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".

Error detection signal

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

Dedicated instruction

(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

Dedicated instruction

(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

At virtual mode transition

Operation cycle

Operation cycle

(Note-2)

Operation cycle

Signal direction

Command signal

Command signal

Command signal

Command signal

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

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

POINT

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

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

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

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

At virtual mode transition

Command signal

Status signal

Command signal

M3073

M2094

M2095

M2096

M2097

M2098

M3074 M2099

M2100

M3075

Unusable

(8 points)

At virtual mode transition

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

Manual pulse generator 1 enable flag

M2052

Manual pulse generator 2 enable flag

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

Real mode/virtual mode switching request (SV22)

JOG operation simultaneous start command

Manual pulse generator 1 enable flag

Manual pulse generator 2 enable flag

Refresh cycle Fetch cycle

Main cycle

At start

Operation cycle

At virtual mode transition

Signal direction

Command signal

Remark

(Note-1), (Note-2)

M2000

M2040

M2042

M2043

M2048

M3077

M3078

Main cycle

M2051

M2052

M3079

M3080

Manual pulse generator 3 enable flag

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

(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 - 53

APPENDICES

Axis

No.

Device No.

(6) Control change register list

Signal name

0

JOG speed setting

1

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 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

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

Manual pulse generator axis

2 No. setting register

Manual pulse generator axis

3 No. setting register

15 input magnification setting register

(Note-1), (Note-2)

(7) Common device list

Refresh cycle Fetch cycle

Main cycle

Signal direction

Command device

Device

No.

Signal name

D752

D753

Manual pulse generator 1 smoothing magnification setting register

Manual pulse generator 2 smoothing magnification setting register

D754

Manual pulse generator 3 smoothing magnification setting register

D755

Manual pulse generator 1 enable flag request

D756

Manual pulse generator 2 enable flag request

Refresh cycle Fetch cycle

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.

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)

At virtual mode transition

Main cycle

At test mode request

At Motion CPU

WDT error occurrence

At the manual pulse generator enable flag

At start

Operation cycle

At power supply on

Main cycle

Monitor device

Command device

APP - 57

WARRANTY

Please confirm the following product warranty details before using this product.

1. Gratis Warranty Term and Gratis Warranty Range

If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or

Mitsubishi Service Company.

However, if repairs are required onsite at domestic or overseas location, expenses to send an engineer will be solely at the customer's discretion. Mitsubishi shall not be held responsible for any re-commissioning, maintenance, or testing on-site that involves replacement of the failed module.

[ Gratis Warranty Term]

Note that an installation period of less than one year after installation in your company or your customer’s premises or a period of less than 18 months (counted from the date of production) after shipment from our company, whichever is shorter, is selected.

[ Gratis Warranty Range]

(1) Diagnosis of failure

As a general rule, diagnosis of failure is done on site by the customer.

However, Mitsubishi or Mitsubishi service network can perform this service for an agreed upon fee upon the customer’s request.

There will be no charges if the cause of the breakdown is found to be the fault of Mitsubishi.

(2) Breakdown repairs

There will be a charge for breakdown repairs, exchange replacements and on site visits for the following four conditions, otherwise there will be a charge.

1) Breakdowns due to improper storage, handling, careless accident, software or hardware design by the customer

2) Breakdowns due to modifications of the product without the consent of the manufacturer

3) Breakdowns resulting from using the product outside the specified specifications of the product

4) Breakdowns that are outside the terms of warranty

Since the above services are limited to Japan, diagnosis of failures, etc. are not performed abroad.

If you desire the after service abroad, please register with Mitsubishi. For details, consult us in advance.

2. Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability

Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi; opportunity loss or lost profits caused by faults in the Mitsubishi products; damage, secondary damage, accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other than Mitsubishi products; and to other duties.

3. Onerous Repair Term after Discontinuation of Production

Mitsubishi shall accept onerous product repairs for seven years after production of the product is discontinued.

4. Delivery Term

In regard to the standard product, Mitsubishi shall deliver the standard product without application settings or adjustments to the customer and Mitsubishi is not liable for on site adjustment or test run of the product.

5. Precautions for Choosing the Products

(1) These products have been manufactured as a general-purpose part for general industries, and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life.

(2) Before using the products for special purposes such as nuclear power, electric power, aerospace, medicine, passenger movement vehicles or under water relays, contact Mitsubishi.

(3) These products have been manufactured under strict quality control. However, when installing the product where major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the system.

(4) When exporting any of the products or related technologies described in this catalogue, you must obtain an export license if it is subject to Japanese Export Control Law.

MOTION CONTROLLER Qseries

SV13/SV22 Programming Manual(REAL MODE)

(Q173DCPU/Q172DCPU)

HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN

MODEL Q173D-P-SV13/22REALE

MODEL

CODE

1XB930

IB(NA)-0300136-A(0801)MEE

When exported from Japan, this manual does not require application to the

Ministry of Economy, Trade and Industry for service transaction permission.

IB(NA)-0300136-A(0801)MEE Specifications subject to change without notice.

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