deviation exceeded the detection level.

• Load side encoder resolution differs from the setting value.

• Mismatch of the load side encoder mounting direction.

• The position deviation exceeded the detection level.

• The speed deviation exceeded the detection level.



• Review the operation condition.


No.PS05 (Linear servo control position deviation error detection level) as required.



No.PS06 (Linear servo control speed deviation error detection level) as required.

Immediate • Review the operation condition. stop • Review the setting of parameter

No.PS07 (Linear servo control thrust deviation error detection level) as required.

• Review the settings of parameter

No.PE04 and PE05 (Fully closed loop control feedback pulse electronic gear).

• Check the mounting of load side encoder.

• Check the mounting direction of load side encoder.


No. PC27 (encoder pulse count polarity).



No.PE07 (Fully closed loop control position deviation error detection level) as required.



No. PE06 (Fully closed loop control speed deviation error detection level) as required.

APP - 28

APPENDICES


Error code

2045

Error cause

Name Description

Error check

• Servo amplifier failure

• The power supply was turned on and off continuously by overloaded status.

Main circuit device overheat

• Ambient temperature of servo amplifier is over 55[°C] (131[°F]).

Error processing

Corrective action


• The drive method is reviewed.

2046

Servomotor overheat

2047

Cooling fan alarm

2050 Overload 1

• Used beyond the specifications of close mounting of servo amplifier.

• Ambient temperature of servomotor is over 40[°C] (104[°F]).

• Servomotor is overloaded.

• Thermal sensor in encoder is faulty.

• Cooling fan life expiration

• Foreign matter caught in the fan stopped rotation.

• The power supply of the cooling fan failed.

• Servo amplifier is used in excess of its continuous output current.

• Servo system is instable and hunting.

• Machine struck something.


• Review environment so that ambient temperature is 0 to

55[°C] (32 to 131[°F]).

• Use within the range of specifications.


40[°C] (32 to 104[°F]).

• Reduce load.

• Review operation pattern.

• Use servomotor that provides larger output.


• Replace the cooling fan of the servo amplifier.

• Remove the foreign matter.


Immediate • Reduce load. stop • Review operation pattern.


• Repeat acceleration/ deceleration to execute auto tuning.

• Change auto tuning response setting.

• Set auto tuning to OFF and make gain adjustment manually.


• Install limit switches.

• Connect correctly. • Wrong connection of servo motor.

(Servo amplifier's output terminals U, V,

W do not match servo motor's input terminals U, V, W.)

• Encoder faulty.

[Checking method]

When the servomotor shaft is rotated with the servo off, the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway.


APP - 29

APPENDICES


Error code

2051 Overload 2

2060

Error cause

Name Description

Error check


Motor

(AL.1A) combination error

Error processing

Corrective action



• Connect correctly. • Wrong connection of servomotor. (Servo amplifier's output terminals U, V, W do not match servo motor's input terminals

U, V, W.)

• Servo system is instable and hunting. `• Repeat acceleration/ deceleration to execute auto tuning.

• Change auto tuning response setting.

• Set auto tuning to OFF and make gain adjustment manually.

• Replace the servomotor. • Encoder faulty.

[Checking method]

When the servomotor shaft is rotated with the servo off, the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway.

• Acceleration/deceleration time constant is too small.

• Torque limit value is too small.

• Motor cannot be started due to torque shortage caused by power supply voltage drop.

• Model loop gain value of servo parameter is small.

• Servomotor shaft was rotated by external force.



• Encoder faulty

• Wrong connection of servomotor. (Servo amplifier's output terminals U, V, W do not match servomotor's input terminals

U, V, W.)

• Fault in combination with the servo amplifier and servomotor.



Immediate stop

• Increase the acceleration/deceleration time.

• Increase the torque limit value.

• Review the power supply capacity.

• Use servomotor which provides larger output.

• Increase set value and adjust to ensure proper operation.

• When torque is limited, increase the limit value.

• Reduce load.






• Use the correct combination with the servo amplifier and servomotor.

APP - 30

APPENDICES


Error code

2061

(AL.2A)

Error cause

Name Description

Error check

Linear encoder error 1

• The speed of linear encoder has exceeded the range of use.

• Noise entered.

• Alarm of the linear encoder.


Error processing

Corrective action

• Change the speed of linear encoder within the range of use.

• Take the noise reduction measures.

• Contact with the linear encoder manufacturer.

2070

• Defective installation positions of the scale and head.

• The connector CN2L is disconnected.

• Adjust the positions of the scale and head.


• Faulty of the load side encoder cable

Load side encoder error 1

• Wrong wiring of the load side encoder cable

• The load side encoder cable type (2parameter setting.

• Servo amplifier power on. wire, 4-wire) selection was wrong in the


• The startup timing is slow.

(For the load side encoder with the external power supply input)

• Faulty of the load side encoder cable

• Repair or change the cable.

• Review the wiring connection.

Immediate

• Correct the setting in the fourth digit of parameter No. PC26 stop encoder cable communication system selection).

• Make the startup timing of the external power supply fast.

• Repair or change the cable.

2071

Load side encoder error 2

• Wrong wiring of the load side encoder cable

• The power supply voltage dropped.

(For the load side encoder with the external power supply input)

• CPU, parts faulty

Watchdog

2088

(88)

2102 Open battery

(AL.92) cable warning

• Battery cable for absolute position detection system is open.

• Voltage of battery for absolute position detection system supplied fell to about

3V or less.

(Detected with the encoder.)

2106

(AL.96)

Home position setting warning

• After home position return, droop pulses remaining are greater than the inposition range setting.

• Creep speed is high.

2116

(AL.9F)

Battery warning

• Voltage of battery for absolute position detection system installed to servo amplifier fell to 3.2V or less.

(Detected with the servo amplifier.)

Excessive

2140

(AL.E0) regenerative warning

2141 Overload

(AL.E1) warning 1

• There is a possibility that regenerative alarm [2030] may occur.

(Detected 85[%] regenerative level of the maximum load capacity for the regenerative register.)

• There is a possibility that overload alarm

[2050], [2051] may occur.

(Detected 85[%] overload level.)


• Review the wiring connection.

• Check the power supply capacity and voltage.


• Repair the cable or replace the battery.

• Replace the battery.

• Re-try the home position return.

• Reduce the creep speed.

Operation • Replace the battery. continues

• Refer to the details on the regenerative alarm [2030].

• Refer to the details on the overload alarm [2050], [2051].

APP - 31

APPENDICES

Error code


Error cause

Name Description

Servo motor

2142

(AL.E2) overheat warning

Absolute

2143

(AL.E3) position counter warning

• Ambient temperature of servomotor is over 40[°C] (104[°F]).

• Servomotor is overloaded.

• Thermistor in encoder is faulty.

• Absolute position encoder pulses faulty.

2146

(AL.E6)

Servo forced stop warning

Controller

2147

(AL.E7) forced stop warning

• Servo amplifier are forced stop state.

(Servo amplifier input signal EM1 is

OFF.)

• A forced stop signal is input from the

Motion CPU

• Cooling fan life expiration

Cooling fan

2148

(AL.E8) speed reduction warning

• The power supply of the cooling fan is broken.

Error check


Error processing

Corrective action


49[°C] (32 to 104[°F]).

Operation • Reduce load. continues • Review operation pattern.



Operation • Take noise suppression continues measures.


Home position return request

ON

• Execute the home position return after measures.

• Ensure safety and deactivate forced stop.

Immediate stop • Ensure safety and deactivate forced stop.

• Replace the cooling fan of servo amplifier.


• Replace the cooling fan of servo amplifier.

• Switch on the main circuit power. 2149 Main circuit off

(AL.E9) warning

2152

(AL.EC)

Overload warning 2

• Servo-on signal was turned on with main circuit power off.

• During a stop, the status in which a current flew intensively in any of the U, V and W phases of the servomotor occurred repeatedly, exceeding the warning level.

2153

(AL.ED)

Output watt excess warning

• Continuous operation was performed with the output wattage (speed torque) of the servomotor exceeding

150[%] of the rated output.

Operation

• Reduce the positioning frequency at the specific positioning continues address.


• Replace the servo amplifier/ servomotor with the one of larger capacity.

• Reduce the servomotor speed.


APP - 32

APPENDICES

Error code


Error cause

Name Description

Error check

Error processing

Corrective action

• The servo parameter value is outside the setting range. (Any unauthorized parameter is ignored and the value before setting is held.)

Error code

Parameter

No.

Name

2301 PA01 For manufacturer setting

2302 PA02 Regenerative brake option

2304 PA04 Function selection A-1




2308 PA08 Auto tuning mode

2309 PA09 Auto tuning response




2314 PA14 Rotation direction selection

2315 PA15 Encoder output pulse

2301 For manufacturer setting

Parameter to For manufacturer setting error

2599 For manufacturer setting

2319 PA19 Parameter write inhibit

2320 PB01 Adaptive tuning mode

2322 PB03 For manufacturer setting

2323 PB04 Feed forward gain


2326 PB07 Model loop gain

2327 PB08 Position loop gain

2328 PB09 Speed loop gain

2329 PB10 Speed integral compensation

2330 PB11 Speed differential compensation



Operation continues

• Check the setting ranges of the servo parameters.

2333 PB14 Notch form selection 1

2334 PB15 Machine resonance suppression filter 2

2335 PB16 Notch form selection 2

APP - 33

APPENDICES

Error code


Error cause

Name Description

Error check

Error code

Parameter

No.

Name

Error processing

Corrective action

Vibration suppression control

2338 PB19 vibration frequency setting


2339 PB20 resonance frequency setting



Low-pass

Slight vibration suppression

2343 PB24 control selection


2345 PB26 Gain changing selection

2346 PB27 Gain changing condition

2347 PB28 Gain changing time constant

Gain changing ratio of load inertia moment

Gain changing position loop

2349 PB30 gain

2301 to

2599

Parameter error

Gain changing speed loop

2350 PB31 gain

Gain changing speed integral

2351 PB32 compensation

Gain changing vibration frequency setting






Operation continues








2365 PC01 Error excessive alarm level

Electromagnetic brake

2366 PC02 sequence output

APP - 34

APPENDICES

Error code


Error cause

Name Description

Error check

Error code

Parameter

No.

Name

Error processing

Corrective action

2368 PC04 Function selection C-1


2370 PC06 Function selection C-3 speed

2372 PC08 For manufacturer setting

2373 PC09 Analog monitor output 1

2301 to

2599

2374

2375

2376

2377

2378

2379

2380

2381

PC10

PC11

PC12

PC13

PC14

PC15

PC16

PC17

Analog monitor output 2

Analog monitor 1 offset


For manufacturer setting




Function selection C-4

Parameter error




2385 PC21 Alarm history clear





Operation continues








2397 PD01 For manufacturer setting







APP - 35

APPENDICES

Error code


Error cause

Name Description

Error check

Error code

Parameter

No.

Name

2407 PD11 Input filter setting


Error processing

Corrective action

2301 to

2599

2410 PD14 Function selection D-3
















Parameter error





Operation continues


APP - 36

APPENDICES

Error code


Error cause

Name Description

Error check

Initial parameter error

• The parameter setting is wrong.

• The parameter data was corrupted.

Error Parameter

Name code No.


Error processing

Corrective action

2603 PA03

Absolute position detection system

Initial

For manufacturer setting parameter to For manufacturer setting error

2899 Parameter write inhibit

2621 PB02

Vibration suppression control filter tuning mode



Immediate stop

• After checking and correcting of the parameter setting, turn off to on or reset the power of Multiple

CPU system.

2625 PB06

Ratio of load inertia moment to servo motor inertia moment

2630 PB11

Speed differential compensation

2632 PB13

Machine resonance suppression filter 1

2634 PB15

Machine resonance suppression filter 2

APP - 37

APPENDICES

Error code


Error cause

Name Description

Error check

Error code

Parameter

No.

Name

Error processing

Corrective action


2638 PB19 vibration frequency setting


2639 PB20 resonance frequency setting



Low-pass

Slight vibration suppression

2643 PB24 control selection


2645 PB26 Gain changing selection

2646 PB27 Gain changing condition

2647 PB28 Gain changing time constant

Gain changing ratio of load inertia moment

Gain changing position loop

2649 PB30 gain

2601 to

2899


Gain changing speed loop

2650 PB31 gain

Gain changing speed integral

2651 PB32 compensation

Gain changing vibration



Immediate stop


CPU system. frequency setting











2665 PC01 Error excessive alarm level

Electromagnetic brake

2666 PC02 sequence output

APP - 38

APPENDICES

Error code


Error cause

Name Description

Error check

Error code

Parameter

No.

Name

Error processing

Corrective action



2670 PC06 Function selection C-3 speed


2673 PC09 Analog monitor output 1

2601 to

2899


2674

2675

2676

2677

2678

2679

2680

2681

PC10

PC11

PC12

PC13

PC14

PC15

PC16

PC17

Analog monitor output 2







Function selection C-4




2685 PC21 Alarm history clear






Immediate stop


CPU system.














APP - 39

APPENDICES

Error code


Error cause

Name Description

Error check

Error code

Parameter

No.

Name

2707 PD11 Input filter setting


2601 to

2899


2710 PD14 Function selection D-3



















Error processing

Corrective action



Immediate stop


CPU system.

APP - 40

APPENDICES

APPENDIX 2 Example Programs

APPENDIX 2.1 Reading M-code

The program example for reading M-code at the completion of positioning start or positioning is shown below.

The judgement of the positioning start completion and positioning completion is made with the following signals.

• Positioning start completion ………M2400+20n (positioning start complete signal)

• Positioning completion ……………M2401+20n (positioning complete signal)

[Program Example]

(1) A program that outputs the M-code from PY000 to PY00F to external destination after conversion into BCD code at the positioning start completion is shown below.

System configuration

Q61P Q03UD

CPU

Q172D

CPU

QY40 QY40 Q172D

LX

PY000

to

PY00F

PY010

to

PY01F

Motion SFC program

Reading M-code

[G10]

M2401 Positioning start complete flag for axis 1 ON ?

[F10]

#0=BCD(D13)

DOUT PY0, #0

Read M-code for axis 1, and store to #0 after

BCD conversion.

Output the data of "#0" to "PY000 to PY00F".

END

APP - 41

APPENDICES

APPENDIX 2.2 Reading error code

The program example for reading error code at the error occurrence is shown below.

The following signals are used to determine whether or not an error has occurred:

• Minor errors, major errors ………. Error detection signal (M2407+20n)

• Servo errors ……………………... Servo error detection signal (M2408+20n)

POINT

(1) The following delay occurs for leading edge of M2407+20n/M2408+20n and storage of the error code.

(a) If the PLC program scan time is 80[ms] or less, there will be a delay of up to

80[ms].

(b) If the PLC program scan time is 80[ms] or more, there will be a delay of up to one scan time.

The error code is stored to each error code storage area after turning on

M2407+20n/M2408+20n, and then read the error code.

APP - 42

APPENDICES

[Program Example]

(1) A program that outputs each error code to PY000 to PY00F (minor error), PY010 to PY01F (major error) and PY020 to PY02F (servo error) after conversion into

BCD code at the error occurrence with axis 1 is shown below.

System configuration

Q61P Q03UD

CPU

Q172D

CPU

QY40 QY40 QY40 Q172D

LX

PY000

to

PY00F

PY010

to

PY01F

PY020

to

PY02F

Motion SFC program

Reading error code (minor error/major error)

Reading error code

[F10]

#0=K0

[G10]

M2407

[G20]

D6!=K0

Reading error code (servo error)

[F10]

Reading error code

#0=K0

Store to "#0".


ON for axis 1.

[G10]

[F20]

Minor error check for axis 1.

M2408*(D8!=0)

#0=BCD(D8)

DOUT PY20, #0

[F20]

#0=BCD(D6)

DOUT PY0, #0

Output to PY000 after converting the minor error code of D6 into

BCD code.

END

Store to "#0".

Error detection signal ON for axis 1 and the servo error check for axis 1.

Output to PY020 after converting the servo error code for axis 1 into

BCD code.

[G30]

D7!=K0

[F30]

#0=BCD(D7)

DOUT PY10, #0

Major error check for axis 1.

Output to PY010 after converting the major error of D7 into BCD code.

END

APP - 43

APPENDICES

APPENDIX 3 Setting Range for Indirect Setting Devices

Positioning address, command speed or M-code, etc. (excluding the axis No.) set in the servo program can be set indirectly by the word.

(1) Device range

The number of device words and device range at indirect setting are shown below.

Item

Number of device words

Device setting range Remarks

Parameter block No.

Address (travel value)

1

2

Command speed

Dwell time

2

1

Device

D

Range

0 to 8191 (Note-1)

Torque limit value

Auxiliary point

1

2

#

U \G

0000 to 7999

10000 to (10000+p-1) (Note-2)

Radius 2

Central point

Pitch

Control unit

Speed limit value

Acceleration time

Deceleration time

Rapid stop deceleration time

S-curve ratio

Torque limit value

2

1

1

2

1

1

1

1

1

STOP input deceleration processing

Circular interpolation error allowance range

Command speed (Constant speed)

FIN acceleration/deceleration

Fixed position stop acceleration/deceleration time

1

2

2

1

1

Repetition condition (Number of repetitions)

Repetition condition (ON/OFF)

1

Cancel

Skip

WAIT ON/OFF

Fixed position stop

Bit

Device Range

X

Y

M

B

0000 to 1FFF

0000 to 1FFF

0 to 8191 (Note-1)

0000 to 1FFF

F 0 to 2047

U \G 10000.0 to (10000+p-1).F (Note-2)

(Note-1): Synchronous encoder axis area cannot be set.

(Note-2): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU.

APP - 44

APPENDICES

POINT

(1) Be sure to set even-numbered devices for 2-word setting items.

Be sure to set as 32-bit integer type when the data is set in these devices using the Motion SFC programs. (Example : #0L, D0L)

(2) Refer to Chapter 2 of the "Q173DCPU/Q172DCPU Motion controller

Programming Manual (COMMON)" for the user setting area points of the Multiple

CPU high speed transmission area..

(2) Inputting device data

Indirect setting device data is inputted by the Motion CPU at the servo program start.

Do not change the applicable device before setting to device and start completion.

The procedures by start method for setting data to devices and cautions are shown below.

Start method

Start by the servo program

Set the loop (FOR - NEXT) point data for CPSTART instruction indirectly

Setting method Notes

Set data in indirect setting devices.

Start the servo program.

Set initial command data in the indirect setting device.

Do not change the indirect setting device before the "positioning start complete signal" of the starting axis turns on.

Start using the servo program (or turn the cancel command device on).

Read the value of "data set pointer for constant-speed control" of the start axis, and update the data input by

Motion CPU.

Refer to the positioning signal data register "Monitoring data area" for details.

APP - 45

APPENDICES

APPENDIX 4 Processing Times of the Motion CPU

The processing time of each signal and each instruction for positioning control in the

Multiple CPU system is shown below.

(1) Motion operation cycle [ms] (Default)

Number of setting axes (SV22)

Number of setting axes (SV13)

Operation [ms]

1 to 4 5 to 12 13 to 28 29 to 32 1 to 4 5 to 8

1 to 6 7 to 18 19 to 32 1 to 6 7 to 8

0.44 0.88 1.77 3.55 0.44 0.88

(2) CPU processing time [ms]

The instruction processing time means the time until the content is reflected to servo amplifier side after each instruction is executed.

(Including the transmission time between Motion controller and servo amplifier.)

Operation [ms] 0.44 0.88 1.77 3.55 7.11 14.2

"WAIT ON/OFF"

+ Motion control step

Instruction (CHGV) from the Motion SFC

0.88 1.77 2.66 4.44 7.99 15.11

Servo program start Only Motion control step 1.0 to 1.4 1.9 to 2.8 2.8 to 4.6 4.6 to 8.2 8.1 to 15.2 15.2 to 29.4

processing time

(Note-1)

Dedicated instruction

(D(P).SVST) from the

PLC CPU

2.2 to 3.1 3.5 to 4.4 5.3 to 6.2 8.8 to 9.7 16.0 to 16.9 30.2 to 31.1

0.8 to 1.3 1.7 to 2.6 2.6 to 4.4 4.4 to 8.0 8.0 to 15.1 15.1 to 29.3

Speed change response time


(D(P).CHGV) from the

PLC CPU

1.7 to 2.6 2.6 to 3.5 3.5 to 4.4 5.3 to 6.2 8.9 to 9.8 16.0 to 16.9

Instruction (CHGT) from the Motion SFC

Torque limit value change response time


(D(P).CHGT) from the

PLC CPU

Time from PLC ready flag (M2000) ON to

PCPU ready flag (SM500) ON

0.8 to 1.3 1.7 to 2.6 2.6 to 4.4 4.4 to 8.0 4.4 to 11.5 4.4 to 18.6

1.7 to 2.6 2.6 to 3.5 3.5 to 4.4 5.3 to 6.2 5.3 to 9.7

22 to 28

5.3 to 16.0

(Note-1): FEED instruction varies greatly depending on the condition (whether other axes are operating or being stopped).

APP - 46

APPENDICES

APPENDIX 5 Device List

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

(1) 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.

APP - 47

APPENDICES

Axis No. Device No.

(2) 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




APP - 48

APPENDICES

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

(3) 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)

APP - 49

APPENDICES

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

APP - 50

Fetch cycle

Signal direction

Remark

(Note-4)

Status signal

(Note-1),

(Note-2)

APPENDICES

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

Speed change "0" accepting flag

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.

APP - 51

APPENDICES

(4) 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


JOG operation simultaneous start command




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 is possible to use it as a device which does automatic refresh because it becomes a reserve aria for 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)

APP - 52

APPENDICES

Axis

No.

Device No.

(5) Axis monitor device list

Signal name

1 D0 to D19

2 D20 to D39

3 D40 to D59

Signal name Refresh 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

24 D460 to D479 18

25 D480 to D499 19

Real current value at stop input

Operation cycle

Fetch 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

PLS

Unit

Command unit

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.

POINT




APP - 53

APPENDICES

Axis

No.

Device No.

(6) Control change register list

Signal name

0

JOG speed setting

1

At start

POINT




Unit direction

Command unit

Command device

APP - 54

APPENDICES

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


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)

(7) 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


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.

APP - 55

APPENDICES

(8) Motion register list (#)

Axis

No.

Device No. Signal name

1 #8000 to #8019

2 #8020 to #8039

3 #8040 to #8059

Signal name Refresh cycle

4 #8060 to #8079 0 Servo amplifier type

5 #8080 to #8099 1 Motor current

6 #8100 to #8119 2

7 #8120 to #8139 3

Motor speed

8 #8140 to #8159 4

9 #8160 to #8179 5

10 #8180 to #8199 6

11 #8200 to #8219 7

12 #8220 to #8239 8

13 #8240 to #8259 9

Command speed

Home position return re-travel value

When the servo amplifier power-on

Operation cycle 1.7[ms] or less: Operation cycle

Operation cycle 3.5[ms] or more: 3.5[ms]

Operation cycle

At home position return re-travel

14 #8260 to #8279 10

15 #8280 to #8299 11

16 #8300 to #8319 12

17 #8320 to #8339 13

Unusable

18 #8340 to #8359 14

19 #8360 to #8379 15

20 #8380 to #8399 16

21 #8400 to #8419 17

22 #8420 to #8439 18

23 #8440 to #8459 19

24 #8460 to #8479

25 #8480 to #8499

26 #8500 to #8519

27 #8520 to #8539

28 #8540 to #8559

29 #8560 to #8579

30 #8580 to #8599

31 #8600 to #8619

32 #8620 to #8639

Signal direction

Monitor device

APP - 56

APPENDICES

(9) Special relay list

Device No. Signal name

SM500 PCPU REDAY complete flag

SM501 TEST mode ON flag

SM502 External forced stop input flag

SM503 Digital oscilloscope executing flag

SM512 Motion CPU WDT error flag

SM513 Manual pulse generator axis setting error flag

SM516 Servo program setting error flag

Refresh cycle Fetch cycle Signal type

Main cycle Status signal

Device No.

(10) Special register list

Signal name Refresh cycle Fetch cycle Signal direction

SD512

SD513

SD514

SD515

SD516

SD517

SD522

SD523

SD803

SD500

SD501

SD502

SD503

SD504

SD505

SD506

SD508

SD510

SD511

Main cycle

Real mode axis information register (SV22)

Servo amplifier loading information

At power supply on/ operation cycle

Real mode/virtual mode switching error information (SV22)

Connect/disconnect (status)

Test mode request error information

Motion CPU WDT error cause

Manual pulse generator axis setting error information

Error program No.

Error item information

Motion operation cycle

Operation cycle of the Motion CPU setting

Connect/disconnect (command)


Main cycle

At test mode request

At Motion CPU

WDT error occurrence


At start

Operation cycle

At power supply on

Main cycle

Monitor device

Command device

APP - 57

APPENDICES. Mitsubishi MOTION CONTROLLERS Q172DCPU

APPENDICES

Related manuals

Table of contents

APPENDICES. Mitsubishi MOTION CONTROLLERS Q172DCPU

APPENDICES

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