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Programming Manual COMMON Q173DCPU Q172DCPU

1. CPU No 1 CPU No 1 M2399 transmitting data receiving data M2399 M2400 M2400 Automatic Automatic Axis status M3039 refresh area refresh area M3039 M3040 M3040 M3199 U3E1 G10000 U3E1 G10000 M3199 M3200 M3200 CPU No 2 CPU No 2 Axis command receiving data transmitting data signal M3839 M3839 M3840 M3840 Automatic refresh area M8191 Automatic Prd ya refresh area Data register Data register DO DO Axis monitor device D639 D639 D640 D640 Control change D703 register D704 c Data size consistency check Whether the Multiple CPU setting parameters are the same for all CPUs or not is automatically checked A PARAMETER ERROR error code 3012 3015 will occur if they do not match 2 MULTIPLE CPU SYSTEM 5 Precautions a Assurance of data sent between CPUs Due to the timing of data sent from the self CPU and automatic refresh in any of the other CPUs old data and new data may become mixed data separation The following shows the methods for avoiding data separation at communications by automatic refresh 1 Data consistency for 32 bit data Transfer data with automatic refresh method is in units of 32 bits Since automatic refresh is set in units of 32 bits 32 bit data does not separate For word data 2 words data can be prevented from separating by using an even number to set the first number of each device in
2. o pcos j Formawfadwersetng ooo S o0 i Pco9 MOD Amdogmontortouput FS Oh Pci0 MOD2 Andogmontor2ouput Oh PC mor Analogmonitortoffset ooo S o 0 mV i i PCi2 MO2 Analogmonitor2offset O 0 mV i Pc14 MOSDH Analog monitor feedback position output standard data High 10000PLS E 5 For manufacturer setting PC16 6 PC17 COP4 Function selection C 4 Bod 8 E 9 For manufacturer setting PC20 For manufacturer setting POINTS 1 When the items marked in the above table has changed make the Multiple CPU system reset or power supply OFF to ON And once turn OFF the servo amplifier power supply and then turn ON it again 3 COMMON PARAMETERS 4 I O Setting Parameters PDO1 0000h PD02 0000h PD03 0000h For manufacturer setting PD04 0000h PD05 0000h PDO7 DOt Output signal device selection t CN3 13 o Poos Do2 Output signal device selection 2 CN39 om PDO9 DOS Output signal device selection 3 CN3 15 om PD10 0000h PD11 0004h For manufacturer setting PD12 0000h PD13 0000h PD14 DOP3 Function Selection D 3 ooh PD15 0000h PD16 0000h PD17 0000h PD18 0000h PD19 0000h PD20 0000h PD21 0000h PD22 0000h PD23 0000h For manufacturer setting PD24 0000h PD25 000
3. 8640 12n 8000 8n Emor Motion SFC program No J o sem1 12nn s801 8n Emortype Ee 48642 120 eoo2 8n Emorprogramno y O 8643 12n 8003 8n Error block No Motion SFC listLine No AxisNo er Hc et 8644 12n 8004 8n Error code 8645 12n 8005 8n Error occurrence time Year month 8006 8n Error occurrence time Day hour New deviee in 8650 12n Q173DCPU Q172DCPU Error setting data 8651 12n Note 1 n in the above device No indicates the numerical value which correspond to axis No APP 29 APPENDICES Device No Q173DCPU Q172DCPU SM60 SM53 SM52 SM51 a S n SM516 2 Special relays Table 4 6 Special relay list Name Q173HCPU Q172HCPU M9060 M3138 Diagnostic error reset M9073 M2329 Motion CPU WDT error M9074 M2330 PCPU READY complete M9075 M2331 Test mode ON M9076 M2332 External forced stop input M9077 M2333 Manual pulse generator axis setting error M9079 M2335 Servo program setting error APP 30 Use M2039 for error reset operation New device in Q173DCPU Q172DCPU APPENDICES Q173DCPU Q172DCPU SD60 SD53 SD16 SD17 SD18 SD19 SD20 SD21 SD22 SD23 SD24 SD25 SD26 SD203 SD520 SD521 SD210 SD211 SD212 SD213 SD395 SD508 SD803 SD510 SD511 3 Special registers Table 4 7 Special registers list Device No Name Remark Q173HCPU Q172HCPU D90
4. Disconnection From Axis 5 on AMP AMP AMP AMP AMP Axis Axis Axis o o o O PLC program M101 M102 DP DDRD H3E1 my D100 KO i 5 DP DDWR H3E1 DP DDRD H3 DP DDWR H3 DP DDRD H3 D100 L mu AMP Axis 5 I i i Axis 9 Set 2 as disconnect execute command in D104 Set 5 Disconnect afrom Axis 5 on as disconnect command in D102 Set 10 as connect command in D102 D50 SD508 Read the data of SD508 for Multiple CPU system CPU No 2 by turning M100 ON and store it to data area RST D100 of self CPU SET D50 D102 SD803 Write the data of SD803 for Multiple CPU system CPU No 2 to D102 by turning M101 ON Disconnect command Connect command E1 D50 SD508 D100 Read the data of SD508 for Multiple CPU system CPU No 2 by turning M102 ON and store it to data area RST D100 of self CPU SET E1 D50 D104 SD803 Write the data of SD803 for Multiple CPU system CPU No 2 to D104 by turning M103 ON Disconnect execute command SET E1 D50 SD508 D100 Read the data of SD508 for Multiple CPU system CPU No 2 by turning M104 ON and store it to data area D100 of self CPU 4 AUXILIARY AND APPLIED FUNCTIONS 4 12 Remote operation This function is used to control the following operation of Motion CPU using MT Developer Remote RUN STOP Remote latch clear Latch clear can be ex
5. 2 When a 1 to 32 Disconnect command and or 10 Connect command are set to the Connect disconnect command device SD803 the status of the SD508 changes to the 1 Connect disconnect waiting state In order to complete connect disconnect processing 2 Connect disconnect execute command must be set to SD803 to execute the prior connect disconnect command 3 When 1 to 32 Disconnect commana is set to axis not disconnect the connect disconnect status device SD508 returns 0 without entering the status of 1 Connect disconnect execute waiting 4 Operation failure may occur in some axes if the power supply of servo amplifiers connected after them on the SSCNET system is turned OFF Be sure to use the disconnect function before turning OFF the power supply of any servo amplifiers connected after an amplifier whose power remains on 3 Procedure for connect disconnect function to exchange the servo amplifier or SSCNETII cable is shown below a Operation procedure to disconnect 1 Set the axis No to disconnect in SD803 Setting value 1 to 32 J 2 Check that 1 Disconnect execute waiting is set in SD508 Disconnect execute waiting l 3 Set 2 Disconnect execute command in SD803 J 4 Check that 0 Disconnect command accept waiting is set in SD508 Completion of disconnection l 5 Turn OFF the power supply of servo amplifier after checking its LED display for AA and then disconnect
6. D P CHGV Speed change request of the specified axis D P DDWR D P DDRD For example by using the D P SFCS instruction of Motion dedicated PLC instruction the Motion SFC of the Motion CPU can be started from the PLC CPU Example PLC CPU Motion CPU Motion SFC Start request D P SFCS instruction 2 MULTIPLE CPU SYSTEM MEMO 32 3 COMMON PARAMETERS 3 COMMON PARAMETERS 3 1 System Settings In the Multiple CPU system the common system parameters and individual parameters are set for each CPU and written to each CPU 1 The base settings Multiple CPU settings and Motion slot settings are set in the common system parameter setting 2 The system basic setting self CPU installation position setting servo amplifier setting high speed read setting and optional data monitor setting are set 3 in the individual parameter setting 3 The data setting and correction can be performed in dialog form using MT Developer 3 COMMON PARAMETERS 3 1 1 System data settings Individual parameters The table below lists the system data items to be set Main base Setting range 8 12 slots Initial value Main base 8 slots Base setting Extension base None 2 3 5 8 10 12 slots None Set the number of slots in the main base or extension base No of CPU 2 3 4 modules 2 modules Set the total number of Multiple CPUs includ
7. MAN PLS 2 Enable N2052 MAN PLS 3 Enable 2053 MAN PLS Axis ERR SMS13 R V CHG Request M2043 R V CHG Status M2044 ld R V CHG Error M2045 J Dut Of SYN Warning M2046 Y Mode Cont Op Uarnin APPENDICES 1 Multiple CPU related errors which occurs in Motion CPU Each digit of error code has been described as follows Major division Internal hardware Handling Parameter Program Watch timer Redundant system Multiple CPU x Digit Tens digit j Details code Hundreds digit Thousands digit Major division Cause Q o oo A5o N Outside diagnosis Table 3 1 Multiple CPU related errors which occurs in Motion CPU 1000 to 9999 hank Error code o Common information Individual Information 7 seament LED displa CPU operation Diagnostic i g SD5 to SD15 SD16 to SD26 g Pay status timing 1000 ELE E HS 1004 4005 AN CPU DOWN Dm HE ee 1105 AL flashes 3 times RAM ERROR i At power ON 1150 At reset Steady A1 display aso FUSE BREAK OFF Module No Oo a i Stop Note 3 4 digits error code is displayed in two flashes of 2 digits each At power ON 1401 At reset SP UNIT DOWN Module No Stop 1403 1414 No Always 1415 CONTROL BUS ERR Base No Note Stop 1416 CPU No Note 1 At pie e At reset Note 1 CPU No is stored in slot No of common information classi
8. Real mode axis information register SD500 SD501 D790 D791 DO to D8191 D800 to D3069 D3080 to D8191 WO to W1FFF WO to W1FFF 0 to 7999 G10000 to U X0 to X1FFF X0 to X1FFF YO to YTFFF YO to Y1FFF Indirect setting devices of MO to M8191 M LO to M L8191 mechanical system program M9000 to M9255 Bit device BO to B1FFF BO to B1FFF F0 to F2047 FO to F2047 G10000 0 to U Speed change ratio of speed Upper limit value 0 to xum Upper limit value 1 to 10000 change gear Lower limit value 0 to 65535 Lower limit value 1 to 10000 Permissible droop pulse value of 1 to 1073741824 PLS 1 to 65535 100PL S output module Note 1 p indicates user setting area points of Multiple CPU high speed transmission area in each CPU M5488 to M5519 Indirect setting devices of mechanical system program Word device Refer to Chapter 2 for number of user setting area points of Multiple CPU high speed transmission area APP 35 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 domes
9. The date and time that the error number was stored in the CPU shared memory s 1H address is stored with two digits of the BCD code The minutes and seconds that the error number was stored in the CPU shared memory s 1H address is stored with two digits of the BCD code 5H Error information identification code Error information identification code Stores an identification code to determine what error information has been stored in the common error information and individual error information SD4 6H to 10H Common error information Common error information The common information corresponding to the error number identified during diagnosis is stored SD5 to SD15 11H to 1BH Individual error information Switch status Individual error information CPU switch status The individual information corresponding to the error number identified during diagnostic is stored Cannot be used Stores the CPU module switch status SD16 to SD26 Empty Cannot be used CPU operation status CPU operation status Stores the CPU module s operation status Note Refer to the corresponding special register for details applicable register has been changed in the main cycle CPU operation information area However because there is a delay in data updating use the read data for monitoring purposes only b System area The self CPU operation information area is refres
10. ae a Operating procedure 1 Select menu Online Write to CPU to display Write to CPU screen 2 Check data of MT Developer written in the Motion CPU 3 Select Program memory CPU ROM in target memory 4 Select Execute button SRAM data built in Motion CPU module is written to ROM after writing data of MT developer to SRAM built in Motion CPU module Note Mechanical system program and cam data converted data cannot be displayed when using OS type SW8DNC SV 13 POINT Be sure to write the all data beforehand to SRAM built in Motion CPU module at the ROM writing 4 AUXILIARY AND APPLIED FUNCTIONS 4 4 3 Operating procedure of the ROM operation function The outline procedure of ROM operation function is shown below 1 Turn on or reset the power supply of Multiple CPU system in the Mode operated by RAM Create the system setting programs and parameters using the MT Developer and execute a trial run and adjustment Write the system setting programs and parameters of SRAM built in Motion CPU module to the FLASH ROM built in Motion CPU module by the ROM writing request using the MT Developer By starting the Motion CPU in the Mode operated by ROM a normal operation starts after the system setting programs and parameters written in the FLASH ROM built in Motion CPU module are read to the SRAM built in Motion CPU module 1 ROM operation procedure The ROM operation pro
11. b Usable devices UCG10000 0 to UD G 10000 p 1 F Notes Note 1 The real input range PX is included Note 2 The real input range PY is included Note 3 p indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU 4 AUXILIARY AND APPLIED FUNCTIONS 5 Forced output bit a Set the forced output bit when you want to forcibly provide the limit switch outputs during operation 1 The following control is exercised Output enable disable bit Control description Without setting Limit switch outputs are turned ON OFF on the basis of OFF the output enable disable bit and ON region setting With setting ON Value OFF Value Limit switch outputs are turned ON b Usable devices Note 1 p indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU Refer to Chapter 2 for the user setting area points of the Multiple CPU high speed transmission area 4 AUXILIARY AND APPLIED FUNCTIONS 4 2 Absolute Position System The positioning control for absolute position system can be performed using the absolute position compatible servomotors and servo amplifiers If the machine position is set at the system starting home position return is not necessary because the absolute position is detected at the power on The machine position is set with the home position return using the Motion SFC program or MT Deve
12. 0000h_ Psoas Formanufacturer seting ooo 0 0 d i PBo4 Frc Feedforwardgain oo 0 9 PBO5 Formanfadwerseting PB11 VDC Speeddifferential compensation 8D PBi2 Formanfadwerseting oo 0 d PBi4 NHO Notch shapeselectiont o PB 6 NHQ2 Nochshapeselecion2 00 PBi7 Automaticsetting parameter FT PB21 000 For manufacturer setting PB22 000 PB23 VFBF Lowpassfiterselection Oh PB24 wvS Slight vibration suppression control selection o PB25 Formanfadwerseting 00h PB26 CDP Gainchangingselection 0h PB27 CDL__ Gainchangingcondiion Ct PB32 337 PB33 100 0 PB34 100 0 PB35 PB36 PB37 PB38 PB39 PB40 For manufacturer setting PB41 PB42 PB43 PB44 PB45 POINTS 1 When the items marked in the above table has changed make the Multiple CPU system reset or power supply OFF to ON And once turn OFF the servo amplifier power supply and then turn ON it again 3 20 3 COMMON PARAMETERS 3 Extension setting parameters PCO2 MBR Electromagnetic brake sequence output 0 m PCO3 ENRS Encoderouputpuseselecion Oh Pco4 copi FunctionselectionC 00H pcos COP2 Function selectonc 2 TS 0h PCO6 COP3 Function selectionc 3
13. 4 AUXILIARY AND APPLIED FUNCTIONS SESE Saaz b Operation procedure to connect 1 Turn ON the power supply of the servo amplifier J 2 Set 10 Connect command in SD803 3 Check that 1 Connect execute waiting is set in SD508 Connect execute waiting i 4 Set 2 Connect execute command in SD803 J 5 Check that SD508 is 0 Connect command accept waiting is set in SD508 Completion of connection J 6 Resume operation of servo amplifier after verifying the servo ready status M2415 20n is ON 4 Flow for device value at connect disconnect operation is shown below a Disconnect operation Disconnect command Axis No of servo amplifier Disconnect execute Disconnect to disconnect command o command clear SD803 SD508 X X X Disconnect command Disconnect execute Disconnect Completion of accept waiting waiting processing execute disconnection b Connect operation Connect command paa execute D Connect command clear SD803 0 10 2 X 0 SD508 0 X 1 X 2 X 0 Connect command Completion of Connect execute waiting Connect processing execute connection accept waiting 4 AUXILIARY AND APPLIED FUNCTIONS lt Program example gt 1 Self CPU program which connects disconnects servo amplifiers from Axis 5 on Disconnect procedure Turn OFF the power supply of servo amplifier after checking its LED display for AA Connect procedure Resume operation of servo
14. Analogue input module Total 256 points x JAD Analogue output module IDA IDA Interrupt module aL Sia Note 1 When the Manual pulse generator and the serial encoder are used at the same time with the SV22 the Q173DPX installed in the slot of the smallest number is used for manual pulse generator input Note 2 SV22 only 2 A total of eight base units including one main base unit and seven extension base units can be used However the usable slots number of modules are limited to 64 per system including empty slots If a module is installed in slot 65 or subsequent slot an error SP UNIT LAY ERROR will occur Make sure all modules are installed in slots 1 to 64 Even when the total number of slots provided by the main base unit and extension base units exceeds 65 Such as when six 12 slot base units are used an error does not occur as long as the modules are installed within slots 1 to 64 1 Q172DLX Q172DEX Q173DPX cannot be installed in CPU slot and I O slot 0 to 2 of the main base unit Wrong installation might damage the main base unit 2 Q172DEX can be installed in the main base unit only It cannot be used in the extension base unit 2 MULTIPLE CPU SYSTEM 2 1 5 How to reset the Multiple CPU system The entire Multiple CPU system can be reset by resetting CPU No 1 The CPU modules of No 2 to No 4 I O modules and intelligent function modules will be reset whe
15. Import Multiple CPU Parameter Check Cancel 3 COMMON PARAMETERS b Motion slot settings Set the modules controlled by the self CPU by the Motion Slot Settings Motion CPU in MT Developer In GX Developer set the slot for Motion CPU control as the CPU number of Motion CPU in I O Assignment Settings PLC CPU Motion Slot Setting Motion CPU in MT Developer System Structure I O Assignment Setting PLC CPU setting in GX Developer F MELSOFT series GX E Lanira ER A Program a Gl Device init PLC parameter PLC name PLC system PLC file PLCRAS Device Program Bootfile SFC 1 0 assignment Control CPU No m Motion Module PLC Module Servo External Signal Module C TO Module C Q1720LX C Qreo Sync Enco Input Module C Analogue Input Module Qi72DEX Analogue Output Module MAN PLS Input Module C QI73DPX Detail Setting MELSEC SAMPLE SAMPLE 9 MOTION IN MAIN 38 Step m 1 0 Assignment Switch setting Assigning the 1 0 addra Leaving this setting bla Settings should be set using multiple CPU ee EN PLC No 2 re PLCNo2 v ee NU NNNM PLC No 2 iv ES ae Note Motion slot setting items are different depending on the operating system software 3 COMMON PARAMETERS u ELOPAuip A AJ amp Es No A O BB BAasvutu M ERRX c Base settings Set the total number of bases and n
16. Operation mode 7 segment LED remains flashing in the first digit of 7 segment LED It operates based on the user programs and parameters stored in the SRAM built in Motion CPU module The user programs and parameters for the ROM operation can be written to the FLASH ROM built in Motion CPU module remains flashing in the first digit and steady display in the second digit of 7 segment LED Mode operated by RAM Operation starts after the user programs and parameters stored in the FLASH ROM built in Motion CPU module are read to the SRAM built in Motion CPU module at power supply on or reset of the Multiple CPU system If the ROM writing is not executed even if the user programs and parameters are changed using the MT Developer during mode operated by ROM operation starts with the contents of the FLASH ROM at next power supply on or reset Mode operated by ROM Also If the ROM writing is not executed even if the auto tuning data are reflected on the servo parameter of Motion CPU by operation in the auto tuning setting operation starts with the contents of the FLASH ROM at next power supply on or reset Do not change the rotary switch setting during operation Be sure to turn OFF the power supply before the rotary switch setting change 4 AUXILIARY AND APPLIED FUNCTIONS 4 4 2 Outline of ROM operation When the ROM writing is requested to the Motion CPU module using the MT Developer the programs
17. lists error lists and others Optional 2 PLC Manual Name Manual Number Model Code QCPU User s Manual Hardware Design Maintenance and Inspection This manual explains the specifications of the QCPU modules power supply modules base modules SH 080483ENG extension cables memory card battery and others 13JR73 Optional QCPU User s Manual Function Explanation Program Fundamentals This manual explains the functions programming methods and devices and others to create programs SH 080484ENG with the QCPU 13JR74 Optional QCPU User s Manual Multiple CPU System This manual explains the functions programming methods and cautions and others to construct the SH 080485ENG Multiple CPU system with the QCPU 13JR75 Optional QCPU Q Mode QnACPU Programming Manual Common Instructions This manual explains how to use the sequence instructions basic instructions application instructions and SH 080039 micro computer program 13JF58 Optional QCPU Q Mode QnACPU Programming Manual PID Control Instructions This manual explains the dedicated instructions used to exercise PID control EOT Optional QCPU Q Mode QnACPU Programming Manual SFC This manual explains the system configuration performance specifications functions programming SH 080041 debugging error codes and others of MELSAP3 13JF60 Optional I O Module Type Building Block User s Manual This manual explains the specifications of the I
18. 3 Setting of the Motion CPU control modules by the PLC CPU Follow the table below when Motion CPU control modules are set in I O Assignment Settings of the PLC CPU The PLC CPU handles the Q172DLX Q172DEX and Q173DPX as intelligent function modules having 32 occupied points Type and number of points may be left unset Number of points Input module Forthe control CPU Output module Output Selected according set the CPU that Input Output composite to the module corresponds to the Composite I O module Motion CPU required Analogue input module Analogue input Type and number of Analogue output module Analogue output 16 points points may be left Interrupt module EET ERRARE Interrupt unset amex 72DLX 32 ea IQUZ2DEX id 72DEX Intelligent 32 E Q173DPX 32 32ponts 1 Set the I O device of the Motion CPU within the range from PX PY000 to PX PYFFF Set the number of real I O points within 256 points I O No may not be consecutive 2 As for the Motion CPU the Q172DLX Q172DEX Q173DPX and QI60 are not included in the number of real I O points 3 COMMON PARAMETERS 3 2 2 I O number of each CPU modules In the Multiple CPU system I O numbers are assigned to each CPU module to specify installed CPU modules The I O number for each CPU module is fixed to the corresponding slot and cannot be changed The I O number allocated to each CPU module in the Multiple CPU system is shown below CPU module 2 CP
19. 6 SV22 4 SV22 Manual pulse generator input module Manual pulse generator setting SV13 Manual pulse generator Synchronous encoder setting SV22 Used only Used Unused I O response time Operation mode 0 4 0 6 1 ms TREN response time 0 4 ms High speed data read setting Used Unused Unused 1 SV13 4 SV22 Interrupt module Input response time 0 1 0 2 0 4 0 6 1 ms 0 2 ms 3 COMMON PARAMETERS Module name Input module Setting items for each module Continued First I O No Setting range 00 to FFO in units of 16 points Initial value 0 Point 0 16 32 64 128 256 16 High speed data read setting Used Unused Unused I O response time setting for high speed input module in parentheses 1 5 10 20 70 ms 0 1 0 2 0 4 0 6 1 ms 10 ms 0 2 ms Output module First I O No 00 to FFO in units of 16 points 0 Point 0 16 32 64 128 256 16 Input Output composite module Analogue input module First I O No 00 to FFO in units of 16 points 0 Point 0 16 32 64 128 256 16 I O response time 1 5 10 20 70 ms High speed data read setting First I O No Used Unused 00 to FFO in units of 16 points 0 Input range 4 to 20mA 0 to 20mA 1 to 5V 0 to 5V 10
20. C24 MNET QnUD H Q173D MNET QnUD H Q173D MNET MNET CPU CPU or CPU CPU or CPU CPU or or Ether Ether Ether Ether Network No 2 Network No 3 QnUD H Q173D MNET QnUD H Q173D MNET QnUD H Q173D MNET MNET CPU CPU or CPU CPU or CPU CPU or or Ether Ether Ether Ether Network No 4 Network No 5 z ec QnUD H Q173D MNET MNET QnUD H Q173D MNET QnUD H Q173D MNET MNET CPU CPU or or CPU CPU or CPU CPU or or Ether Ether Ether Ether Ether Network O O OJO OO Nos Network No 7 QnUD H Q173D MNET QnUD H Q173D MNET QnUD H Q173D MNET MNET CPU CPU or or CPU CPU or CPU CPU or or Ether Ether Ether Ether Ether Network No 8 Network No 9 QnUD H Q173D MNET MNET QnUD H Q173D MNET CPU CPU or or CPU CPU or Network Ether Ether Ether No 10 OJO Communication is possible O Communication is possible Setting of the routing parameter is necessary X Communication is impossible X X 4 AUXILIARY AND APPLIED FUNCTIONS SESE e LLL L L LLLLLLLLLLLLLLLCLLLLLLLLLLLLELELLLLLZILI ZI IZIZXELux lPiul 2 Network configuration via the CC Link a It can access the other CPU via the CC link from the programming software packages GX Developer MT Developer etc of the personal computer connected with the CPU or serial communication module in USB RS 232 It can access the other CPU via the CC Link from the programming software packages in the personal
21. CPU CPU No 2 No 1 CPU No 3 CPU 0 1 2 Slot number An empty slot can be reserved for future addition of a CPU module Set the number of CPU modules including empty slots in the Multiple CPU setting and set the type of the slots to be emptied to PLC Empty in the CPU setting Example 1 Example 2 Example 3 CPU 0 1 25 ceu 0 1 2 CPU 0 1 2 Power QnUD H Q17LID Power QnUD H Q17 Power QnUD H Q17LID supply CPU 7 CPU supply CPU 7 CPU supply CPU yyy CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU No 1 No 2 No 3 No 4 No 1 No 2 No 3 No 4 No 1 No 2 No 3 No 4 2 MULTIPLE CPU SYSTEM 2 1 3 Precautions for using I O modules and intelligent function modules 1 Modules controllable by the Motion CPU Modules controllable by the Motion CPU are shown below Motion modules Q172DLX Q172DEX Q173DPX I O modules QXO QYLI QHO QXOYD Analogue modules Q60ADO Q60AD 0 Q60DAO Q6NDA D Interrupt module QI60 2 Compatibility with the Multiple CPU system The intelligent function modules of function version B or later support the Multiple CPU system Be sure to use the PLC CPU as a control CPU because of the intelligent function modules cannot be controlled by the Motion CPU 3 Access range from non controlled CPU a The Motion CPU can access only the modules controlled by the self CPU It
22. Never open the front case or terminal covers while the power is ON or the unit is running as this may lead to electric shocks Never run the unit with the front case or terminal cover removed The high voltage terminal and charged sections will be exposed and may lead to electric shocks Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF The insides of the Motion controller and servo amplifier are charged and may lead to electric shocks Completely turn off the externally supplied power used in the system before mounting or removing the module performing wiring work or inspections Failing to do so may lead to electric shocks When performing wiring work or inspections turn the power OFF wait at least ten minutes and then check the voltage with a tester etc Failing to do so may lead to electric shocks Be sure to ground the Motion controller servo amplifier and servomotor Ground resistance 100 9 or less Do not ground commonly with other devices The wiring work and inspections must be done by a qualified technician Wire the units after installing the Motion controller servo amplifier and servomotor Failing to do so may lead to electric shocks or damage Never operate the switches with wet hands as this may lead to electric shocks Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to ele
23. Note Operating environment to use MT Developer is Windows vista Windows XP Windows 2000 English version only MT Developer2 2 Operating environment of personal computer Operating environment is shown below IBM PC AT with which Windows Vista Windows XP Windows 2000 English version operates normally Microsoft Windows Vista Home Basic Microsoft Windows Vista Home Premium Microsoft Windows Vista Business Microsoft Windows Vista Ultimate Microsoft Windows Vista Enterprise Microsoft Windows XP Professional Service Pack 2 or later Microsoft Windows XP Home Edition Service Pack 2 or later Microsoft Windows 2000 Professional Service Pack 4 or later CPU Desktop PC Recommended Intel Celeron Processor 2 8GHz or more Laptop PC Recommended Intel Pentium Processor M 1 7GHz or more capacity Operation Virtual memory 50MB or more Resolution 1024 x 768 pixels or higher Note 1 Microsoft Windows and DirectX are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries Note 2 Intel Celeron and Pentium are trademarks of Intel Corporation in the U S and other countries 1 14 1 OVERVIEW 3 Operating system type version a Confirmation method in the operating system CD 1 OS software type 2 OS software version 3 Serial number Example When using Q173DCPU SV22 and version 00A 1 SW8DNC SV22QA 2
24. Output relay Note 2 YO to Y1FFF Internal relay Note 3 MO to M8191 Link relay BO to B1FFF Multiple CPU area device UCXG10000 0 to UDG 10000 p 1 F efe Note 5 Note 1 PX is write disabled and it cannot be used as the output device For X only the free No of the input card non loading can be used Note 2 The real output device range PY is also included Note 3 M2001 to M2032 cannot be used to the output device Be careful because it affect a positioning operation when the positioning dedicated devices are set Note 4 p indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU Note 5 Only device of the self CPU can be used 4 AUXILIARY AND APPLIED FUNCTIONS 2 Watch data a This data is used to perform the limit switch output function This data is comparison data to output the ON OFF signal The output device is ON OFF controlled according to the ON region setting b As the watch data motion control data or optional word device data can be used 1 Motion control data Axis No setting range Q173DCPU Q172DCPU Feed current value T Position command 32 bit Real current value integer type Deviation counter value ms 16 bit Motor current 0 196 integer type 1 to 32 1to8 Item Unit Data type Motor Motorspeed o 0 Ormin 32 bit integer type After differential encoder current aie Encoder current value 2 Word device data
25. function module mounted to the next slot to those occupied by CPU modules is set as OH and consecutive numbers are then allocated sequentially to the right Notation of I O number Receiving of ON OFF data by Motion CPU is deemed input PX while outputting of ON OFF data from Motion CPU is deemed output PY O number is expressed in hexadecimal 1 If the number of CPU modules installed on the main base unit is less than the number set at the Multiple CPU setting set the open slot s to PLC Empty Refer to Section 2 1 2 for the PLC Empty setting 2 The I O numbers for the Multiple CPU system can be confirmed with the system monitor of GX Developer 3 COMMON PARAMETERS 2 I O number assignment of Motion CPU control module Mitsubishi recommends that I O No assignment be set as common consecutive No throughout all CPUs However the I O number of the input modules output modules and input output composite modules controlled with the Motion CPU can also be set regardless as the I O number of PLC CPU I O number of the Motion CPU control modules is indicated as PX PY I O number of the Motion CPU control modules cannot be assigned by I O assignment settings of PLC CPU I O assignment PXO to PX1F PY20 to PX3F X40 to X5F Y60 to Y7F Power supply module XO to X1F Y20 to Y3F CPU No 1 CPUNo 2 CPUNo 2 CPUNo 2 CPUNo 1 CPUNo 1 control control control control module module module module
26. t eee ete eR Cere eI ta RET Cra A Rte REIR Fe a ra kc 1 14 1 3 5 Restrictions on motion systems ssssssssssseeeeeeenenneen nennen nnne nnne rennen enne nns 1 17 2 1 Multiple GPU System rdiet cesta Lade aet ib Le dee Lee E v a Le ded 2 1 ZV A OVervigWs ns ttem teet satelite nies eei e etaient e itd 2 1 2 1 2 Installation position of CPU modwule sssssssssssssseseeeeeener ennemis 2 2 2 1 3 Precautions for using I O modules and intelligent function modules sess 2 3 2 1 4 Modules subject to installation restrictions ssssseseeeenenenn mene 2 4 2 1 5 How to reset the Multiple CPU system sse eene nennen 2 5 2 1 6 Operation for CPU module stop error eene 2 6 2 2 Starting Up the Multiple CPU System sse eene neret 2 9 2 2 1 Startup Flow of the Multiple CPU System sssssssssssssseeeeeen ennt 2 9 2 3 Communication between the PLC CPU and the Motion CPU in the Multiple CPU System 2 11 2 3 1 CPU shared Memoty cairai ndai eiii onere ode tet decere deceat due uto dee enden eno araa 2 11 2 3 2 Multiple CPU high speed transmission sesssssssssssssssseeeeen eene 2 14 2 3 3 Multiple CPU high speed refresh function 2 25 2 3 4 Clock synchronization between Multiple CPU sssseeeeenennnenm emen 2 29 2 3 5 Multiple CPU synchronous startup cccceccceeeceeeeee
27. 3 amp 3 Output device v 4 4 iS er Conese Output control based on Output ON Output OFF Forced output Output OFF upy ON Value and OFF Value p4 Output OFF Enable disable bit Output control based on Output OFF ON Value and OFF Value Output OFF i Forced output bit 4 Output ON i Forced output amp A4 4 AUXILIARY AND APPLIED FUNCTIONS 4 1 2 Limit output setting data Limit output data list are shown below Up to 32 points of output devices can be set The following items of No 1 to No 5 are set together as one point Fetch Refresh Item Setting range Remarks cycle cycle Operation 1 Output device Bit device X Y M B ULAG j cycle Motion control data word device D W ULA G absolute address 16 bit integer type 32 bit integer type Watch data 64 bit floating point type ON region ON Value Word device D W UL NG constant K H setting OFF Value Word device D W UL AG wmm K H Enable Disable Always enable Output enable disable Bit device X Y M B F SM ULG none bit default No forced Bit device X Y M B F SM ULT G none outputs are default always made Forced output bit 1 Output device a Setthe bit device which outputs the ON OFF signal toward the preset watch data b As the output device the following devices can be used Device No setting range Input relay Note XO to X1FFF
28. A NL MR J3 CIB model Servo amplifier _ Up to 8 axes External input signals of servo amplifier Proximity dog Upper stroke limit Lower stroke limit 1 OVERVIEW Z CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system The ratings and characteristics of the parts other than Motion controller servo amplifier and servomotor used in a system must be compatible with the Motion controller servo amplifier and servomotor Set the parameter values to those that are compatible with the Motion controller servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect 1 13 1 OVERVIEW 1 3 4 Software packages 1 Software packages a Operating system software bs aad Software package Application Q173DCPU Q172DCPU For conveyor assembly SV13 SW8DNC SV13QB SW8DNC SV13QD For automatic machinery SV22 SW8DNC SV22QA SW8DNC SV22QC b Motion controller programming software Conveyor Assembly Software Automatic Machinery Software Cam Data Creation Software SW1DNC MTW2 E Digital Oscilloscope Software 1 CD ROM disk Communication System Software Document Print Software Operation Manual Help Installation manual PDF
29. Chapter 2 for the user setting area points of the Multiple CPU high speed transmission area 4 AUXILIARY AND APPLIED FUNCTIONS 99 sso 4 4 ROM Operation Function This function is used to operate based on the data in the FLASH ROM built in Motion CPU module that the user programs and parameters have been stored 4 4 1 Specifications of 7 segment LED Switches 3 Q172DCPU Items Functions H B Hae 1 7 segment LED Indicate the operation state and error information VIT Rotary switch 1 SW1 Set the operation mode Normal mode Installation 2 3 EE uN mode and mode operated by ROM etc OD unc 3 Rotary switch 2 SW2 as Each switch setting is 0 to F 1 Operation mode Operation mode of the Motion CPU is set by the rotary switch setting of Motion CPU module at the power supply ON of the Multiple CPU system The rotary switch setting operation mode and operation mode overview are shown below a Rotary switch setting and operation mode Rotary switch setting Operation mode Any setting Except C Installation mode Mode operated by RAM pT Vodeoperated by ROM Note 1 Do not set except the above setting Note 2 The programs parameters absolute position data and latch data in the SRAM built in Motion CPU module are cleared 4 AUXILIARY AND APPLIED FUNCTIONS b Operation mode overview
30. If a servo amplifier was previously removed using the connect disconnect function it must be used again to reconnect the servo amplifier This function is only required when there is a desire to maintain communication to all axes in front of the one being removed No connect disconnect processing is required if the power supply to Axis 1 is shutdown 1 Connect disconnect status devices Device No Overview The execute status for a connect disconnect is stored Monitoring value Connect disconnect Connect command or disconnect command is in the status command accept waiting that can be accepted 4 Connect disconnect SD508 is waiting for connect disconnect execute command execute waiting after accepting a connect command or disconnect command While A M 2 Connect disconnect is in process connecting disconnecting 2 Connect disconnect command devices Set by The connect disconnect command is set Setting value ee This value is set if there is no command 1 to 32 Set axis No 1 to 32 to be disconnected Set to connect axis while disconnecting 2 Connect disconnect Connect disconnect processing is executed by setting this execute command value in the status of a connect disconnect execute waiting 4 AUXILIARY AND APPLIED FUNCTIONS 1 After completion of SSCNET communication disconnect processing be sure to check the LED display of the servo amplifier for AA before turning OFF its the power supply
31. Motion CPU via the intranet using the Ethernet module Personal Computer Personal Computer Ethernet QnUD H CPU m a a 23 o i o o n Power supply 4 AUXILIARY AND APPLIED FUNCTIONS 4 7 2 Access range of the communications via network 1 Network configuration via the MELSECNET 10 H or the Ethernet a It can access the other CPU via the network from the programming software packages GX Developer MT Developer etc of the personal computer connected with the CPU or serial communication module in USB RS 232 b It can access the other CPU via the network from the programming software packages in the personal computer by connecting the personal computer equipped with Ethernet to MELSECNET 10 H or Ethernet board to the Ethernet to MELSECNET 10 H or Ethernet c The access range of above 1 and 2 can be accessed to 8 network points by setting the routing parameter to the control CPU of the network module and the CPU which connected the personal computer Example amp Personal Personal C24 Serial communication module Personal computer computer computer MNET MELSECNET 10 H USB RS 232 MNET board or Ether Ether Ethernet RS 232 Network No 1 QnUD H Q173D
32. Multiple CPU high speed transmission area Reception CPU No 2 e Multiple CPU high speed transmission area Transmission CPU No 1 Multiple CPU high speed transmission area Reception CPU No 2 Multiple CPU high speed transmission area Reception CPU No 3 Multiple CPU high speed transmission area Reception CPU No 3 Multiple CPU high Speed transmission area Reception CPU No 2 Multiple CPU high speed transmission area Reception CPU No 3 Multiple CPU high speed transmission area Transmission CPU No 4 Multiple CPU high speed transmission area Reception CPU No 4 Multiple CPU high Speed transmission area Reception CPU No 3 Multiple CPU high speed transmission area Reception CPU No 4 Multiple CPU high speed transmission area Reception CPU No 4 Multiple CPU high speed transmission area Transmission Note 1 The final device is 10000 1024 B 1 A Data transmission size of each CPU 1k words in unit B Size used in the automatic refresh of each CPU Refer to Section 2 3 2 Multiple CPU high speed transmission for the size setting of A and B Note 2 Transmission area to write read in the self CPU Reception area from the other CPU can be read only It is updated every 0 88ms 2 MULTIPLE CPU SYSTEM 2 3 2 Multiple CPU high speed transmissio
33. PLC ready flag M2000 ON OFF 4 AUXILIARY AND APPLIED FUNCTIONS 4 12 2 Remote latch clear Device data of Motion CPU that latched are cleared by MT Developer at PLC ready flag M2000 OFF PCPU READY complete flag SM500 OFF Operation for remote latch clear is combined with remote RUN STOP 1 Operation procedure a Turn OFF the PLC ready flag M2000 PCPU READY complete flag SM500 OFF by remote STOP b Select Latch clear 1 or Latch clear 1 2 on CPU remote operation screen displayed by menu Online Remote Operation and click Execute button Note Execute remote RUN to turn ON the PLC ready flag M2000 after remote latch clear CPU remote operation Transfer information Connecting interface se lt gt PLC module Target CPU Station No Host CPUtype Q173D ruz OStype B 22QA VER300C CPU Status CPU Status BTOP Operation CPU RUN v ce RUN IsTop Pl atch clear 1 P Latch clear 1X2 1 Remote latch clear cannot be operated while the PLC ready flag M2000 is ON PCPU READY complete flag SM500 is ON or test mode 2 The following latch area are cleared in the remote latch clear operation Latch clear 1 Clear the range set in latch area 1 Latch clear 1 2 Clear the range set in latch area 1 and 2 3 The user area 0 to 7999 of motion device are also cleared by executing remote latch clear 4 All of the user device not latch
34. and parameters stored in the SRAM built in Motion CPU module are batch written to the FLASH ROM after the data of FLASH ROM built in Motion CPU are erased When the Motion CPU starts in the Mode operated by ROM a normal operation starts after the data written in the FLASH ROM is read to the SRAM The programs and parameters created by the MT Developer must be written beforehand to the FLASH ROM built in Motion CPU module at the ROM operation The following methods for ROM writing are shown below Write the programs and parameters written in the SRAM built in Motion CPU module to the FLASH ROM built in Motion CPU module Write the programs and parameters of the MT Developer to the SRAM built in Motion CPU module and then write them to the FLASH ROM built in Motion CPU module The data batch written to the FLASH ROM built in Motion CPU module by ROM writing are shown below Backup data except the followings current position of servomotor in absolute position system home position and latch device cannot be written to the FLASH ROM Mechanical system program o Camdata OE 1 Backup load operation of the MT Developer targets the SRAM built in Motion CPU module The FLASH ROM built in Motion CPU module is not targeted Set to Mode operated by ROM after ROM writing to execute the ROM operation after Backup load operation at the Motion CPU module exchange 2 The FLASH ROM built in Motion CPU module se
35. automatic refresh setting 2 Data consistency for data exceeding 32 bits In automatic refresh method data is read in descending order of the setting number in automatic refresh setting parameter Transfer data separation can be avoided by using a transfer number lower than the transfer data as an interlock device 2 MULTIPLE CPU SYSTEM 2 3 3 Multiple CPU high speed refresh function Classification Setting No This function is used to update the data between internal devices of Motion CPU and the Multiple CPU high speed transmission area This occurs every operation cycle as defined in the device setting of automatic refresh in the self CPU Description Setting No which executes high speed refresh is displayed CPU No set in the automatic refresh setting is automatically displayed by setting devices Self CPU Refresh from the internal device of Motion CPU to Multiple CPU high speed transmission area Other CPU Refresh form the Multiple CPU high speed transmission area to internal device of Motion CPU Setting display value 1 to 128 Up to 128 CPU No 1 to No 4 Restriction Device setting User setting Set the device No of Motion CPU to execute the high speed refreshes Usable device D W SD M X Y B SM The start device number must be a multiple of 16 for the bit device Do not set a device not setting also set in the automatic refresh No of start device number of points cannot ex
36. cannot access the modules controlled by other CPUs b Access range from non controlled PLC CPU for the modules controlled by the Motion CPU are shown below Table 2 2 Access range to non controlled module I O setting outside of the group Access target Set by PLC CPU Disabled Not checked Enabled Checked LICHEN E Outpt Y Y O Accessible X Inaccessible The function version of an intelligent function module can be checked on the rated plate of the intelligent function module or in the GX Developer s system monitor product information list Refer to the Q173DCPU Q172DCPU User s Manual for the model name which can be controlled by the Motion CPU 2 MULTIPLE CPU SYSTEM 2 1 4 Modules subject to installation restrictions 1 Modules subject to install restrictions for the Motion CPU are sown below Use within the restrictions listed below As Maximum installable modules per CPU Description Model name Q173DCPU Q172DCPU Servo external signals l Q172DLX 4 modules 1 module interface module Serial absolute synchronous Q172DEX d Note 2 6 modules 4 modules interface module Note 2 Note 2 4 modules 3 modules Manual pulse generator Q173DPX Incremental serial encoder use Incremental serial encoder use Note 1 interface module 1 module 1 module Manual pulse generator only use Manual pulse generator only use Input module Output module avo Input output QHO composite module QxOYO
37. code is displayed in two flashes of 2 digits each Module No 2150 SP UNIT VER ERR APP 18 APPENDICES E d TOL COGE Error contents and cause Corrective action SD0 Reset the CPU module and RUN it again If the same error is displayed 1430 The error of self CPU is detected in the Multiple CPU high speed bus jagain this suggests a CPU module hardware fault Explain the error symptom and get advice from our sales representative 1 Take noise reduction measures 2 Check the main base unit mounting status of the CPU module 3 Reset the CPU module and RUN it again If the same error is displayed again this suggests a CPU module or base unit hardware fault The communication error with other CPU is detected in the Multiple CPU high speed bus Explain the error symptom and get advice from our sales representative The coimimunicaton timeout with other CPU ie delecied inthe Reset the CPU module and RUN it again If the same error is displayed 1432 again this suggests a CPU module hardware fault Multiple CPU high d bus id Se Pee Grice Explain the error symptom and get advice from our sales representative 1 Take noise reduction measures 2 Check the main base unit mounting status of the CPU module The communication error with other CPU is detected in the Multiple 3 Reset the CPU module and RUN it again If the same error is displayed CPU high speed bus again this suggests a CPU module or base un
38. configuration configuration with peripheral devices and system configuration in the Q173DCPU Q172DCPU system 1 Equipment configuration in Q173DCPU Q172DCPU system Extension of the Q series module d Power supply module QnUD H CPU I O module Intelligent function module of the Q series Note 2 8 Motion module Q172DLX Q173DPX fub oao Q60B extension base unit Q63B Q65B Q68B Q612B Main base unit Q38DB Q312DB Motion module Q172DLX Q172DEX Q173DPX QCOB aT Power supply module I O module Intelligent function module of the Q series Battery holder unit Q170DBATC Motion CPU module Forced stop input cable Q173DCPU Q172DCPU Q170DEMICBLLIM Note 1 Q L ae Battery Q6BAT SSCNET MR J3BUS Servo amplifier i itis possible to select the best according to the system Note 1 Be sure to install the Battery Q6BAT to the Battery holder unit Q170DBATC It is packed together with Q173DCPU Q172DCPU Note 2 Q172DEX ca
39. coupling with the synchronous encoder or servomotor shaft end do not apply impact such as by hitting with a hammer Doing so may lead to detector damage Do not apply a load larger than the tolerable load onto the synchronous encoder and servomotor shaft Doing so may lead to shaft breakage When not using the module for a long time disconnect the power line from the Motion controller or servo amplifier Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store When storing for a long time please contact with our sales representative Also execute a trial operation NCAUTION Correctly and securely wire the wires Reconfirm the connections for mistakes and the terminal screws for tightness after wiring Failing to do so may lead to run away of the servomotor After wiring install the protective covers such as the terminal covers to the original positions Do not install a phase advancing capacitor surge absorber or radio noise filter option FR BIF on the output side of the servo amplifier Correctly connect the output side terminal U V W Incorrect connections will lead the servomotor to operate abnormally Do not connect a commercial power supply to the servomotor as this may lead to trouble Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control signal output of brake Servo amplifier signals etc Incorrect installation
40. error code 3012 3015 so the parameters show below must be set identically between Motion CPUs and the PLC CPU of CPU No 1 If the system settings are changed in a Motion CPU it is necessary to reset Therefore the parameters are checked only during initialization The parameter No of unmatched parameter is set in the error individual information SD16 by this error occurrence PLC CPUS can use the parameters of the other CPUs via Multiple CPU parameter utilization of GX Developer Since Motion CPUs don t have this function however the common parameters must be set for each Motion CPU Table of Parameters cross Multiple CPU system Type of parameter Verification item Parameter Name in Motion CPU Name in PLC CPU number No of CPU No of PLC Number of CPUs Operation mode for CPU stop error CPU specific CPU specific Points of CPU specific send range send range send range Operating mode Operating mode Refer to Section 2 3 2 Refer to Section 2 3 2 Multiple CPU Multiple Multiple CPU This parameter can be System area CPU Syst Syst i high speed high speed VRISUESKSR SERIA SR set when Advanced transmission settings transmission setting is selected area setting area setting Refer to Section 2 3 2 Automatic Automatic Points of automatic Automatic refresh using refresh setting refresh setting refresh Multiple CPU high speed transmission area Multiple CPU synchronous Multiple C
41. if no error is detected this flag Comes ON when the CPU No 1 is during s OFF CPU No 3 normal SM246 No 3 CPU error ON CPU No 4 during s error continuation error ON TEST mode ON SUL ieee ne OFF Except TEST mode Turn OFF with PLC ready flag M2000 OFF Judge whether TEST mode ON or not using MT Developer If the TEST mode is not established by TEST mode request using MT Developer the TEST mode request error flag SM510 turns ON S Request 7 Goes OFF when the CPU No 2 is normal continuation error OFF CPU No 4 normal SM247 No 4 CPU error ON CPU No 4 during s error Comes ON when the CPU No 4 is during stop error SM400 Always ON Normally is ON External forced stop ON Forced stop OFF M502 Confirm forced stop ON OFF S O ti le Pm e OFF Forced stop ON Digital oscilloscope is Comes ON when the CPU No 2 is during s Goes OFF when the CPU No 3 is normal continuation error ON S Main processing SM401 Always OFF Normally is OFF ON PCPU READY When the PLC ready flag M2000 turn OFE to ON the fixed parameters servo parameters and limit switch output completion Digital oscilloscope stop executing OFF Digital oscilloscope is executing Confirm the execution of digital oscilloscope using MT S Change status Developer Turn ON if the TEST mode is not established by TEST mode request using MT Developer When this relay is ON the error content is stored in
42. is set for the motion controller and the data in the project L Tye j Regitation Registration Condition 1 Motion SFC Program asa m Write Protection J 2 SewvoProgam Mechanical System Program pe Read write Protection v 4 Cam Data I Batch Settings Refresh Execute Close en ee of user data Enter initial registration change password Password Alphanumeric character ASCII of 6 or less Match case Not full size character A registration condition set in the Motion CPU is displayed Write Protection Read Write Protection New registration condition can be selected by password input Registration condition 4 AUXILIARY AND APPLIED FUNCTIONS 4 5 2 Password delete Select menu Online Register Password Delete to delete a password 1 Procedure for password delete a Status of password registered in the Motion CPU are displayed b Enter old password and click on Execute button to delete password It leaves in blank for the user data that does not delete a password c A password will be deleted by success of password check displayed in registration column disappears d Select menu Project gt Save to save a password after delete in a project Refer to Section 4 5 4 for password save 1 The password data is not save in a project without password save Therefore be sure to save a password 2 If an operation stops by reset or power OFF of
43. mereri nennen nnns 4 34 4 10 Optional Data Monitor Function sssssssesssssssssesesenen enne nennen nnne nnn n ehem nennen nnn 4 35 4 11 ConnectDisconnect Furiction 2 3 iecore i tenes hederae gatis 4 36 4 12 Remote operation e a a a Da a a aaa a inni tnn nnne tenetis nsn nn sh aaae rente sn nnne 4 41 4 12 13 Remote RUN S JOP 55 dh sth eine eae ten doin edt dere 4 41 4 12 2 Remote latch clear ccccccecccceecceceseeceneeeeseeeseneesaeeseaeecsaneesaneesaeeseaeessaceeeeneeseaeeseaeeceeesueeeseneeseaees 4 43 APPENDIX 1 Special relays Special registers sssssseeen emm APP 1 APPENDIX 1 1 Special relays anria A AAA A A A AA AA nennen nnne nnne nennen nnne APP 1 APPENDIX 1 2 Special registers ene cicenen RAE eee EEE etta n be Ene nate unten nte APP 5 APPENDIX 1 3 Replacement of special relays special registers sssssssssssssss APP 11 APPENDIX 2 System Setting Errors ssssssssssseseen eene nennen nennen APP 13 APPENDIX 3 Self diagnosis error code sssssesssseseeeeeeen nennen ener APP 15 APPENDIX 4 Differences Between Q173DCPU Q172DCPU and Q173HCPU Q172HCPU APP 26 APPENDIX 4 1 Differences Between Q173DCPU Q172DCPU and Q173HCPU Q172HCPU APP 26 APPENDIX 4 2 Comparison of G VICES cc ccceecceeeeeeeeeeeeeeeeeeeeeeaeeecaceeseaeeseaeeecaeescaeeesineeseaeesseennes APP 28 APPENDIX 4 3 Differences of each
44. mode ce ccceecceeeseeeeeeeeeeeeeeeeeeesaeeseaeeeeaceseaeeeseneeeeaeeseeeesineeeaes APP 35 About Manuals The following manuals are also related to this product In necessary order them by quoting the details in the tables below Related Manuals 1 Motion controller Manual Name Manual Number Model Code Q173DCPU Q172DCPU Motion controller User s Manual This manual explains specifications of the Motion CPU modules Q172DLX Servo external signal interface module Q172DEX Synchronous encoder interface module Q173DPX Manual pulse generator interface IB 0300133 module Power supply modules Servo amplifiers SSCNETI cables Synchronous encoder cables and 1XB927 others Optional Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual Motion SFC 1B 0300135 This manual explains the functions programming debugging error lists and others for Motion SFC 1XB929 Optional Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE This manual explains the servo parameters positioning instructions device lists error lists and others Optional 1B 0300136 1XB930 Q173DCPU Q172DCPU Motion controller SV22 Programming Manual VIRTUAL MODE This manual explains the dedicated instructions to use the synchronous control by virtual main shaft 1B 0300137 mechanical system program create mechanical module servo parameters positioning instructions device 1XB931
45. of the Motion CPU module the value is incremented by 1 and stored in BIN code D60 Fuse blown No E with The lowest station I O No of the module with the blown fuse is stored The CPU switch status is stored in the following format B15 B12B11 T T T AC DC DOWN Number of times counter No for AC DC DOWN SD200 Status of switch Not used 1 CPU switch status 0 RUN 1 STOP 2 Memory card switch Always OFF The CPU operating status is stored as indicated in the following figure S Main processing B15 B12B11 B8 B7 B4 B3 T T T T T T T Operating status Operating status 1 Operating status of CPU 0 RUN 2 STOP 2 STOP cause 0 RUN STOP switch Note Priority is earliest first 4 Error n 7 n n Oo v 1H W O oO iw U D U O O O O N 51 N NIN NM IN NM NM e o Oy o hy o APP 7 APPENDICES Table 1 2 Special register list Continued Ris t en se The year last two digits and month are stored as BCD code so Example July 2006 H0607 i 1 B12B11 to Bo Example 31st 10 a m Clock data i i E H3110 Day Hour rae E The minutes and seconds are stored as BCD code to B12B11 to Bo Example 35 min 48 sec Clock data ay d H3548 SD22 clock data Minute Second Lo d Do S U Request Minute The day of week is stored as BCD code B15 to B12B11 to B8 B7 Bo Example Friday mm H0005 I l l Loi 1 f Clock da
46. on the RS 422 485 which a System connects it to and it can select RS 422 485 network to connect by specifying the I O No of the C24 module gt Example 1 Personal Personal C24 Serial communication module computer computer USB RS 232 RS 232 RS 422 485 I QQnUD H Q173D C24 C24 QQnUD H Q173D C24 QnUD H Q173D C24 C24 CPU CPU CPU CPU CPU CPU RS 422 485 RS 422 485 QnUD H Q173D C24 QnUD H Q173D C24 QnUD H Q173D C24 C24 CPU CPU CPU CPU CPU CPU lt Example 2 gt amp Personal computer RS 422 485 RS 422 485 Communication is possible X Communication is impossible 4 AUXILIARY AND APPLIED FUNCTIONS 4 Network configuration which MELSECNET 10 H Ethernet CC Link RS 422 485 were mixed a When the MELSECNET 10 H or Ethernet is defined as Network and CC Link or RS 422 485 is defined as Link combination of whether to be able to access from the programming software packages GX Developer MT Developer etc is shown below A ie Usable Network communications unusable Programming software package CPU C24 Network Link CPU o Programming software package CPU C24 Link Network CPU ge Programming software package Network Link CPU Programming software package gt Link gt Network CPU o Usable x Unusa
47. operation will not exceed the set operation cycle A WDT or other error may occur in the Motion CPU b Operation at STOP to RUN Set the condition in which the PLC ready flag M2000 turns ON Select any one of the followings 1 M2000 is turned on by switching from STOP to RUN Condition in which the M2000 turns from OFF to ON Change the RUN STOP switch from STOP to RUN Turn ON the power supply with the RUN STOP switch set to RUN Condition in which the M2000 turns from ON to OFF Change the RUN STOP switch from RUN to STOP 2 M2000 is turned on by switching from STOP to RUN and setting 1 in the set register M2000 turns ON when the switch is set to RUN and 1 is set in the setting register Condition in which the M2000 turns from OFF to ON With the RUN STOP switch set to RUN set 1 in the setting register for PLC ready flag D704 The Motion CPU detects a change from 0 to 1 in the lowest bit in the D704 Condition in which the M2000 turns from ON to OFF With the RUN STOP switch set to RUN set 0 in the setting register for PLC ready flag D704 The Motion CPU detects a change from 1 to 0 in the lowest bit in the D704 Change the RUN STOP switch from RUN to STOP c Forced stop Set the bit device used for executing a forced stop in which all servo amplifier axes are stopped immediately in the program Either X PX or M can be specified No default value has been set The set bit device is designate
48. shown below Example For set the output module System Structure System Structure 1 Double click the slot position display the Motion Slot Settings screen Motion Slot Settings Motion Slot Setting Motion Module Servo External Signal Module 2 Select the I O module C Qi72DLX C qio Sync Enco Input Module C Analogue Input Module C QI72DEX C Analogue Output Module MAN PLS Input Module C QI73DPX 3 Click Detail Setting O Module Settings 1 0 Module Setting 4 Set the first I O No PX No PY No C Input C High speed input C JO Mixed Same Num C 0 Mixed Half InjOut 5 Select applicable module type and number of points for the I O module to be used 6 Click OK Note Display of system setting and motion slot setting are different depending on the operating system software I O No s cannot be assigned automatically unlike a PLC CPU for which I O No are assigned automatically if such setting is omitted in the Motion CPU In the Motion CPU be sure to set the first I O No in System Settings for each module used 3 COMMON PARAMETERS 3 3 Servo Parameters The servo parameters control the data fixed by the specifications of the servo amplifier and servomotor controlled in the parameter set for each axis and the control of the servomotor The servo parameters are set by the Setup software MR Configurator Refer to the Servo amplifier
49. the TEST mode request error register SD510 SD511 Turn ON when a watchdog timer error is detected by the Motion CPU self diagnosis function When the Motion CPU detects a WDT error it executes an immediate stop without deceleration of the operating axes The error cause is stored in the Motion CPU WDT error cause SD512 Judge whether normal abnormal of the register for manual pulse generator axis setting register D714 to D719 When this relay is ON the error content is stored in the manual pulse generator axis setting error register SD513 to SD515 Judge whether normal abnormal of the positioning data of servo program K specified with the Motion SFC program and if error is detected this flag turns ON The content of a servo program setting error is stored at SD516 SD517 Turn ON when the temperature of Motion CPU module becomes specified value 85 C 185 F or more Remains ON even if normal status is restored TEST mode request ON Abnormal error Normal Motion CPU WDT error Normal Abnormal At least one D714 to D719 setting is abnormal All D714 to D719 settings are normal Manual pulse SM513 generator axis setting S Occur an error Servo program Abnormal setting error Normal Over heat warning Normal latch Abnormal Turn ON when the temperature of Motion CPU module becomes specified value 85 C 185 F or more Turn OFF when the temperature of
50. the Multiple CPU system while delete of password the data may not be deleted Delete a password again to restore the user data Delete Password Enter the old password which you want to delete Password Motion SFC Program S m m a 2 SewoPrgem 3 Mechanical System Progam a Cam Data Batch Settings Refresh Execute Close Type Type of user data Registration x is displayed when a password is registered in the Motion CPU Enter old password 4 AUXILIARY AND APPLIED FUNCTIONS 4 5 3 Password check When operating the user data that sets password the check password screen is displayed automatically 1 Procedure for password check a Enter old password in password column and click on Execute button b Protection by the password temporarily released by success of password check After that it can be operated the user data c A password is memorized until MT Developer ends Since protection by password is automatically released temporarily at the user data operation a check password screen is not displayed Check Password The password is set in the following data of the connected CPU Enter correct password Password exe 1 Motion SFC Program 2 Servo Program 3 Mechanical System Program 4 4 Cam Data Batch Settings Close Type Type of user data Enter old password 4 AUXILIARY AND APPLIED FUNCTIONS 4 5 4 Password save Registered chan
51. to ROM Format to display Export to ROM Format screen 2 Select Execute button ROM writing is executed to FLASH ROM built in Motion CPU module Be sure to write the all data beforehand to SRAM built in Motion CPU module at the ROM writing 4 AUXILIARY AND APPLIED FUNCTIONS SESE L L L L L L LLLLLLLLLLLLLLLLLLLLLLLLLLLULLLLLLLLZLLLLLLZI 2 Write the programs and parameters of the MT Developer to the SRAM built in Motion CPU module and then write them to the FLASH ROM built in Motion CPU module for the ROM operation lt Data writing ROM writing gt Mode operated by RAM Mode operated by ROM Motion CPU module IBM PC AT SRAM 1 Write data MT Developer ROM writing request Programs Parameters etc Programs Parameters etc 2 ROM writing request FLASH ROM after write data Programs Parameters etc 3 ROM writing lt ROM operation gt Mode operated by RAM Mode operated by ROM Motion CPU module SRAM Read at starting Programs Parameters etc FLASH ROM Programs Parameters etc 4 AUXILIARY AND APPLIED FUNCTIONS lt Operating procedure for ROM writing gt Write the data of MT Developer to the ROM The operating procedure for ROM writing using the MT Developer is shown below Main Frame screen iP MELSOFT Series MT Developer C Documents and Settings Adminis
52. transmitting Refresh at the timing of END transmitting processing data data Multiple CPU hi transmission in igh speed 0 88ms cycle Refresh at the E timing of Motion CPU main cycle Device memory 3 D2000 G3 Parameter CPU No 1 to CPU No 2 Receive D2000 1 Transmit the content of DO to the automatic refresh area t at the time of END processing by parameter setting 2 Transmit the content of automatic refresh area t to the other CPU by Multiple CPU high speed transmission at 0 88ms cycle 3 Read the content of automatic refresh area at the time of Motion CPU main cycle and transmit it to D2000 by parameter setting Note 1 The area composed in the Multiple CPU high speed transmission area Refer to Section 3 Memory configuration of Multiple CPU high speed transmission area 2 System configuration Multiple CPU high speed transmission can be used only between CPU modules for the Multiple CPU high speed transmission installed in the Multiple CPU high speed main base unit Q3LIDB The system configuration specification is shown in Table 2 4 Table 2 4 System configuration to use Multiple CPU high speed transmission Object Restrictions Base unit Multiple CPU high speed main base unit Q3LTDB is used QnUD H CPU is used for CPU No 1 CPU module Q173DCPU Q172DCPU and QnUD H CPU are used for CPU No 2 to CPU No 4 MULTI E
53. type can be judged by SD4 common information category code D9 1 Module No CPU No Base No For the Multiple CPU system Module No or CPU No is stored depending on the error that occurred Refer to corresponding error code for which No has been stored 1 Error common Error common CPU No 1 1 CPU No 2 2 CPU No 3 3 CPU No 4 4 information information No Meaning Module No CPU No Base No VO No SD15 SD7 to Empty SD15 APP 6 APPENDICES Table 1 2 Special register list Continued LINES SENE HRS ned a t en se Individual information corresponding to the diagnostic error SDO is stored The error individual information type can be judged by SD4 individual information category code 5 Parameter No SD16 ud Empty NU 38 UO UO O A A A 38 7 iw o 0401H Base setting 0406H Motion slot setting OEO0H Multiple CPU setting Number of Multiple CPU s Error individual Error individual 0E01H Multiple CPU setting Operation mode Multiple CPU information information synchronous startup E008H Multiple CPU high speed transmission area setting CPU specific send range setting System area S Occur an error E009H E00AH Multiple CPU high speed transmission area setting Automatic refresh setting EOOBH Synchronous setting 13 Parameter No CPU No Every time the input voltage fails to or below 85 AC power 65 DC power the rating during calculation
54. 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 Programming Manual COMMON Q173DCPU Q172DCPU s MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN MODEL Q173D P COM E MODEL MODEL 1XB928 IB NA 0300134 A 0801 MEE IB NA 0300134 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 Specifications subject to change without notice
55. 00 Fuse blown No D9005 AC DC DOWN counter No D9008 Diagnostic errors Clock time for diagnostic error occurrence Year month D9010 Clock time for diagnostic error occurrence Minute second D9012 D9013 Error information categories Clock time for diagnostic error occurrence D9011 Day hour Error common information New device in Q173DCPU Q172DCPU Error individual information y Use M2039 for error reset D9060 Diagnostic error reset error No operation D9061 Multiple CPU No D9112 Connect Disconnect Status New device i Connect Disconnect Command PENRE IEE D9182 Test mode request error D9183 APP 31 APPENDICES Table 4 7 Special registers list Continued Device No Name Remark Q173DCPU Q172DCPU Q173HCPU Q172HCPU SD512 D9184 Motion CPU WDT error cause SD513 SD514 Manual pulse generator axis setting error SD515 SD522 D9188 Motion operation cycle SD516 D9189 Error program No Po SD517 D9190 Error item information SD502 D9191 SD503 D9192 SD504 SD505 Real mode virtual mode switching error information SD506 Servo amplifier loading information Q173DCPU Q172DCPU PC link communication error codes does not support PC link communication D9197 Operation cycle of the Motion CPU setting Po D9200 State of switch D9201 State of LED Use 7 segment LED in Q173DCPU Q172DCPU APP 32 APPENDICES 4 Other devices Table 4 8 Other devices l
56. 00A b Confirmation method in MT Debeloper The operating system OS type version of connected CPU is displayed on the installation screen of MT Developer k A or B Q173DCPU OS version C or D Q172DCPU s Motion SFC compatibility Motion SFC not compatibility 4 Relevant software packages a PLC software package GX Developer SW8D5C GPPW E b Servo set up software package MR Configurator MRZJW3 SETUP221E 1 OVERVIEW POINTS 1 When the operation of Windows is not unclear in the operation of this software refer to the manual of Windows or guide book from the other supplier 2 The following functions cannot be used when the computer is running under Windows Vista Windows XP or Windows 2000 This product may not perform properly when these functions are used lt Windows Vista Windows XP gt Activating the application with Windows compatibility mode Fast user switching Remote desktop Large size x64 Edition 64 bit Windows lt Windows 2000 gt Large fonts 1 16 1 OVERVIEW 1 3 5 Restrictions on motion systems 1 Combination of Multiple CPU system a b Motion CPU module cannot be used as standalone module Be sure to install the universal model PLC CPU module QO3UDCPU QO4UDHCPU Q0GUDHCPU to CPU No 1 For Universal model PLC CPU module Multiple CPU high speed taransmission function must be set in the Multiple CPU settings Only Multip
57. 0h PD26 0000h PD27 0000h PD28 0000h PD29 0000h PD30 0000h PD31 0000h PD32 0000h POINTS 1 When the items marked in the above table has changed make the Multiple CPU system reset or power supply OFF to ON And once turn OFF the servo amplifier power supply and then turn ON it again 4 AUXILIARY AND APPLIED FUNCTIONS 4 AUXILIARY AND APPLIED FUNCTIONS 4 1 Limit Switch Output Function This function is used to output the ON OFF signal corresponding to the data range of the watch data set per output device Motion control data or optional word data can be used as watch data Refer to Section 4 1 2 Limit output setting data for details A maximum output device for 32 points can be set regardless of the number of axes 4 1 1 Operations 1 ON output to an output device is made while the watch data value is in the ON output region set with ON Value and OFF Value in this function a ON Value OFF Value and watch data value are handled as signed data ON output region where an ON output is made to the output device is governed by the magnitude relationship between ON Value and OFF Value as indicated below Relationship between ON Value and OFF Value ON output region ON Value lt OFF Value ON Value lt watch data value lt OFF Value ON Value gt OFF Value ON Value lt watch data value Watch data value lt OFF Value ON Value OFF Value Output OFF in w
58. 1 2 Latch 2 lt is possible to clear using the remote operation latch clear 1 2 a Operation cycle 1 Set the of motion operation cycle cycles at which a position command is computed and sent to the servo amplifier The setting range is 0 4ms 0 8ms 1 7ms 3 5ms 7 1ms 14 2ms Automatic setting The actual operation cycle corresponding to 0 4ms is 0 444 ms Similarly 0 8ms corresponds to 0 888 ms 1 7ms to 1 777 ms 3 5ms to 3 555 ms 7 1ms to 7 111 ms and 14 2ms to 14 222 ms respectively 2 The default value is Automatic Setting When Automatic Setting is selected the operation cycle is set according to the table below based on the number of axes for servo amplifier set in the System Settings Operating system Number of axes Operation cycle setting 1 to 6 axes 7 to 18 axes 19 to 32 axes 1 to 4 axes 5 to 12 axes 13 to 28 axes 29 to 32 axes 3 COMMON PARAMETERS 3 Ifthe duration of motion operation has exceeded the operation cycle the operation cycle over flag M2054 turns ON Even when Automatic setting is selected the duration of motion operation may exceed the operation cycle depending on the control conditions The actual duration of motion operation unit us is stored in SD522 and the current setting of operation cycle unit us is stored in SD523 Monitor these special registers and adjust the set value of operation cycle so that the actual duration of motion
59. 1 PLC CPU GX Developer CPU No 2 Motion CPU MT Developer Set the device transmitted to CPU No 2 Set the device received from CPU No 1 Auto refresh settings Automatic refresh setting CPU specific send rangel User setting area Automatic refresh i CPU Paints Stat End Points Not No1 7128 610000 617127 40 No2 No 2 6488 610000 616487 580 No 3 No 3 No 4 No 4 PLE No 1 PLC No 2 CPU No 1 CPU No 2 Auto refresh CPU specific send range U3E0 The device will be used to receive the data from other CPU Start Start End E Automatic refresh P M3200 AHEJ GT7T67 SetingNo pointer Stat End 40 M3200 M3839 E E e i en o o 10 x The applicable device of start device is XY M B D W tt SM SD The unit of points of CPU specific send range is word PIS c XYMLBD Automatic Refresh Setting List Multiple CPU high speed refresh setting Word is used for points Every 2 points are counted as a set Settings should be set as same when using multiple CPU Settings should be set as same when using multiple CPU Check End Cancel Set the device received from CPU No 2 Set the device transmitted to CPU No 1 Auto refresh settings Automatic refresh settin
60. 1 second may occur to the clock of CPU No 2 to 4 2 MULTIPLE CPU SYSTEM 2 3 5 Multiple CPU synchronous startup Multiple CPU synchronous startup function synchronizes the startups of CPU No 1 to CPU No 4 It takes about ten seconds to startup for Motion CPU Since this function monitors the startup of each CPU module when other CPU is accessed by a user program an interlock program which checks the CPU module startup is unnecessary With the Multiple CPU synchronous startup function the startup is synchronized with the slowest CPU module to startup therefore the system startup may be slow Multiple CPU synchronous startup function is for accessing each CPU module in a Multiple CPU system without needing an interlock This function is not for starting an operation simultaneously among CPU modules after startup 1 Multiple CPU synchronous startup setting To use the Multiple CPU synchronous startup function check No 1 to No 4 of target CPU in Multiple CPU settings in system setting of MT Developer Set it in the Multiple CPU setting of PLC parameter setting of GX Developer for QnUD H CPU Set Sync startup setting of CPULT is set for No 1 to 4 at default Multiple CPU Setting Multiple CPU synchronous startup setting v Set Sync startup setting of CPUT v Set Sync startup setting of CPU2 V Set Sync startup setting of CPU3 v Set Sync startup setting of CPU4 Settings should be set as same when using m
61. 1610000 to ULNG 10000 p 1 Nee Note 1 p indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU 3 When the optional device data is set the following data type is set as the data type to be compared Data type 16 bit integer type a INNEN 32 bit integer type Set the device No as an even No 64 bit floating point type 4 AUXILIARY AND APPLIED FUNCTIONS 3 ON region setting a The data range which makes the output device turn ON OFF toward the watch data b The following devices can be used as the ON Value and OFF Value of the data range The data type of device constant to be set is the same as the type of watch data Device No setting range Data register DO to D8191 Link register WO to W1FFF Motion register 0 to 7999 Multiple CPU area device UD G10000 to UD G 10000 p 1 e Note 1 p indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU 4 Output enable disable bit a Setthe status of output enable disable bit when the limit switch output is forbidden during operation 1 The following control is exercised Output enable disable bit Control description Without setting net Limit switch output is turned ON OFF based on the ON always enable region setting ON Value OFF Value ON enable With setting OFF disable Limit switch output is turned OFF
62. 2 610000 G12011 Total 12k Points Advanced settings The total number of points is up to 12k Automatic refresh setting Push the automatic refresh button to set the automatic refresh of the send range Multiple CPU synchronous startup setting Settings should be set as same when using multiple CPU a When a stop error occurs in the CPU module for which All station stop by stop error of CPU n has been set a MULTI CPU DOWN error code 7000 error occurs for the other PLC CPU module Motion CPU modules and the Multiple CPU system will be halted 2 6 2 MULTIPLE CPU SYSTEM b When a stop error occurs in the CPU module for which All station stop by stop error of CPU n has not been set a MULTI EXE ERROR error code 7010 error occurs in all other CPUs but operations will continue Note 1 When a stop error occurs a MULTI CPU DOWN error code 7000 stop error will occur at the CPU on which the error was detected Depending on the timing of error detection a MULTI CPU DOWN error may be detected in a CPU of MULTI CPU DOWN status not the first CPU on which a stop error occurs Because of this CPU No different from the one of initial error CPU may be stored in the error data s common information category To restore the system remove the error cause on the CPU that is stopped by an error other than MULTI CPU DOWN In the screen below the cause of the
63. 580 to 8599 8600 to 8619 8620 to 8639 8520 to 8539 8168 to 8171 Axis 27 monitor device APP 28 APPENDICES Table 4 3 Monitor devices list Device No Remark Q173DCPU Q172DCPU Q173HCPU Q172HCPU 8000 20n 8064 4n Servo amplifier type 8001 20n 8065 4n Motor current Po Motor speed 8003 20n 8067 4n 8004 20n Command speed Abe 8005 20n New device in 8006 20n Q173DCPU Q172DCPU Home position return re travel value 8007 20n Note 1 n in the above device No indicates the numerical value which correspond to axis No b Motion error history Table 4 4 Motion registers Motion error history list Device No Name Remark Q173DCPU Q172DCPU Q173HCPU Q172HCPU Seventh error information in past 8640 to 8651 8000 to 8007 Oldest error information 86521958663 580001048015 Sixth error information inpast_ 8664108675 980161048028 Fithemorifomatoninpast J Y 8676to 8687 8024t0 8031 Fourtherrorinformationinpast 86s8to seo9 8032t0 8039 Thirderorinformationinpast J 8700to 8711 8040t0 8047 Secondeerrorinformationinpast_ 8712t0 8723 8048t0 8055 First errorinformationinpast_ J o o y 8724t0 8735 8056to 8063 Latesterorinformation do o S Table 4 5 Motion error history list Device No Name Remark Q173DCPU Q172DCPU Q173HCPU Q172HCPU
64. AY ERROR The slot set in system settings is vacant or a different SL x module is installed The axis No setting overlaps in the system settings AXIS No MULTIDEF The axis No function select switch setting of servo amplifier overlaps in the same SSCNETII system System setting data is not written SYS SET DATA ERR System setting data is written without relative check Or it is written at the state of error occurrence AXIS No ERROR System setting data is not written V O POINTS OVER the number of actual I O points set in system settings exceeds 256 Type of the operating system software of data written ROM ERROR1 mu to ROM is different ROM ERROR2 Data is not written to ROM Cannot be AL flashes 3 times 10014 Data size of ROM is abnormal Power started 7 l tI ROM ERROR3 Note 3 Execute the ROM writing again supply ON Motion CPU l Check the adjustment for the version of Motion Reset system x L01 display CPU MT Developer and operating system SOftwar setting error Data of ROM is abnormal Execute the ROM writing again Check the adjustment for the version of Motion CPU MT Developer and operating system software ROM ERROR4 The motion modules that cannot be used are installed Use the Motion modules Q172DLX Q173DPX Q172DEX CAN T USE SL The system setting data that set the motion modules that cannot be used are written Use th
65. B1FFF FO to F2047 M9000 to M9255 Note 2 p indicates the user setting area points of Multiple CPU high speed transmission area in each CPU Note 3 Setting range varies depending on the setting units Refer to Chapter 2 for number of user setting area points of Multiple CPU high Speed transmission area APP 34 APPENDICES eee APPENDIX 4 3 Differences of each mode 1 Motion SFC Table 4 9 Differences in Motion SFC mode Q173DCPU Q172DCPU Motion SFC program executing flag X Y M B U Operation control transition control usable device D W UL G SD FT D W Special D FT Word device Operation control transition control usable device Bit device X PX Y PY M U O B F SM X PX Y PY M L B F Special M it devi 2 Virtual mode Table 4 10 Differences in Virtual mode Q173DCPU Q172DCPU Q173HCPU Q172HCPU M4640 to M4687 Internal relay Device area of 9 axes or more is usable as user Device area of 9 axes or more is unusable in the M5440 to M5487 Data register devices in the Q172DCPU Q172HCPU D1120 to D1239 Optional devi Clutch status MINIME M2160 to M2223 Set for M2160 to M2223 are also usable Cam axis command signals Optional device Cam ball screw switching p command Set for M5488 to M5519 are also usable Optional device Smoothing clutch complete signals M5520 to M5583 Set for M5520 to M5583 are also usable
66. BO to BIFFF eoe eene FO to F2047 FO to F2047 to D8191 D800 to D3069 D3080 to D8191 High speed reading function to W1FFF WO to W1FFF settable devices G10000 to U DO to D8191 DO to D8191 WO to W1FFF Optional data monitor function WO to W1FFF settable devices 0 to 7999 0 to 7999 G10000 to UD G 10000 p 1 92 Note 1 n in the above device No indicates the numerical value which correspond to axis No Note 2 p indicates the user setting area points of Multiple CPU high speed transmission area in each CPU APP 33 APPENDICES Table 4 8 Other devices list Continued Output device Watch data ON region setting Limit switch output data Output enable disable bit Forced output bit XO to X1FFF YO to YTFFF MO to M8191 BO to B1FFF G10000 0 to U DO to D8191 WO to W1FFF 0 to 7999 Absolute value address 1G10000 to U DO to D8191 WO to W1FFF 0 to 7999 G10000 to U X0 to X1FFF YO to YTFFF MO to M8191 BO to B1FFF FO to F2047 SMO to SM1999 G10000 0 to U X0 to X1FFF YO to Y1FFF MO to M8191 LO to L8191 BO to B1FFF DO to D8191 WO to W1FFF 0 to 8191 Absolute value address DO to D8191 WO to W1FFF 0 to 8191 Constant Hn Kn X0 to X1FFF YO to Y1FFF MO to M8191 LO to L8191 BO to
67. CPU No 2 error that did not cause the MULTI CPU DOWN error is to be removed PLC diagnostics PLC status PLC operation status Nol PLC operation STOP switch STOP No2 PLC operation STOP switch STOP Present Error PLC Module lo Present Error Year Month Da PLC2 7000 MULTI CPU DOWN 2007 7 23 3010 PARAMETER ERROR 2007 7 23 114011 Bieter Stop monitor Monitor run stop ses Enor log c _Enorlog _ Clearlog Occurence order Ascendng Eror message Yeat Month Day Time Wi Fiese AC DC DOWN 007 PARAMETER ERROR 2007 7 23 EET AC DC DDWN 2007 7 23 meum AC DC DOWN 2007 7 23 AC DC DOWN 2007 7 23 APINE ANUN nz 7 7 c Observe the following procedures to restore the system 1 Confirm the error detected CPU No and error cause with the PLC diagnostics on GX Developer 2 If the error code occurred in Motion CPU 10000 to 10999 confirm the error cause with Motion CPU error batch monitor of MT Developer 3 Remove the error cause 4 Either reset the PLC CPU No 1 or restart the power to the Multiple CPU system power ON OFF ON All CPUs on the entire Multiple CPU system will be reset and the system will be restored when PLC CPU No 1 is reset or the power to the Multiple CPU system is reapplied 2 MULTIPLE CPU SYSTEM 3 Operation at a Motion CPU error Operations at a Motion CPU error are shown below Category Type of error Operation disable errors Does not op
68. CPU area device User setting area Can be accessed by the user program using the 0 to 14k Multiple CPU area device Refer to Section 2 3 2 1 for details of this area Area for communicating device data with other CPUs by the communication using the automatic refresh Automatic refresh Ma Access by user program is disabled 0 to 14k area Refer to Section 4 b Automatic refresh setting for details of this area 2 MULTIPLE CPU SYSTEM eee 4 Parameter setting The parameter setting list for use with the Multiple CPU high speed transmission is shown in Table 2 6 Table 2 6 Multiple CPU high speed transmission parameter list Description Target CPU Multiple CPU high Set the size of the Multiple CPU high speed speed transmission transmission area allocated in each CPU module area setting which composes the Multiple CPU system All CPUs i Set the range to execute the data transmission by Automatic refresh the automatic refresh function among the user area settin 9 in the Multiple CPU high speed transmission area a Multiple CPU high speed transmission area setting Multiple CPU high speed transmission area setting screen and setting range are shown below Basic Setting stem Basic Setting No of CPU Operating Mode 4 mE dule s Eme operation mode at the stop of CPU Please set the number of Multiple CPU IV All station stop by stop error of CPU2 IV Al
69. CPU high speed transmission memory address of CPU No 2 10002 U3E1 G10002 Bit 14 of CPU No 3 Multiple CPU high speed transmission memory address 10200 U3E2 G10200 E b Example of access in the program lt Motion SFC program gt Store K12345678 to the Multiple CPU high speed transmission memory 10200 10201 of self CPU CPU No 2 U3E1 G10200L K12345678 Turn on bit 12 of the Multiple CPU high speed transmission memory 10301 of self CPU CPU No 3 SET U3E2 G10301 C lt Servo program gt Program which executes the positioning for Axis 1 to position set in the Multiple CPU high speed transmission memory 10400 10401 of CPU No 1 at the speed set in the 10402 10403 of CPU No 1 and uses bit 1 of CPU No 1 Multiple CPU high speed transmission memory 10404 of CPU No 1 as a cancel signal ABS 1 Axis U3E0 G10400 Speed U3E0 G10402 Cancel U3E0 G10404 1 This method can be used to access only the Multiple CPU high speed transmission area of CPU shared memory It cannot be used to access the CPU shared memory 0 to 4095 2 MULTIPLE CPU SYSTEM CPU No 1 PLC CPU b Example of using automatic refresh method PLC program SM400 INC DO o ZZ Device memory Parameter CPU No 1 to CPU No 2 iN Transmit DO CPU shared memory Automatic refresh area Note 1 1 CPU No 2 Motion CPU CPU shared memory Automatic refresh area Note 1 CPU No 1 es
70. Changes for the Better MITSUBISHI ELECTRIC MOTION CONTROLLERS MOTION CONTROLLER Qseries COMMON a ENS ning Manua SAFETY PRECAUTIONS 6 Please read these instructions before using this equipment Before using this product please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly These precautions apply only to this product Refer to the Q173DCPU Q172DCPU Users manual for a description of the Motion controller safety precautions In this manual the safety instructions are ranked as DANGER and CAUTION A Indicates that incorrect handling may cause hazardous AN D A N G E R conditions resulting in death or severe injury Indicates that incorrect handling may cause hazardous AN CA U T Q N conditions resulting in medium or slight personal injury or physical damage Depending on circumstances procedures indicated by A CAUTION may also be linked to serious results In any case it is important to follow the directions for usage Please save this manual to make it accessible when required and always forward it to the end user a a a ay a a For Safe Operations 1 Prevention of electric shocks Z DANGER
71. Instruction Manual for details of the servo parameters Refer to the help for handling of MR Configurator Instruction Manual list is shown below Servo amplifier type Instruction manual name MR J3 O1B MR J3 L B Servo Amplifier Instruction Manual SH 030051 Fully closed loop control MR J3 L1B RJ006 Servo Amplifier Instruction Manual SH 030056 MR J3 L1B RJ006 1 Basic setting parameters Paor Formanufacturer setting TH Pao2 REG Regenerative brake option o o Pao3 ABS Absolute position detection system om Paoa AoP1 FunctionselectionAt o o S oo PA05 EC NE PAO06 For manufacturer setting PA07 paos ATu Auto tuning mode oot PAO9 RSP Auto tuning response 2 PA10 INP in position range 10 rs EH E A 0 HE For manufacturer setting aa 0 PA13 PA14 Rotation direction selection E H PA15 Encoder output pulse 4000 PLS rev PA19 000Bh For manufacturer setting POINTS 1 When the items marked in the above table has changed make the Multiple CPU system reset or power supply OFF to ON And once turn OFF the servo amplifier power supply and then turn ON it again 3 COMMON PARAMETERS 2 Gain filter parameters PB01 FILT Adaptive tuning mode Adaptive fiter Oh PBO2 VRFT Vibration suppression control tuning mode Advanced vibration suppression contro
72. LTI CPU DOWN CPU No CPU No 7010 Note 1 7011 Multiple CPU MULTI EXE ERROR 7013 CPU No 7020 MULTI CPU ERROR Pirie 7030 7031 CPU LAY ERROR APP 20 APPENDICES E d rror Coge Error contents and cause Corrective action SD0 1 Check the parameter item corresponding the numerical value parameter No and correct it 2 Rewrite corrected parameters to the CPU module reload or reset the The parameter settings are corrupted Multiple CPU system power supply 3 If the same error occurs it is thought to be a hardware error Explain the error symptom and get advice from our sales representative Multiple CPU setting of Multiple CPU setting parameter or control Match the Multiple CPU setting of Multiple CPU setting parameter or control CPU setting of system setting differs from that of the reference CPU CPU setting of system setting with that of the reference CPU CPU No 1 settings settings Check the following in the Multiple CPU automatic refresh setting and make correction 1 When specifying the bit device specify a multiple of 16 for the refresh start device 2 Specify the device that may be specified for the refresh device 3 Set the number of send points to an even number 4 Set the total number of send points is within the range of the maximum number of refresh points 1 Set Use multiple CPU high speed transmission in the Universal module QCPU 2 Check the parameter item corresponding to t
73. Motion CPU module returns to normal Normal SM527 Over heat warning ABronnal SM503 SM510 SM512 SM516 SM526 APP 3 APPENDICES Table 1 1 Special relay list Continued ef e u o 9 0 mm en set SM528 No 1 CPU MULTR OFF to ON Turn ON when the data read from CPU No 1 is normal by complete CPU No 1 read completion MULTR instruction SM529 No 2 CPU MULTR OFF to ON Turn ON when the data read from CPU No 2 is normal by complete CPU No 2 read completion MULTR instruction S Read completion complete CPU No 3 read completion MULTR instruction complete CPU No 4 read completion MULTR instruction request ON Read request SD213 as BCD values Note 1 It is used for interlock condition of Multiple CPU high speed bus dedicated instruction when a synchronous system set in Multiple CPU synchronous startup setting of system setting Note 2 The CPU No 1 is reset after the factor of the stop error is removed to cancel a stop error gt Resetting is cancelled APP 4 APPENDICES APPENDIX 1 2 Special registers Special registers are internal registers whose applications are fixed in the Motion CPU For this reason it is not possible to use these registers in Motion SFC programs in the same way that normal registers are used However data can be written as needed in order to control the Motion CPU Data stored in the special registers are stored as BIN values if no special designation has been made to the c
74. Multiple CPU automatic refresh setting was made for the inapplicable CPU module 2 I O sharing when using multiple CPUs setting was made for the inapplicable CPU module There is no response from the target CPU module in a Multiple CPU System during initial communication 1 Correct the Multiple CPU automatic refresh setting 2 Correct the I O sharing when using multiple CPUs setting The system configuration for using the Multiple CPU high speed transmission function is not met 1 The QnUD H CPU is not used for the CPU No 1 2 The Multiple CPU high speed main base unit Q3L DB is not used 1 CPU module which cannot be mounted in OnCPU H CPU is mounted The module may break down Remove Q173HCPU Q172HCPU Q173CPUN Q172CPUN 2 Q173HCPU Q172HCPU Q173CPUN Q172CPUN is mounted In the operating mode of a Multiple CPU system an error occurred in the CPU where system stop was not selected The CPU module where no error occurred was used to detect an error Change to the system configuration to meet the conditions for using the Multiple CPU high speed transmission function Check the error of the CPU resulting in CPU module fault and remove the error An assignment error occurred in the CPU mountable slot CPU slot 1 Set the same value to the number of CPU modules specified in the I O slot 0 to 2 in excess of the number of CPU slot with in the range Multiple CPU setting of the PLC parameter and t
75. O modules connector connector terminal block SH 080042 conversion modules and others 13JL99 Optional 3 Servo amplifier Manual Name Manual Number Model Code MR J3 L B Servo amplifier Instruction Manual This manual explains the I O signals parts names parameters start up procedure and others for SH 030051 MR J3 LB Servo amplifier 1CW202 Optional Fully Closed Loop Control MR J3 L1B RJ006 Servo amplifier Instruction Manual This manual explains the I O signals parts names parameters start up procedure and others for Fully SH 030056 Closed Loop Control MR J3 CIB RJO06 Servo amplifier 1CW304 Optional MEMO 1 OVERVIEW 1 OVERVIEW 1 1 Overview This programming manual describes the common items of each operating system software such as the Multiple CPU system of the operating system software packages SW8DNC SVLIQLD for Motion CPU module Q173DCPU Q172DCPU In this manual the following abbreviations are used Generic term Abbreviation Q173DCPU Q172DCPU or 173DCPU Q172DCPU Motion CPU modul Motion CPU module Q172DLX Servo external signals interface module 172DLX Q172DEX Q173DPX 7 2 Q Q Q172DEX Serial Synchronous encoder interface module e Motion module Q173DPX Manual pulse generator interface module JACPU PLC CPU or PLC CPU module OnUDHICPU Multiple CPU system or Motion system Abbreviation for Multiple PLC system of the Q series bm 7 U Ee
76. PLC CPU No 1 ete b The following procedure to restore the system is shown below 1 Confirm the error cause with the PLC diagnostics on GX Developer 2 Remove the error cause 3 Either reset the PLC CPU No 1 or restart the power to the Multiple CPU system power ON gt OFF gt ON All CPUs on the entire Multiple CPU system will be reset and the system will be restored when PLC CPU No 1 is reset or the Multiple CPU system is reapplied 2 When a stop error occurs at CPU other than No 1 Whether the entire system is halted or not is determined by the Multiple CPU setting s Operating Mode setting when a stop error occurs ina PLC CPU module Motion CPU module other than CPU No 1 The default is set for all CPUs to be stopped with a stop error When you do not want to stop all CPUs at occurrence of a stop error in a PLC CPU module Motion CPU module remove the check mark that corresponds to the CPU No so that its error will not stop all CPUs See arrow A Basic Setting Base Setting fI No of CPU Operating Mode 4 Ee dule s Error operation mode at the stop of CPU I Please set the number of Multiple CPU I All station stop by stop error of CPU2 V All station stop by stop error of CPU All station stop by stop error of CPU4 Multiple CPU high speed transit CPU specific send range er setting area Auto Points k Stat End No 1 4 3934 810000 G13933 G10000 613831 No 1932 810000 611831 No 4 2 201
77. PU System overall configuration Motion CPU control module e lt gt lt gt 2 2 2 s 8 3 3 E 6 8 o 9 8 9 E o E SLE amp S 55 9 299 o28 2559 E88 c PLC CPU PES EOS Ges Motion CPU Hoe GSE SHE Main base unit Q3LIDB Qe61P QNUD H Q172D QI60 QXOO Q60AD Q172D Q172D ICPU CPU 7 7 LX EX M QYON0 Q60DA 1 0 module __ Intelligent function module gt gt i LLL 100 200VAC A x x i Manual pulse generator x 3 module MR HDP01 Up to 1 module Serial absolute synchronous encoder cable Q170ENCCBLOM E Serial absolute synchronous encoder x 2 module Q170ENC Up to 6 modules USB RS 232 Personal Computer IBM PC AT External input signals Number of Inputs FLS Upper stroke limit RLS Lower stroke limit 8 axes module STOP Stop signal Up to 4 modules DOG CHANGE Proximity dog Speed position switching Battery holder unit Q170DBATC Analogue input output gt Input output Up to 256 points Interrupt signals 16 points Forced stop input cable Q170DEMICBLUM Extension base unit F Q60B EMI forced stop input 24VD0 gt a a gt ia SSCNETII cable 7 5 MR J3BUSLIM A B Extension cable GUB d2 d3 d8 UP to 7 extensions SSCNETII CNI gt se A ry
78. PU synchronous Synchronize Multiple CPU Refer to Section 2 3 5 startup setting startup setting startup or not Verify module only set in Motion slot setting Detailed settings Control PLC Control CPU No the system settings in the Motion CPU side yo assignment Total number of bases Not verified if base settings are omitted in Base Number of base the PLC CPU side slots Basic setting Slots Base No 3 COMMON PARAMETERS a Multiple CPU settings Set the following items identically in Multiple CPU Settings Motion CPU in MT Developer and in Multiple CPU Settings PLC CPU in GX Developer Number of CPU modules Included CPU empty slots Operation mode when a CPU stop error occurred Multiple CPU high speed transmission area setting Must be set the same for all CPUs Multiple CPU synchronous startup setting Multiple CPU Settings Motion CPU in MT Developer Basic Setting Base Setting No of CPU 2 ml module s Please set the number of Multiple CPU Vv System Basic Setting Operating Model Error operation mode at the stop of CPU IV All station stop by stop error of CPU2 t Number of CPU modules Error operation mode at the stop of CPU l Multiple CPU high Total 14k Points The total number of points is up to 14k Push the automatic refresh button to set the automatic refresh of the send range
79. S lt Operating procedure for ROM writing gt Write the data of SRAM built in Motion CPU module to the ROM The operating procedure for ROM writing using the MT Developer is shown below Main Frame screen IP MELSOFT Series MT Developer C Documents and Settings Administra Project Edit Convert View Online Tool Window Help Bisi S Jj QE e Gy Transfer setup IF XNEX 6 T Read from CPU q x mil Write to CPU EENI Verify with CPU Project 5 Project 5V22 B a System Setting BJ Basic Setting System Structure Hj SSCNET Structure Servo Data Setting dim Motion SFC Program Servo Program Remote Operation CPU Backup Register Password Clear CPU Memor xport to ROM g Mechanical System Export to ROM Fi XE Cam Data i Variables Structure 1 Nevire Memor Monitor Commons Export to ROM Format screen Export to ROM Format Transfer information Connecting interface pse lt gt puc module Target CPU Network No Station No Host cPUtype Riz km OStype EvzzQa VER300C 3 Preliminary data transfer to the RAM of the motion CPU is necessary in the following cases Transfer data to the RAM of the motion CPU then perform ROM writing There has never been data transfer to the RAM of the motion CPU After data in the PC is changed Proceed ROM writing Operating procedure 1 Select menu Online Export
80. S b Enter new password in password column and select registration condition Write Protection Read Write Protection It leaves in blank for the user data that does not change a password c Click on Execute button to display Check Password screen for old password confirmation Click on Execute button after old password input New password will be registered in the Motion CPU by success of old password check When the new password is the same as old password change for only registration condition Check Password screen is not displayed d Select menu Project Save to save a password after change in a project Refer to Section 4 5 4 for password save 1 If an user has forgotten a registration password clear a password of Motion CPU by the all clear function However the all password data and user data are cleared by the all clear function Re write the user data to the Motion CPU Refer to Section 4 6 for details 2 ROM operation can be executed by user data registered a password The password setting is also included in the ROM writing reading data 3 The password data is not save in a project without password save Therefore be sure to save a password 4 If an operation stops by reset or power OFF of the Multiple CPU system while a password registration change the user data may not be registered Register change a password again to restore the user data Register Change Password The password content
81. T Developer 4 AUXILIARY AND APPLIED FUNCTIONS EEE e LLL L L LLLLLLLLLLLLCLCLCLLLLLLLLLLLULLLLLLLLLLLLLLLIL ZILX LLII 4 7 Communication via Network The communication between the personal computer and the Motion CPU is possible via Q series Network module MELSECNET 10 H Ethernet CC Link and etc in the Motion CPU Q173DCPU Q172DCPU Refer to the PLC manuals for the specifications of each network modules of MELSECNET 10 H Ethernet CC Link and Serial communication the handling method 4 7 1 Specifications of the communications via network 1 2 Communications via network enables using MT Developer in the Motion CPU Access range of the communications via network of the Motion CPU is an access range equivalent to QnUD H CPU Refer to Section 4 7 2 Access range of the communications via network By setting the routing parameter to the control CPU of the network module and the CPU which connected the peripheral devices in the network by MELSECNET 10 H and Ethernet it is possible to relay to 8 network points and communicate Because the Motion CPU cannot become the control CPU of the network module there is not setting item of the network module and network parameter However when connecting with the CPU on the other network from the peripheral device which connected the Motion CPU it needs to the setting of the routing parameter It can operate by remote control the monitor or program editing of the
82. U slot Slot 0 Slot 1 Slot 2 installation position 3E30H First I O number 3E00H 3E10H 3E20H The I O number of PLC CPU Motion CPU are used in the following cases When writing data to the CPU shared memory of self CPU using the S TO instruction When reading data from the CPU shared memory of other CPU using the FROM instruction When reading data from the CPU shared memory of other CPU using an intelligent function module device UO GO When reading device data directly from the Motion CPU from the PLC CPU using the D P DDRD instruction When writing device data directly to the Motion CPU from the PLC CPU using the D P DDWR instruction e Refer to Section 2 3 6 or the Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual Motion SFC for the Motion dedicated PLC instruction 3 COMMON PARAMETERS 3 2 3 I O number setting Set the modules installed in the each slot of the main base or extension base and assign the control CPU of applicable slot as the self CPU in the system setting for Motion CPU The following modules must be set the I O No Input module Output module Input Output composite module Analogue input module Analogue output module Refer to the help of MT Developer for the detailed operating procedure on the system settings screen Set the I O No of modules controlled with the Motion CPU module set in the system structure screen of MT Developer The setting procedure of I O No is
83. U specific errors 10000 to 10999 Error code Enonmosssdes Common information Individual information 7 seament LED displa CPU saluso5eration SDO 7 SD5 to SD15 SD16 to SD26 9 p j 10003 10004 10005 AL flashes 3 times J Steady S01 display Continue None MC UNIT ERROR 10010 10011 Steady display 10014 AL flashes 3 times Stop l 10016 Steady L01 display 10020 10021 Continue 10022 None 10023 APP 22 APPENDICES Error code i i Error contents and cause Corrective action SDO 10003 Minor maj had d mor major emors nac OS T Check the Motion error history of MT Developer and the minor major error Minor major errors had occurred in virtual servomotor axis F 10004 SV22 codes of minor major error code of minor major error code storage device 2 and remove the error cause 10005 kei d errors had occurred insynehronous enooden axis Refer to the error codes for error details of minor major errors Check the Motion error history of MT Developer and the servo error codes The servo errors had occurred in the servo amplifier connected to of servo error code storage device and remove the error cause of servo the Motion CPU amplifier Refer to the servo error code for details of servo errors Check the Motion error history of MT Developer and the servo program setting error storage device error program No error item information Servo program setting error occurred and remove the err
84. VIEW MEMO 2 MULTIPLE CPU SYSTEM 2 MULTIPLE CPU SYSTEM 2 1 Multiple CPU System 2 1 1 Overview 1 What is Multiple CPU system A Multiple CPU system is a system in which more than one PLC CPU module and Motion CPU module up to 4 modules are mounted on several main base unit in order to control the I O modules and intelligent function modules Each Motion CPU controls the servo amplifiers connected by SSCNETII cable 2 System configuration based on load distribution a By distributing such tasks as servo control machine control and information control among multiple processors the flexible system configuration can be realized b You can increase the number of control axes by using a multiple Motion CPU modules It is possible to control up to 96 axes by using the three CPU modules Q173DCPU c By distributing the high load processing performed on a single PLC CPU over several CPU modules it is possible to reduce the overall system PLC scan time 3 Communication between CPUs in the Multiple CPU system a Since device data of other CPUs can be automatically read by the automatic refresh function the self CPU can also use them as those of self CPU Note When the High performance PLC CPU module Process CPU module PC CPU module C controller module is mounted in the combination of Multiple CPU system the Motion dedicated PLC instruction from these modules cannot be executed b Motion dedicated PLC instructi
85. Vv Multiple CPU synchronous startup setting ettings should be set as same when using multiple CPU Multiple PLC Setting PLC CPU setting in GX Developer Multiple CPU settings No of PLC e speed transmission area setting Multiple CPU Setting Multiple CPU synchronous startup settina Advanced settinas IV Set Sync startup setting of CPUT Multipl e CPU Automatic refresh setting Iv Set Sync startup setting of CPU2 synchronous startup i setting A Settings should be set as same when using multiple CPU Online module change No of PLE 2 I Enable online module change with another PLC When the online module change is enabled with another PLC Select tab Multiple Host CPU number No specification v Operating mode Error operation mode at the stop of PLC Settings should be set as same when using multiple CPU FU status outside the group cannot be Taken 140 sharing when using Multiple CPUs J All CPUs can read all inputs All CPUs can read all outputs Multiple CPU high speed communication area setting jj ommunication area setting refresl V Use multiple CPU high speed communication ja CPU high speed communication area setting Set Use multiple CPU high speed communication Advanced settings Total 14K points Auto refresh setting The total number of points is up to 14K
86. XE ERROR error code 7011 will occur if the power supply of Multiple CPU system is turned on without matching the system configuration shown in Table 2 4 2 MULTIPLE CPU SYSTEM 3 Memory configuration of Multiple CPU high speed transmission area Memory configuration of Multiple CPU high speed transmission area is shown below 1 2 6 Multiple CPU high speed CPU No 1 send area User setting area transmission area Variable in 0 to 3 ES 7 3 14k points 2 CPU No 2 send area io Automatic refresh area 4 CPU No 3 send area x 5 N CPU No 4 send area Note 1 Multiple CPU high speed transmission area 14k points Maximum value when constituted with two CPUs 13k points Maximum value when constituted with three CPUs 12k points Maximum value when constituted with four CPUs Table 2 5 Description of area rx Size Description Setting range Setting unit Area for data transmission between each CPU module Multiple CPU high speed in the Multiple CPU system transmission area The area up to 14k points is divided between each CPU module that constitutes the Multiple CPU system Area to store the send data of the each CPU module 0 to 14k Sends the data stored in the send area of self CPU to the other CPUs 0 to 14k Other CPU send area stores the data received from the other CPUs Area for data communication with other CPUs using CPU No n send area n 1 to 4 the Multiple
87. amplifier after verifying that the servo ready M2415 20n is ON System configuration Q61P QnUD H Q172D QY40 Q172D QY40 Disconnection From Axis 5 on AMP AMP Axis 1 Axis 2 a Motion SFC program Disconnect operation Connect operation Disconnect processing C Connect processing SD508 0 Check the disconnect G10 SD508 0 Check the connect command accept status command accept status Set 5 Disconnect from ann Axis 5 on as disconnect F10 SD803 10 Set 10 as connect command in SD803 command in SD803 G20 Disconnect execute waiting Connect execute waiting Set 2 as disconnect F20 Set 2 as connect SD803 2 execute command in SD803 2 execute command in SD803 SD803 Check the completion of G30 SD508 0 Check the completion of disconnect processing E connect processing 4 AUXILIARY AND APPLIED FUNCTIONS 2 PLC CPU program which connects disconnects servo amplifiers from Axis 5 on which is connected to the Motion CPU CPU No 2 Disconnect procedure Connect procedure System configuration Turn X0 OFF to ON and then turn OFF the power supply of servo amplifier after checking the LED display AA of servo amplifier Turn X1 OFF to ON and then resume operation of servo amplifier after checking the servo ready M2415 20n of servo amplifier Q61P QnUD H CPU Q172D CPU Q172D LX
88. ance and bending resistance compatible with the system Use wires and cables within the length of the range described in the instruction manual The ratings and characteristics of the parts other than Motion controller servo amplifier and servomotor used in a system must be compatible with the Motion controller servo amplifier and servomotor Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure when the ball screw and servomotor are connected with a timing belt etc Install a stopping device to ensure safety on the machine side 2 Parameter settings and programming NCAUTION Set the parameter values to those that are compatible with the Motion controller servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode servo amplifier and servo power supply module The protective functions may not function if the settings are incorrect Set the mechanical brake output and dynamic brake output validity parameters to values that are compatible with the system application The protective functions may not function if the settings are incorr
89. arameters from the Motion CPU and save data 4 AUXILIARY AND APPLIED FUNCTIONS 4 10 Optional Data Monitor Function This function is used to store the data refer to following table up to three points per axis to the specified devices D W ULNG and monitor them It can be set by the system setting of MT Developer 1 Data that can be set p Absolute position encoder within one PLS revolution position Load inertia ratio X 0 1 Position loop gain 1 rad s Busvotage LM 2 Devices that can be set Device that can be set D O 0 to 8191 w 0to 1FFF NEMINEM 0 to 7999 Note 10000 to 1000 1 Note 1 p indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU Note 2 Only device of the self CPU can be used 1 The updating cycle of data is every operation cycle 2 Setan even number as device setting in the two word data 3 Refer to Chapter 2 for the user setting area points of the Multiple CPU high speed transmission area 4 AUXILIARY AND APPLIED FUNCTIONS 4 11 Connect Disconnect Function This function is used to temporarily suspend SSCNET communication while servo amplifiers and or SSCNETII cables after Axis 1 are exchanged with the power supply ON in a Multiple CPU system SD803 is required for connect disconnect and SD508 stores the command status for accept waiting or execute waiting during this process
90. at the front side of Motion System setting data CPU module Parameter for servo control Servo program Motion SFC parameter Wait the restart of Multiple Mechanical system program SV22 v Cam data SV22 After that it cannot be operated because of stop state Retry the operation for ROM writing gt Mode operated by ROM after confirm the Normal operation start contents for programs and parameters of the SRAM built in Motion CPU module After that it is same operation at the RAM operation 1 Change the operation mode using the rotary switch of Motion CPU module 2 Confirm the operation mode by the 7 segment LED of Motion CPU module 4 AUXILIARY AND APPLIED FUNCTIONS 4 5 Security Function This function is used to protect the user data of Motion CPU by registering a password The illegal reading or writing of the user data are prevented by setting a password Registered password can be changed and deleted Register Change Password or Delete Password screen is used to register change delete a password Select from a menu bar to display these screen IP MELSOFT Series MT Developer C Documents and Settings Administrator My Docu Project Edit Convert View Online Tool Window Help 35 la eis amp LA Transfer setup E Wl Read from CPU q x mf Write to CPU Verify with CPU Project Project 5V22 E aN System Setting Basic Setting System S
91. atic refresh paint Stat End point Stat End CPU Pointsfk Points Statt End Points No1 7128 610000 G17127 40 G17128 617167 No 1 7 7128 G10000 G17127 40 No 2 6489 G10000 G16487 680 G16488 617167 No 2 7 8488 G10000 G15487 680 No 3 No3 No 4 No4 PLC No 1 PLCNo2 CPU No1 CPU No 2 Auto refresh CPU specific send range USEO _ The device will be used to receive the data from other CPU z E Start Start End DUTIES M3200 AHEJ ite Seta RESERETITS NG End 40 M3200 M3839 e i en 2 co o The applicable device of start device is X Y M B D W SM SD The unit of points of CPU specific send range is word Srm SEES d XY MLBD Automatic Refresh Selling List Multiple CPU high speed refresh setting Wordis used for paints Every 2 points are counted as a set C ces Set Settings should be set as same when using multiple CPU Settings should be set as same when using multiple CPU Setting using multipl Check End Cancel the device received from CPU No 2 Set the device transmitted to CPU No 1 Auto refresh settings Automatic refresh setting PLC CPU specific send rangel User setting area Auto
92. ble b It can be accessed to 8 network points by setting the routing parameter in the Network c Because routing cannot access it can access only the connected network The connected network can be selected by specifying the I O No of the module Example 1 p Personal Personal C24 Serial communication module Personal computer computer computer MNET MELSECNET 10 H USB RS 232 MNET board or Ether Ether Ethernet Network No 1 QQnUD H Q173D C24 QnUD H Q173D MNET C24 CPU CPU CPU CPU or Ether RS 422 485 MNET MNET Network No 2 Network No 4 QnUD H Q173D C24 RS 422 485 Network No 5 QnUD H Q173D MNET QnUD H Q173D CC Link QnUD H Q173D CC Link MNET QnUD H Q173D MNET CPU CPU or CPU CPU CPU CPU or CPU CPU or Ether Ether Ether Communication is possible O Communication is possible Setting of the routing parameter is necessary X Communication is impossible 4 AUXILIARY AND APPLIED FUNCTIONS lt Example 2 gt lt Example 3 gt Personal Personal C24 Serial communication module computer computer MNET MELSECNET 10 H USB RS 232 Ether Ethernet RS 232 RS 422 485 QnUD H Q173D CC Link CPU CPU QQnUD H Q173D CC Link MNET CPU CPU or Ether Network No 1 QnUD H Q173D C24 CC Link CC L
93. cedure is shown below Preparation for ROM operation Set the Mode operated by RAM by setting the rotary switch 1 SW1 and 2 SW2 to 0 Mg Turn ON the power supply of Multiple CPU system p Create or correct the system setting parameters and programs using the MT Developer and write them to the Motion CPU module y Execute the trial run and adjustment Is the operation normal YES y Mode operated Execute the ROM writing of the programs by RAM and ds parameters in a lump using the MT ROM writing Develo per v Turn OFF the power supply of Multiple CPU System v Set the Mode operated by ROM by setting the rotary switch 1 SW1 to 0 and rotary switch 2 SW2 to 6 EEE Turn ON the power supply of Multiple CPU system v y A Mode operated by ROM ROM operation start v 4 AUXILIARY AND APPLIED FUNCTIONS 2 Operation at the Mode operated by ROM Mode operated by ROM start Data programs parameters and absolute position data is not written to the FLASH NO ROM built in Motion CPU module Is the data write to the FLASH ROM built in Motion CPU module Read the followings of the FLASH ROM The system setting error AL flashes 3 built in Motion CPU module to the SRAM times steady L01 display in the 7 built in Motion CPU module segment LED
94. ceed setting range of each setting No in automatic refresh setting Do not overlap the device No between setting No Points Set the number of points to refresh data of each data in word unit Note Refresh is not executed when not set Range 2 to 256 points g N poi Unit 2 points Mo Sets the total of all CPUs to 256 points or lower Refresh cycle Operation cycle fixed Multiple CPU high speed refresh setting Multiple CPU high speed refresh setting Device Setting Start End CPU M3200 M3359 CPU No 1 M2400 M2559 CPU No 2 D40 D49 CPU No 2 30 mux The applicable device of start device is X M B D W 5M 5D The unit of points of CPU specific send range is word Please set with in the 256 points o Cancel Note 1 Point in word unit 1 Application example of Multiple CPU high speed refresh function Multiple CPU high speed refresh function is used as in the following applications 1 Read the data such as the real current value and synchronous encoder current value with PLC CPU at high speed 2 Exchange the FIN waiting signal at high speed 2 MULTIPLE CPU SYSTEM eee 2 Operation example of Multiple CPU high speed refresh function a Parameter setting The automatic refresh setting of Multiple CPU high speed refresh is shown below CPU No
95. cessing CPU setting setting This signal is used to temporarily suspend SSCNET communication while servo amplifiers and or SSCNETII cables after Axis 1 are exchanged with the Connect Connect power supply ON in a Multiple CPU system SD803 Disconnect disconnect of SD803 is required for connect disconnect during this process Command SSCNET 1 to 32 Disconnect command 10 Connect command 2 Connect disconnect execute command APP 10 APPENDICES APPENDIX 1 3 Replacement of special relays special registers When a project for Q173HCPU T Q172HCPU T Q173CPUN T Q172CPUN T Q173CPU Q172CPU is converted into a project for Q173DCPU Q172DCPU using the Project management File diversion in MT Developer special relays M9000 to M9255 and special registers D9000 to D9255 are automatically converted into new special relays SM2000 to SM2255 and special registers SD2000 to SD2255 respectively However in order to maintain the same functionality the user must manually convert them to the special relays and special registers shown in Table 1 3 and Table 1 4 below for Q173DCPU Q172DCPU Table 1 3 Replacement of special relays Device No Special relays for Q173HCPU T Q172HCPU T converted to Q173DCPU Q173CPUN T Q172CPUN T special relays Q172DCPU Q173CPU Q172CPU SM60 Fuse blown detection SM53 AC DC DOWN detection SM52_ Battery low M9007 SM51 Battery low latch SM1 Self diagnostic error SM Diagnost
96. ch clear Latch range clear 1 2 of remote latch clear key setting Latch 2 It is possible to clear with lath clear 1 2 of Range which cannot be cleared with the latch remote latch clear clear key T ff the PLC ready flag M2000 and test All clear function Execute with installation mode ee ready flag Jandtes mode ON flag M9075 to execute all clear Store the error code to be released in the special Release of Multiple CPU related ie Turn off M2039 register D9060 and turn off to on the special relay M9060 APP 27 APPENDICES APPENDIX 4 2 Comparison of devices 1 Motion registers a Monitor devices Table 4 2 Motion registers Monitor devices list Device No Q173DCPU Q172DCPU Q173HCPU Q172HCPU 8000 to 8019 8020 to 8039 8040 to 8059 8072 to 8075 Axis 3 monitor device 8060 to 8079 8080 to 8099 Name 8100 to 8119 8120 to 8139 8140 to 46159 8160 to 8179 8180 to 8199 8200 to 8219 8220 to 8239 8108 to 8111 Axis 12 monitor device 8240 to 8259 8260 to 8279 8280 to 8299 8300 to 8319 8320 to 8339 8340 to 8359 8360 to 8379 8136 to 8139 Axis 19 monitor device 8380 to 8399 8400 to 8419 8420 to 8439 8440 to 8459 8152 to 8155 Axis 23 monitor device 8460 to 8479 8156 to 8159 Axis 24 monitor device 8480 to 8499 8160 to 8163 Axis 25 monitor device 8500 to 8519 8164 to 8167 Axis 26 monitor device 8540 to 8559 8560 to 8579 8
97. computer by connecting the personal computer equipped with CC Link board to the CC Link c The access range of above 1 is only the CPU on the CC Link which a system connects it to and it can select a CC Link network to connect by specifying the I O No of the CC Link module d The access range of above 2 is only the CPU of the connected the CC Link gt Example 1 Personal Personal C24 Serial communication module Personal computer computer computer USB RS 232 CC Link board RS 232 Network No 1 I QnUD H Q173D C24 CC Link QnUD H Q173D CC Link QnUD H Q173D CC Link CC Link CPU CPU CPU CPU CPU CPU Network 0 9O o0 Q09 No Network No 3 QnUD H Q173D CC Link QnUD H Q173D CC Link QnUD H Q173D CC Link CC Link CPU CPU CPU CPU CPU CPU lt Example 2 gt ampie Personal computer USB Network No 1 2 Network No 2 Communication is possible x Communication is impossible 4 AUXILIARY AND APPLIED FUNCTIONS SSS SSS SSS SSS SSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSS_L_L___ 7 3 Network configuration via the RS 422 485 a It can access the other CPU via the RS 422 485 from the programming software packages GX Developer MT Developer etc of the personal computer connected with the CPU or serial communication module in USB RS 232 b The access range of above 1 is only the CPU
98. continues operation for CPU can be executed Release the errors in the following procedure 1 Remove the error cause 2 Turn off the Motion error detection flag M2039 The special relays special registers and 7 segment LED for the errors are returned to the status before error occurs after release of errors If the same error is displayed again after release of errors an error is set again and the Motion error detection flag M2039 turns on APP 25 APPENDICES SSS SSSSSSSSS ESE gt E gt E gt EFEFEFEC CESSSEE gt EEEEEFEFEFEEE_________ 7 APPENDIX 4 Differences Between Q173DCPU Q172DCPU and Q173HCPU Q172HCPU APPENDIX 4 1 Differences Between Q173DCPU Q172DCPU and Q173HCPU Q172HCPU Common differences to each mode are shown in Table 4 1 Refer to APPENDIX 4 3 Differences of each mode for characteristic differences to each mode And refer to APPENDIX 4 2 Comparison of devices for detailed differences of devices Table 4 1 Differences Between Q173DCPU Q172DCPU and Q173HCPU Q172HCPU Q173DCPU Q172DCPU Q173HCPU Q172HCPU Peripheral I F Via PLC CPU USB RS 232 USB SSCNET Add Q6BAT at continuous power failure for 1 External battery Demand month or more Use EMI terminal of Motion CPU module Forced stop input Use device set by forced stop input setting in the system setting Multiple CPU high speed transmission memory for data Included transfer between CPU modules Interna
99. ct without project save 2 Save a project after delete of password to delete the password data ina project Or create a project without password data by creating new project and diverting user data from a project with password data 4 AUXILIARY AND APPLIED FUNCTIONS E 4 6 All clear function This function is used to clear the all user data password setting backup area and user data area of FLASH ROM in the Motion CPU module 1 Procedure for clear all a Set the Motion CPU module to installation mode Set a rotary switch 1 SW1 to A b Select Execute button of Clear CPU Memory screen displayed by menu Online Clear CPU Memory Clear CPU Memory Transfer information Connecting interface USB lt gt PLC module Target CPU i StationNo Host CPUtype Q173D keuz OS type Ev22QA YER3O00C i All of the data programs and passwords Set the installation mode of the motion CPU in the motion controller will be cleared The data programs and passwords in project will not be cleared Execute If you want to clear the password in project execute File Diversion 1 Set the Motion CPU module to installation mode to clear all Be sure to set a rotary switch after power supply OFF 2 The user data area of FLASH ROM built in Motion CPU module is also cleared 3 All user data and password setting are cleared at the Clear all It is recommended to be backup them in advance using M
100. ctric shocks Q Do not touch the Motion controller servo amplifier or servomotor terminal blocks while the power is ON as this may lead to electric shocks Do not touch the built in power supply built in grounding or signal wires of the Motion controller and servo amplifier as this may lead to electric shocks 2 For fire prevention Z CAUTION Install the Motion controller servo amplifier servomotor and regenerative resistor on incombustible Installing them directly or close to combustibles will lead to fire if a fault occurs in the Motion controller or servo amplifier shut the power OFF at the servo amplifier s power source If a large current continues to flow fire may occur When using a regenerative resistor shut the power OFF with an error signal The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fire Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used Failing to do so may lead to fire Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to fire 3 For injury prevention Z CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal Doing so may lead to destruction or damage Do not mistake the terminal connections as th
101. d as contact B and performs the following control in response to ON OFF of the device Bit device is turned OFF Forced stop input is ON forced stop Bit device is turned ON Forced stop input is OFF forced stop is released The forced stop input by EMI terminal of Motion CPU module cannot be invalidated using parameter setting 3 COMMON PARAMETERS d Latch range Set the following latching ranges for M B F D and W respectively e Latch 1 It is possible clear using the remote operation Latch clear 1 Latch clear 1 2 Latch 2 Itis possible clear using the remote operation Latch clear 12 2 Individual module settings The setting items for each module are shown below Setting items for each module Number of usable modules Q173DCPU Q172DCPU Module name Setting range Initial value Set the number of axes for which Servo external signals input module External signal setting the 8 axes input is used Unused DOG Valid on leading edge Valid on trailing edge Valid on leading edge I O response time Operation mode 0 4 0 6 1 ms DOG CHANGE response time 0 4 ms Synchronous encoder input module Synchronous encoder setting Synchronous encoder selection Used Unused Q170ENC MR HENC Unused Q170ENC I O response time Operation mode High speed data read setting 0 4 0 6 1 ms TREN response time Used Unused 0 4 ms Unused
102. d oscillation control Synchronous control SV22 Acceleration Automatic trapezoidal acceleration deceleration deceleration control S curve acceleration deceleration Compensation Backlash compensation Electronic gear Phase compensation SV22 ion Programming language Motion SFC Dedicated instruction Mechanical support language SV22 Servo program capacity 14k steps Number of positioning 3200 points points Positioning data can be designated indirectly 232 Peripheral I F Via PLC CPU USB RS 232 Proximity dog type 2 types Count type 3 types Data set type 2 types Dog cradle type Home position return MIR finch Stopper type 2 types Limit switch combined type unction Home position return re try function provided home position shift function provided JOG operation function Manual pulse generator Possible to connect 3 modules operation function Synchronous encoder Possible to connect 12 modules Possible to connect 8 modules operation function M code output function provided M code function f 3 M code completion wait function provided Limit switch output Number of output points 32 points function Watch data Motion control data Word device 1 OVERVIEW Motion control specifications continued Q173DCPU Q172D0PU e Made compatible by setting battery to servo amplifier Absolute position system p Possible to select the absolute data method or incremental method for each a
103. e MT Developer of version corresponding to the Motion modules Q172DLX Q173DPX Q172DEX UNIT SET ERR Note 1 AL flashes 3 times gt L01 display Repetition Error code is not displayed Note 2 Error code stored in self diagnostic error SDO Note 3 When the error code 10014 occurs the system setting error flag M2041 turns ON and the error name is displayed on the error list monitor of MT Developer APP 13 APPENDICES MEMO APP 14 APPENDICES APPENDIX 3 Self diagnosis error code Multiple CPU related errors are stored in the CPU shared memory self CPU operation information area 1H to 1CH of each module and self diagnostic error information SDO to SD26 of the special register SD as the self diagnostic errors Error codes 1000 to 9999 of Multiple CPU related errors are common to each CPU module The error code 10000 to 10999 is stored as required at Motion CPU specific error occurrence Confirm the error codes and contents by Motion error history on Motion CPU error batch monitor of MT Developer and remove the error cause if an error occurs O Monitor MT Developer C Documents and Settings Administrator My Documents Workspace QD173 T Motion CPU Error Batch Monitor Multiple CPU Self Diagnosis ERR Detail e10008 MCUNIT ERROR System Setting ERR NO ERROR 2052529 Areal vitual mode switching error occurred 144347 Motion CPU WDT Error NOERROR T
104. e for CPU No n n 1 to 4 of the CPU module for the Multiple CPU system Self CPU Motion CPU being programmed by the currently open MT Developer project Programming software package General name for MT Developer GX Developer MR Configurator Operating system software General name for SW8DNC SVOQD i SW8DNC SV13QL1 SW8DNC SV22Q0 Abbreviation for Motion controller programming software MT Developer2 Version 1 00A or later bxpeee min for MELSEC PLC programming software package GX Developer h GX Developer Version 8 48A or later MR Configurator url for Servo setup software package MR Configurator Version CO or later Beg Mee synchronous network between Motion controller and servo ifi 22 General name for system using the servomotor and servo amplifier for Absolute position system d absolute position Battery holder unit Battery holder unit Q170DBATC External battery General name for Q170DBATC and Q6BAT Abbreviation for MELSECNET H module Ethernet module CC Link module Intelligent function module ON Serial communication module Note 1 Q172DEX can be used in SV22 Note 2 SSCNET Servo System Controller NETwork 1 OVERVIEW For information about the each module design method for program and parameter refer to the following manuals relevant to each module Reference Manual Motion CPU module Motion unit Q173DCPU Q172DCPU User s Manual PLC CPU peripheral devices for PLC progra
105. e held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2008 MITSUBISHI ELECTRIC CORPORATION A 11 INTRODUCTION Thank you for choosing the Mitsubishi Motion controller Q173DCPU Q172DCPU Before using the equipment please read this manual carefully to develop full familiarity with the functions and performance of the Motion controller you have purchased so as to ensure correct use CONTENTS Safety PreCautlons x i c tb EL E t t Dto Nr vts ta mete ng 2h duane Med DO E tuom xo a naL A 1 REVISION Seis seats uere toes sedie ELA LE ii ath aes taal el E n etiem cider os A 11 Contents cs oro etam cent er er etii inint rt udiet b cado itm Lr vt cL Te cee peree eer err res A 12 About EVE Em A 14 TI OVOGRVICW EM 1 1 1 2 koe AU gt cae eee pcr euim ILU kc Ri 1 3 1 25 Featur s of Motion CPU ie d e rettet dee ite et esed 1 3 1 2 2 Basic specifications of Q173DCPU Q172DCPU ssssssssssssseeeeeeeee enne 1 5 1 3 Hardware Config ration 1 ridic tede Hee eise ded e LE se Eva at aad E ne dada 1 8 1 3 1 Motion system configuration sssssseeeeeenenenenneennneneeen nennen nnne enne nennen 1 8 1 3 2 Q173DCPU System overall configuration eeeeeenenneenen nennen 1 10 1 3 3 Q172DCPU System overall configuration eeeeeenenenen nnne 1 12 1 3 4 Software packages
106. e the MULTW instruction to write to the user setting area of the self CPU in the Motion CPU Use the S TO instruction to write to the user setting area of the self CPU in the PLC CPU Note 2 Use the MULTR instruction to read the shared memory of self CPU and other CPU in the Motion CPU Use the FROM instruction Multiple CPU area device ULNAGLI to read the shared memory of the Motion CPU from the PLC CPU Note 3 Refer to Section 2 3 2 1 for the access method of Multiple CPU high speed transmission area 2 MULTIPLE CPU SYSTEM CPU shared memory address a Self CPU operation information area OH to 1FFH 1 The following information of self CPU is stored as the Multiple CPU system Table 2 3 Table of self CPU operation information areas Information availability Information availability flag Description Note The area to confirm if information is stored in the self CPU s operation information area 1H to 1FH or not 0 Information not stored in the self CPU s operation information area 1 Information stored in the self CPU s operation information area Corresponding special register Diagnostic error Diagnostic error number An error No identified during diagnosis is stored in BIN Time the diagnostic error occurred Time the diagnostic error occurred The year and month that the error number was stored in the CPU shared memory s 1H address is stored with two digits of the BCD code
107. ect Set the stroke limit input validity parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect Set the servomotor encoder type increment absolute position type etc parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect Set the servomotor capacity and type standard low inertia flat etc parameter to values that are compatible with the system application The protective functions may not function if the settings are incorrect Set the servo amplifier capacity and type parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect NCAUTION Use the program commands for the program with the conditions specified in the instruction manual Set the sequence function program capacity setting device capacity latch validity range I O assignment setting and validity of continuous operation during error detection to values that are compatible with the system application The protective functions may not function if the settings are incorrect Some devices used in the program have fixed applications so use these with the conditions specified in the instruction manual The input devices and data registers assigned to the link will hold the data previous to when communication i
108. ecuted only using the remote control of MT Developer 4 12 1 Remote RUN STOP The PLC ready flag M2000 is turned ON OFF by MT Developer with RUN STOP switch of Motion CPU module set to RUN 1 Operation procedure a Remote RUN Select RUN on CPU remote operation screen displayed by menu Online Remote Operation and click Execute button b Remote STOP Select STOP on CPU remote operation screen displayed by menu Online Remote Operation and click Execute button CPU remote operation Transfer information Connecting interface USB lt gt PLC module Target CPU fis statonNo Host CPU type 73D kez OS type Y22QA VER300C CPU Status CPU Status BTOP Operation Latch clear 1X2 4 AUXILIARY AND APPLIED FUNCTIONS 1 Remote RUN cannot be executed if RUN STOP switch sets to STOP Operation after remote operation by RUN STOP switch is shown below iii ee Position of RUN STOP switch STOP Execute remote RUN STOP Remote operation Execute remote STOP STOP STOP 2 The following parameters are read by turning on the PLC ready flag M2000 Fixed parameter Parameter block Home position return data JOG operation data Servo parameter Mechanical system program SV22 Motion SFC parameter Limit switch parameter The PLC ready flag M2000 can also be turned ON OFF PCPU READY complete flag SM500 ON OFF in the following methods RUN STOP switch change
109. ed are cleared by the remote latch clear operation of latch area 1 and 2 5 Set the range of latch area 1 and 2 in the system basic setting of system setting Refer to Section 3 1 3 4 AUXILIARY AND APPLIED FUNCTIONS MEMO 44 APPENDICES APPENDICES APPENDIX 1 Special relays Special registers APPENDIX 1 1 Special relays Special relays are internal relays whose applications are fixed in the Motion CPU For this reason they cannot be used in the same way as the normal internal relays by the Motion SFC programs However they can be turned ON OFF as needed in order to control the Motion CPU The headings in the table that follows have the following meanings Indicates the name of the special relay Indicates whether the relay is set by the system or user and if it is set by system when setting is performed APP Set by S Set by system Motion CPU U Set by user Motion SFC program or test operation using MT Developer S U Set by both system Motion CPU and user Set by Whenset Indicated only if setting is done by system Motion CPU When set Main process Set during each main processing free time processing of the CPU Initial process Set only during initial processing when power supply is turned ON or when executed the reset Status change Set only when there is a change in status Error Set when error is occurred Request Set only when there is a user reques
110. eeeeeeeeeeeeeaeeceaeescaeeeeaaeeseaeeseaeeseaeesseeeseaeesaeeesaees 2 30 2 3 6 Control Instruction from PLC CPU to Motion CPU sssssseeeneeneneennennen enne 2 31 3 T System Settings ir te ERI teet e eet te eee eee ou Re dus te od Ya Fe oe e eee 3 1 3 151 System Gata Settings n ee ee th e teniente tele atc 3 2 3 1 2 Common system parameters ecececeececeneeeeeeeeceeeeeeeeeseaeeseaeeecaeeesaaeeseaeeseaeescaeeesiaeeseaeeteeeseeeseaeeess 3 4 3 1 3 Individual Daramelters 2 5 oett oe eee Hm etti bem aea m aea m aie 3 10 3 2 O number assignment iis c aceite e d a M 3 15 3 2 1 I O number assignment of each module sssssssssssseeeeeeeneeneeneenennennennens 3 15 3 2 2 I O number of each CPU modules sse nennen 3 17 3 2 3 VO number settirig 1 itii ii ied ind ded ct id ed eL een Le eee ed ie Le edo dL id ine 3 18 3 9 Servo Parameters tirada dett a et eda ate ted D ear t Ee utt 3 19 4 1 Limit Switch Output Function 2200 2 eee cece cece cece cece eee cece e e e a a A 4 1 4 171 9 140 ee eere ete Peep E ae arp eee aren eS pean oT 4 1 4 1 2 Limit output setting data nnne inane vinnie nine oven ieee 4 4 4 2 Absolute Position Systelm ie ie eet HELLO RR ERROR PEEL Ue geo dL E Pe ERAT REOR RA 4 8 4 2 1 Current value control ennt nnr nets snnt nnn nennen tnnt nnn trn nns 4 10 4 3 High Speed Reading of Specified Data ss
111. emal forced stop input signal M3076 OFF M2043 was tumed from OFF to ON lt Confirm operation status and error occurrence of each CPU used in the Multiple CPU system by PLC diagnosis of GX Developer PLC diagnostics PLC status PLC operation status Nol PLC operation STOP switch STOP No2 PLC operation STOP switch STOP Present Error PLC Module Present Error Yeat Month Day MC UNIT ERROR 2007 7 23 11 40 11 Error Jump Help Enor log PLCI Error log Clearlog Occurence order Ascending X No Eror message i B rens AC DC DOWN 200 Joias PARAMETER ERROR 2007 723 323 4 CR AC DC DOWN meum AC DC DOWN 2007 7 23 15 50 47 2007 7 23 15 54 27 2007 7 23 16 17 52 Help nnz 7 22 16001 AC DC DOWN ADAF nn APP 15 Monitor run stop Stop monitor PLC Ready M2000 PCPU Ready 3M500 All AX Servo 0N M2042 All AX SV ON Acpt M2049 1 2 3 4 5 6 7 8 s iori ranas IEIETEESEDESEEET 2424272829303134 Forced Stop Signal s1502 ET Acpd 1 2 3 4 5 6 7 8 soria ams 17118 19 2021 222324 2924272429393134 Motion Err Det M2039 SV P Setting Err SM516 Sv P Err P No SD516 o Sv P Set Err No 3D517 o Module Fault Det M2047 t 1 System Setting ERR M2041 WDT _Exror 3M512 WDT Err Cause SD512 L Self Diagnosis ERR SDO 10008 JOG Simul Start M2048 9 In test node SM501 J Test Request Error SM510 MAN PLS 1 Enable M2051
112. ent functi dule functi ion B or lat In a Multiple CPU system the control CPU of intelligent function 1 oM a 5 Megen i unction module function version Bior later 2150 compatible with the Multiple CPU system dule i tible with the Multiple CPU system is set to other th CUN a 2d E PE SIS m RET T 2 Change the control CPU of intelligent function module incompatible with ui the Multiple CPU system to CPU No 1 APP 19 APPENDICES Table 3 1 Multiple CPU related errors which occurs in Motion CPU 1000 to 9999 Continued item Error code Enormessade Common information Individual Information 7 seament LED displa CPU operation Diagnostic SDO 2 SD5 to SD15 SD16 to SD26 9 Pay status timing At power ON At reset STOP RUN Parameter No Parameter PARAMETER ERROR At power ON At reset AL flashes 3 times l Steady A1 display Stop l At power 4 digits error code is supply ON displayed in two flashes at reset of 2 digits each At power Stop supply ON at reset 7035 Module No At power Stop supply ON at reset Note 1 CPU No is stored in slot No of common information classification Note 4 Because a stop error or CPU No except CPU No that it was reset becomes MULTI CPU DOWN simultaneously a stop error or CPU No except CPU No that it was reset may store in the classification of common error information depending on timing Parameter No CPU No CPU No 7000 Note 1 Note 4 MU
113. erate from the All actual output PY points turn OFF System setting error MES beginning does not run No effect on other CPUs WDT error Varies depending on the error All actual output PY points turn OFF i Other CPUs may also stop depending on Self diagnosis error Stops at a CPU DOWN error the parameter setting Operation corresponding to STOP M2000 OFF Depends on f Other CPU DOWN error All actual output PY points turn OFF the Operation mode upon CPU stop error setting Operation continues when the Self diagnosis error Motion SFC error continuous error occurred Only the applicable program stops the Minor error Processing stops for each e program may continue depending on the program or axis instead of the i type of error IServoeror Motion CPU stopping all the Actual output PY retains output i rocessing Servo program setting P 9 No effect on other CPUs error 2 MULTIPLE CPU SYSTEM 2 2 Starting Up the Multiple CPU System This section describes a standard procedure to start up the Multiple CPU system 2 2 1 Startup Flow of the Multiple CPU System PLC CPU Motion CPU PLC CPU PLC CPU 1 START Definition of functions with Multiple CPU system Control and function executed in each CPU module are defined Application and assignment of device When automatic refresh of the CPU shared memory is performed the number of refresh points is conti
114. es 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
115. fication Note 2 Base No stored in common information classification code of error information classification code 0 Main base 1 to 7 Number of extension bases Note 3 CPU operation status at error occurrence can be set in the parameters LED display varies in conjunction with operation APP 16 APPENDICES Error code i i Error contents and cause Corrective action SDO Runaway or failure of CPU module 1004 1 Take noise reduction measures 1 Malfunctioning due to noise or other reason 1005 2 Hardware fault 2 Reset the CPU module and RUN it again If the same error is 1006 displayed again this suggests a CPU module hardware fault 1007 Explain the error symptom and get advice from our sales 1008 representative 1009 1105 The CPU shared memory in the CPU module is faulty 4150 The memory of the CPU module in the Multiple CPU high speed transmission area is faulty Check FUSE LED of the output modul d replace th dule wh 1300 There is an output module with a blown fuse ene lit PE AN QR TIS Eee Ee RS IR SER IE Set the Motion module intelligent function module used in the Motion CPU 3 Sta in the system setting Th from the Moti dule intelligent funct 1401 efe was To SSponss TOM TIE MOUDA MOTNA IRE MARAN This suggests a Motion module intelligent function module CPU module module in the initial processing P s and or base unit is expecting a hardware fault Explain the error symp
116. g CPU specific send rangel CPU specific send rangel PLC User setting area Auto refresh Automatic refresh point Stat End point Stat End CPU Points k Poi Points Not 7128 610000 617127 40 617128 G17167 No1 7 510000 617127 40 No2 6488 610000 G16487 680 616488 G17167 No 2 7 510000 G16487 680 No3 No3 No4 I No 4 ji PLCNo1 PLCNo2 CPU No1 CPUNG2 Auto refresh CPU specific send range U3ETN The device will be used to send the data to other CPU Start z E in Stat End z 7 Automatic refresh 640 00 G16488 G17127 Seting No oer Stat 40 M2400 817128 GITI67 640 00 40 M2400 e i en o o The applicable device of start device is X Y M B D W tt SM SD The unit of points of CPU specific send range is word CEU EE de XYMLBD Automatic Refresh Selling List Multiple CPU high speed refresh setting Word is used for points Every 2 points are counted as a set oK Cancel 7 Settings should be set as same when using multiple CPU Settings should be set as same when using multiple CPU Check End Cancel Set the device to executed the Multiple CPU high speed refresh Multiple CPU high speed refresh setting Multiple CPU high speed refresh settin
117. g Device Setting Points Start End M3200 M3295 M2400 M2495 D2 D3 D22 D23 D42 D43 D62 D63 D12 D13 D32 D33 D52 D53 D72 D73 Total 28 The applicable device of start device is X M B D W 5M SD The unit of points of CPU specific send range is word Please set with in the 256 points Cancel Note The operating example of Multiple CPU high speed refresh function is shown in b Operation example 2 26 2 MULTIPLE CPU SYSTEM Set the following operation for automatic refresh setting using GX Developer 1 Select tab Multiple CPU high speed communication area setting 2 Set Use Multiple CPU high speed communication Multiple CPU settings No of PLC Online module changef Nooffic 2 Enable online module change with another PLC When the online module change is enabled with another PLC Host CPU number 1 0 status outside the group cannot be taken No specification v 1 0 sharing when using Multiple CPUs All CPUs can read all inputs Operating mode Error operation mode at the stop of PLC T AI CPUs can read all outputs F Multiple CPU high speed communication area setting Communication area setting refresh lt 4 gt Iv All station stop by stop error of PLC2 jv Use multiple CPU high speed communication F CPU specific send rangef j User setting area Auto refresh Multiple CPU sy
118. g of Specified Data This function is used to store the specified positioning data in the specified device D W ULD G The signal from input module controlled in the Motion CPU is used as a trigger It can be set in the system setting of MT Developer 1 Positioning data that can be set Setting data Position command Feed current value CHE 10 um 10 inch 10 degree PLS Actual current value 10 um 10 S inch 10 degree PLS Position droop Deviation counter value PLS 1 8 Wkged 5 O O 3 r min servo commana vawe 2 PLS Virtual servomotor feed current value 2 PLS Synchronous encoder current value 2 PLS a pt C t val ft haft diff tial vaia ig urrent value after main shaft differentia 9 virtual Current value within one revolution of F mode only beu axis Execute cam No ss cam No Execute stroke amount eS U 10 um 10 inch PLS Optional address Fixedto4bytes 2 ooo o 2 Modules and signals to be used Input module Read timing Number of settable points QiTSDPX ooo 0 8 ms PLC input module e m Note Only one PLC input module can be used 3 Usable devices D y ooa Note 1 p indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU Note 2 Only device of the self CPU can be used 1 Setan even number as device setting in the two word data 2 Refer to
119. ge a Conveyor assembly use SV13 Offer liner interpolation circular interpolation helical interpolation constant speed control speed control fixed pitch feed and etc by the dedicated servo instruction Ideal for use in conveyors and assembly machines b Automatic machinery use SV22 Provides synchronous control and offers electronic cam control by mechanical support language Ideal for use in automatic machinery 1 OVERVIEW 1 2 2 Basic specifications of Q173DCPU Q172DCPU 1 Module specifications Internal current consumption 5VDC A Mass kg Exterior dimensions mm inch 98 3 85 H X 27 4 1 08 W X 119 3 4 69 D 2 SV13 SV22 Motion control specifications performance specifications a Motion control specifications Q173DCPU Q172D0PU Number of control axes Up to 32 axes Up to 8 axes 0 44ms 1 to 6 axes 0 88ms 7 to 18 axes 1 77ms 19 to 32 axes 0 44ms 1 to 4 axes 0 88ms 5 to 12 axes 0 44ms 1 to 4 axes 1 77ms 13 to 28 axes 0 88ms 5 to 8 axes 3 55ms 29 to 32 axes Linear interpolation Up to 4 axes Circular interpolation 2 axes 0 44ms 1 to 6 axes 0 88ms 7 to 8 axes Operation cycle default Interpolation functions HN Helical interpolation 3 axes PTP Point to Point control Speed control Speed position control Fixed pitch feed Control modes Constant speed control Position follow up control Speed control with fixed position stop Speed switching control High spee
120. ged deleted password or password read with user data from Read from CPU screen displayed by menu Online Read from CPU can be saved ina project data A password saved in a project data can be registered with user data when the user data are written in the Motion CPU that does not set password from Write to CPU screen displayed by menu Online Write to CPU Select menu Project Save to save the updated password data in a project 1 Status of password data for each operation Status of password data are called and the password data in a project are updated When a password data is set in a project if a password is not set in the write designation Motion CPU the password contents are also written Password data in a project are not updated m Password contents registered in the write designation Motion CPU are written in ROM writing ROM call source Motion CPU The password data in a project is not updated ee contents in backup data are written in the write designation Motion Write A password is deleted from the write designation Motion CPU A password is deleted also from the password data in a project Project diversion The password data in diverting source project is not diverted Delete password Register change New password contents are written in the write designation Motion CPU password Password data in a project is also updated to new password contents 1 The password data is not save in a proje
121. gs No of PLC Online module change Nootric 2 s Enable online module change with another PLC When the online module change is enabled with another PLC Host CPU number 1 0 status outside the group cannot be taken No specification gt 1 0 sharing when using Multiple CPUs All CPUs can read all inputs Operating mode Error operation mode at the stop of PLC T AI CPUs can read all outputs I Multicle CPU high speed communication area setting J Communication area setting refresh 4 gt V All station stop by stop error of PLC2 E Use multiple CPU high speed communication Jet a CPU specific send ranger ud PLC User setting area Auto refresh Mace UTR eT pon VG No point Stat End End gue cro LES eq Not 7 usro 7128 G10000 G17t27 40617128 617167 geil No2 10000 616487 680 616468 617167 Not zs lv No2 No 4 Vv Advanced settings I T Total 14K points 1 Aulo refresh setting JSettings should be set as same when The total number of points is up to 14K using multiple CPU Import Multiple CPU Parameter Check Cancel b Operation example The example of operating automatic refresh is shown below PLC CPU CPU No 1 Motion CPU CPU No 2 Multiple CPU high speed Multiple CPU high speed Internal relay transmission area transmission area Internal relay MO U3E0 G10000 U3E0 G10000 MO
122. he details of the ax Contar ucc D En Minor 1 2 3 4 5 6 7 8 9 10 t1 ra ra 4 r5 r6 17 18 19 20 21 222324 2528272829303133 Major 1 2 3 4 5 6 7 9 9 10 t1 T2 I3 14 15 16 17 18 19 20 21 22 2324526272829 3031 33 Serve 1 2 3 4 5 6 7 8 9 to Ti T2 13 14 15 1617 18 1920 2 12223242528 27282930 31 33 Ci Each Axis Error Info F Motion Error History 76 cess were detected Details are shown by clicking the button on the r EXER ESSE al od estie Error Definition VERRUDIROGUuND Gneci anten ighe Detail SFC F G K Block PEDE DUN Ce ecin The momentary power interruption 5 29 Se EE 1500 was generated The power supply was tumed off Parameter eror Mulicle CPU setina or contiol CPU setting fers from that of the refer CPU in a Mulile CPU system n ERROR system setting error occurred on the mation CPU Other CPU error CPU fault occurred by system on setting CPU No 1 is in error and the other CPU cannot st Parameter error Multiple CPU setting or control CPU setting differs from that of the refer CPU in a Multiple CPL system n UNIT ERROR 5 29 14 39 A system setting error occurred on the motion CPU AC DC DOWN Detection The Meuse power interruption 5 29 14 39 was generated The power supply was tumed During the external forced stop input signal MS076 OFF 5 29 14 43 M2043 was tumed from OFF to ON Servo Program Error NO ERROR Virtual Mode Switching Error 0203 During the ext
123. he each CPU module CPU specific send Provided range cannot be set Bit device can be specified in units of 32 points 2 words only Set the number of points for data Range 2 to 14336 points communication Unit 2 points Specifies the device which performs the data communication automatic refresh Usable device X Y M B Specifies the device sent by the self CPU D W SM SD Bit device can be specified in when the Send source CPU selection is E units of 16 points 1 word only Note Set blank when the self CPU and specifies the device Device number cannot be automatic refresh is received by the self CPU when the CPU duplicated M not executed specific send range setting is the other CPU 2 MULTIPLE CPU SYSTEM The processing performance of automatic refresh improves when devices are transmitted in 2 word sets Therefore it is recommended to set the start device as 2 word unit by inputting an even device number 1 Operation example of automatic refresh a Parameter setting The example of setting automatic refresh is shown below CPU No 1 PLC CPU GX Developer CPU No 2 Motion CPU MT Developer Set the device transmitted to CPU No 2 Set the device received from CPU No 1 Auto refresh settings Automatic refresh setting PLC CPU specific send rangel CPU specific send rangel User setting area Auto refresh User setting area Autom
124. he number of mounted of CPU number setting parameter CPU modules including CPU empty 7024 An assignment error occurred in the CPU slot within the range of the 2 Make the same as the state of the installation of CPU module set in the CPU number setting parameter system setting 7035 The CPU module has been mounted on the inapplicable slot Mount the CPU module on the applicable slot APP 21 APPENDICES 2 Motion CPU specific errors Each digit of error code has been described as follows Refer to programming manuals for error details Details code 003 Minor major error f 004 Minor major error Virtual servomoter axis SV22 Digit 005 Minor major error Synchronous encoder axis SV22 x Tens digit beta code 006 Servo error Hundreds digit Dj 007 Servo program setting error SV13 SV22 Thousands digit Positioning CPU division 008 Mode switching error SV22 0 Motion CPU 009 Manual pulse generator axis setting error Ten thousands digit Except PLC CPU 010 TEST mode request error 011 WDT error 014 System setting error 016 Motion slot fault 020 Motion SFC control error F FS 021 Motion SFC control error G 022 Motion SFC control error K or others Not F FS G 023 Motion SFC control error Motion SFC chart 030 Motion CPU internal bus error Table 3 2 Motion CP
125. he numerical value parameter No CPU No and parameter of target CPU and correct them Multiple CPU automatic refresh setting is any of the following 1 When a bit device is specified as a refresh device a number other than a multiple of 16 is specified for the refresh start device 2 The device specified is other than the one that may be specified 3 The number of send points is an odd number 4 The total number of send points is greater than the maximum number of refresh points 1 Use multiple CPU high speed transmission is not set in the Multiple CPU setting of Universal module QCPU 2 In a Multiple CPU system the CPU verified is different from the one set in the parameter setting In the operating mode of a Multiple CPU system a CPU error occurred at the CPU where All station stop by stop error of CPU was selected Check the error of the CPU resulting in CPU module fault and remove the In a Multiple CPU system CPU No 1 resulted in stop error at power errors on and the other CPU cannot start This error occurred at CPU No 2 to 4 Reset the CPU module and RUN it again If the same error is displayed again this suggests the hardware fault of any of the CPU modules Explain the error symptom and get advice from our sales representative 7010 In a Multiple CPU system a faulty CPU module was mounted Replace the faulty CPU module Either of the following settings was made in a Multiple CPU system 1
126. hed every time the Other PLC CPU can use FROM instruction to read data from the self The area used by the operating systems OS of the PLC CPU Motion CPU c User setting area The area for communication between CPU modules in the Multiple CPU system by MULTR MULTW instruction of Motion CPU PLC CPU use FROM S TO instruction or Multiple CPU area devices to communicate between CPU modules Refer to the Programming Manual of operating system software for MULTR MULTW instruction 2 MULTIPLE CPU SYSTEM U3E0 G10000 to U3E0 G Note 1 U3E1 G10000 to U3E1 G Note 1 U3E2 G10000 to U3E2 G Note 1 U3E3 G10000 to U3E3 G Note 1 d Multiple CPU high speed transmission area The area corresponding to the Multiple CPU high speed main base unit Q3LIDB and Multiple CPU high speed transmission that uses the drive system controllers including QnUD H CPU and Motion CPU The image chart of Multiple CPU high speed transmission area is shown below Refer to Section 2 3 2 1 for access to the Multiple CPU high speed transmission area of self CPU and other CPU CPU No 1 CPU No 2 CPU No 3 4 0962 CPU No Multiple CPU high speed transmission area Transmission CPU No 1 Multiple CPU high Speed transmission area Reception CPU No 4 CPU No 1 Multiple CPU high Speed transmission area Reception CPU No 2
127. hole region 1 ON Value lt Output device ON region setting Watch data value 2 ON Value gt Output device ON region setting Watch data value OFF Value ON OFF OFF ele OFF Value 9 ON Value je ON Value s Watch data value lt OFF Value ON orF OFF Value gt ON p ON Value i M Watch data value lt OFF Value ae ON Value s Watch data value 4 AUXILIARY AND APPLIED FUNCTIONS 3 ON Value OFF Value Output device OFF in whole region ON region setting Watch data value b The limit switch outputs are controlled based on the each watch data during the PCPU ready status SM500 ON by the PLC ready flag M2000 from OFF to ON When the PCPU ready flag SM500 turns OFF by turning the PLC ready flag M2000 from ON to OFF all points turn OFF When ON Value and OFF Value are specified with word devices the word device contents are input to the internal area when the PLC ready flag M2000 turns from OFF to ON After that the word device contents are input per motion operation cycle and limit switch outputs are controlled c Multiple outputs Up to 32 points can be also set to one watch data In each setting the output device may be the same If multiple ON region settings have been made to the same output device the l
128. ic refresh with these modules Use the Motion dedicated PLC instructions that starts by D P The Motion dedicated PLC instructions that starts by S P cannot be used When the High performance PLC CPU module Process CPU module PC CPU module C controller module is mounted in the combination of Multiple CPU system the Motion dedicated PLC instruction from these modules cannot be executed 1 17 1 OVERVIEW 2 Motion modules a Installation position of Q172DEX is only the main base unit It cannot be used on the extension base unit b Q172DLX Q173DPX can be installed on any of the main base unit extension base unit c Q172DLX Q172DEX Q173DPX cannot be installed in CPU slot and I O slot 0 to 2 of the main base unit Wrong installation might damage the main base unit d Q172EX S1 S2 S3 Q172LX Q173PX S1 for Q173HCPU T Q172HCPU T Q173CPUN TYQ172CPUN T Q173CPU Q172CPU cannot be used e Be sure to use the Motion CPU as the control CPU of Motion modules Q172DLX Q172DEXx ee Q173DPX etc for Motion CPU They will not operate correctly if PLC CPU is set and installed as the control CPU by mistake Motion CPU is treated as a 32 point intelligent module by PLC CPU of other CPU Note 1 Q172DEX can be used in SV22 It cannot be used in SV13 1 OVERVIEW 3 Other restrictions a Motion CPU module cannot be set as the control CPU of intelligent function module except some modules or Graphic O
129. ic error MES Clock data set request SM211 Clock data error SM801 Clock data read request SM400 Always ON M9037 SM2037 SM401 Always OFF M9060 SM2060 Diagnostic error reset SM512 Motion CPU WDT error SM500 PCPU READY complete SM501 Test mode ON SM502 External forced stop input SM513 Manual pulse generator axis setting error SM510 TEST mode request error SM516 Servo program setting error M9216 SM528 No 1 CPU MULTR complete SM529 No 2 CPU MULTR complete SM530 No 3 CPU MULTR complete SM531 No 4 CPU MULTR complete SM240 No 1 CPU resetting SM241 No 2 CPU resetting SM242 No 3 CPU resetting M9243 SM243 No 4 CPU resetting SM244 No 1 CPU error SM245 No 2 CPU error SM246 No 3 CPU error SM247 No4 CPU error Automatically Special relays for Remark o Use M2039 for error reset operation APP 11 APPENDICES Table 1 4 Replacement of special registers Device No Special relays for Q173HCPU T Q172HCPU T converted to Q173DCPU Q173CPUN TyQ172CPUN T special relays Q172DCPU Q173CPU Q172CPU D9000 SD2000 Fuse blown No D9005 SD2005 AC DC DOWN counter No D9008 SD2008 SDO Diagnostic errors Clock time for diagnostic error occurrence D9010 SD2010 SD1 Year month D9011 SD2011 SD2 Clock time for diagnostic error occurrence Day hour D9012 SD2012 SD3 PIQUE time for diagnostic error occurrence Minute second SD Error information categories SD5 Error common informat
130. ing PLC CPU s Error operation mode at the stop of CPU Stop do not stop all CPUs upon an error in CPU No 1 to 4 The setting range varies depending on the number of Multiple CPUs Stop all CPUs upon error in CPU Nos 1 to 4 Set whether or not to stop the entire system when a CPU stop error occurs in each CPU Multiple CPU setting CPU specific Multiple CPU send range 0 to 14k points Varies depending on the number of CPUs high speed transmission System area 1 to 2k points area setting Automatic refresh setting Point 2 to 14336 points Start Set target device for automatic refresh Refer to Section 2 3 2 Multiple CPU synchronous startup setting Set do not set CPU No 1 to 4 as the synchronized startup The setting range varies depending on the number of Multiple CPUs Set CPU No 1 to 4 as the synchronized startup Refer to Section 2 3 5 Motion slot setting Module arrangement Individual module Within the main base and extension base slots Varies depending on the module Varies depending on the module Install the modules controlled by the self CPU in the main base and or extension base s Set detailed items for each module controlled by the self CPU Operation cycle 0 4ms 0 8ms 1 7ms 3 5ms 7 1 ms 14 2ms Auto Auto Set the operation cycle of motion control Operation at STOP to RUN M2000 is turned on by switchi
131. ink CPU CPU RS 422 485 Network No 2 QnUD H Q173D CC Link MNET QnUD H Q173D MNET MNET CPU CPU or CPU CPU or or Ether Ether Ether QnUD H Q173D MNET C24 QnUD H Q173D C24 CPU CPU or CPU CPU Ether Network No 3 Personal computer H Q173D H Q173D XIX CC Link board RS 422 485 QnUD H Q173D CC Link QnUD H Q173D CC Link MNET CPU CPU CPU CPU or QnUD H Q173D C24 CC Link CC Link CPU CPU Ether Network 9O 06 0 No 1 RS 422 485 Network No 2 I QnUD H Q173D CC Link QnUD H Q173D MNET QnUD H Q173D MNET MNET CPU CPU CPU CPU or CPU CPU or or Ether Ether Ether x X PEE o0 Communication is possible O Communication is possible Setting of the routing parameter is necessary X Communication is impossible 4 AUXILIARY AND APPLIED FUNCTIONS 4 8 Monitor Function of the Main Cycle 1 Information for main cycle of the Motion CPU process cycle executed at free time except for motion control is stored to the special register 2 Since the automatic refresh of CPU shared memory and normal task of Motion SFC program are executed in the main cycle make it reference for process time etc to program 3 There are following methods to shorten a main cycle a Lengthen an operation cycle setting b Reduce the number of event task program
132. ion SD203 Operating status of CPU D9017 SD520 Scan time SD521 Maximum scan time SD210 Clock data Year month SD211 Clock data Day hour D9060 SD2060 Diagnostic error reset error No D9061 SD2061 SD395 Multiple CPU No D9112 SD2112 SD508 Connect Disconnect Status D9182 SD2182 SD510 Test mode request error D9183 SD2183 SD511 D9184 SD2184 SD512 Motion CPU WDT error cause D9185 SD2185 D9186 SD2186 Manual pulse generator axis setting error D9187 SD2187 D9188 SD2188 SD522 Motion operation cycle D9189 SD2189 SD516 Error program No D9190 SD2190 SD517 Error item information D9191 SD2191 SD502 TOM Servo amplifier loading information D9192 SD2192 SD503 D9193 SD2193 i ue Real mode virtual mode switching error D9194 SD2194 i information D9195 SD2195 D9196 SD2196 PC link communication error codes D9197 SD2197 SD523 Operation cycle of the Motion CPU setting D9200 SD2200 SD200 State of switch D9201 SD2201 State of LED APP 12 Automatically Special relays for Use M2039 for error reset operation Q173DCPU Q172DCPU does not support PC link communication Use 7 segment LED in Q173DCPU Q172DCPU APPENDICES APPENDIX 2 System Setting Errors Motion CPUs generate a system configuration error under the following conditions Table 2 1 System Setting Errors Operation at 7 segment LED Error code Check Error name Note 1 Note 2 Error cause imin error 9 occurrence L
133. ion module with the correct combinations listed in the instruction manual Other combinations may lead to faults If safety standards ex robot safety rules etc apply to the system using the Motion controller servo amplifier and servomotor make sure that the safety standards are satisfied Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system In systems where coasting of the servomotor will be a problem during the forced stop emergency stop servo OFF or power supply OFF use dynamic brakes Make sure that the system considers the coasting amount even when using dynamic brakes In systems where perpendicular shaft dropping may be a problem during the forced stop emergency stop servo OFF or power supply OFF use both dynamic brakes and electromagnetic brakes Z CAUTION The dynamic brakes must be used only on errors that cause the forced stop emergency stop or servo OFF These brakes must not be used for normal braking The brakes electromagnetic brakes assembled into the servomotor are for holding applications and must not be used for normal braking The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max speed Use wires and cables that have a wire diameter heat resist
134. is may lead to destruction or damage Do not mistake the polarity as this may lead to destruction or damage Do not touch the heat radiating fins of controller or servo amplifier regenerative resistor and servomotor etc while the power is ON and for a short time after the power is turned OFF In this timing these parts become very hot and may lead to burns Always turn the power OFF before touching the servomotor shaft or coupled machines as these parts may lead to injuries Do not go near the machine during test operations or during operations such as teaching Doing so may lead to injuries 4 Various precautions Strictly observe the following precautions Mistaken handling of the unit may lead to faults injuries or electric shocks 1 System structure NCAUTION Always install a leakage breaker on the Motion controller and servo amplifier power source If installation of an electromagnetic contactor for power shut off during an error etc is specified in the instruction manual for the servo amplifier etc always install the electromagnetic contactor Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off Use the Motion controller servo amplifier servomotor and regenerative resistor with the correct combinations listed in the instruction manual Other combinations may lead to fire or faults Use the CPU module base unit and mot
135. ist Q173DCPU Q172DCPU Q173HCPU Q172HCPU M2320 to M2399 Special relay allocated devices Status Device area of 9 axes or more is usable as user Device area of 9 axes or more is unusable as M2400 to M3039 devices in Q172DCPU user devices in Q172HCPU Internal relays i i y M3136 to M3199 Unusable Special reayialocated devices Data registers Command signal M3200 to M3839 A DO to D639 Device area of 9 axes or more is usable as user Device area of 9 axes or more is unusable in 2 devices in Q172DCPU Q172HCPU D640 to D703 Personal computer link me M2034 communication error flag PCPU READY complete SM500 N Home position return re travel value 8006 20n 8007 20n Referring at monitoring Note 1 Optional device Travel value change registers Set for D16 20n D17 20n are also usable D16 20n D17 20n Note Note 1 202110251 aada D800 to BONG oes Indirect settingdevices W to W1FFF d o o LLL WOtoWIEFE Word devices Paoro ua ur WOE UCAG40000 to UEAG 10000 p 1 992 em SOG e OIE e rs YO fs ae enemas YOO YIFFF eee i MO to M8191 M LO to M L8191 Indir ctsettingideviceSs PTET ESSE SETS ESSTE ESTES ESR STS SST See Tee Pott et pete eee M9000 to M9255 Bitdevices qHBBBBPBBRBBBBBREEERESEERSHEBABARBRhAHAARBBRARBRgeREROEEEPEPMPPPMPEUCDeUCEHCSdUeHUEOPEECOTEEES PEN ula MP sessssswessssc2
136. istance measurement during inspection NCAUTION When replacing the Motion controller or servo amplifier always set the new module settings correctly When the Motion controller or absolute value motor has been replaced carry out a home position return operation using one of the following methods otherwise position displacement could occur 1 After writing the servo data to the Motion controller using programming software switch on the power again then perform a home position return operation 2 Using the backup function of the programming software load the data backed up before replacement After maintenance and inspections are completed confirm that the position detection of the absolute position detector function is correct Q Do not drop or impact the battery installed to the module Doing so may damage the battery causing battery liquid to leak in the battery Do not use the dropped or impacted battery but dispose of it Do not short circuit charge overheat incinerate or disassemble the batteries The electrolytic capacitor will generate gas during a fault so do not place your face near the Motion controller or servo amplifier The electrolytic capacitor and fan will deteriorate Periodically replace these to prevent secondary damage from faults Replacements can be made by our sales representative 9 About processing of waste When you discard Motion controller servo amplifier a battery primary bat
137. it hardware fault 1435 Explain the error symptom and get advice from our sales representative 4500 A momentary power supply interruption has occurred Check the power supply The power supply went off CPU module Make the PLC ter s I O assi t setti i iti istent 2100 In the I O assignment setting of PLC CPU the intelligent function abi dd S i MM MU cea a 1 The battery voltage in the CPU module has dropped below 4600 stipulated level 1 Change the battery 2 The battery holder unit that install the battery is not mounted to the 2 Mount the battery holder unit that installs the battery with the actual status of the intelligent function module and the CPU module for another module the modules 1 A module is mounted on the 65th or higher slot 2 The extension base unit set to None is mounted 2 Remove the extension base unit set to None 1 Install an usable module 2125 1 A module which the CPU cannot recognise has been mounted 2 The intelligent function module is experiencing a hardware fault 2 There was no response form the intelligent function module Explain the error symptom and get advice from our sales representative The motion modules Q172DLX Q172DEX Q173DPX Q172LX 2140 Q172EX S1 S2 S3 Q173PX S1 are installed in CPU slotor Remove the Motion modules installed CPU slot or I O 0 to 2 slot module was allocated to an I O module or vice versa I O 0 to 2 slot 1 Ch to the intellig
138. l relays M 8192 points 7 s Total 8192 points Latch relays L None Latch for M is possible by latch setting Special relays M po 256 points g Special relays SM 2256 points Pe 3 Special registers D Pe 256 points Special registers SD 2256 IE Motion registers 8736 Sm6pons 8192 892pits O Multiple CPU area devices Up to 14336 t o oints UL G i is D P DDRD D P DDWR D P SFCS S P DDRD S P DDWR S P SFCS Motion dedicated PLC instructions D P SVST D P CHGT D P CHGV S P SVST S P CHGT S P CHGV D P CHGA D P GINT S P CHGA S P GINT Multiple instructions are executable continuously without interlock condition by the self CPU high Interlock condition by the to self CPU high speed speed interrupt accept flag from CPULT interrupt accept flag from CPULI is necessary CPU No QnUD H CPU is set as CPU No 1 e Only Multiple CPU high speed main base unit QnUD H CPU is set to CPU No 1 System Satin Q38DB Q312DB can be used as main base Q3LIB can be used as a main base unit i y 9 unit Motion modules can be mounted to I O 0 to 2 Use device set by forced stop input setting in the system setting Interlock condition Motion modules cannot be installed to I O 0 to 2 slot slot Latch clear Remote operation L CLR switch RUN STOP Remote operation RUN STOP switch RUN STOP switch ROM writing is e
139. l station stop by stop error of CPU3 IV All station stop by stop error of CPU4 Multiple CPU high speed transmission area setting CPU specific send range o3 2 1932 G10000 6119331 nel Nod 2 2ot2 G10000 e1201 36 Total 12k Points Advanced settings The total number of points is up to 12k Automatic refresh setting Push the automatic refresh button to set the automatic refresh of the send range Multiple CPU synchronous startup settina Settings should be set as same when using multiple CPU 2 MULTIPLE CPU SYSTEM Table 2 7 Parameter setting items of Multiple CPU high speed transmission area setting Setting description CPU No corresponding to displayed parameters Setting display value CPU No 1 to No 4 Restriction Consistency check Set the number of points of data that each CPU module sends Default value assigned to each CPU is shown below Default value of CPU specific send range points CPU CPU No 2 No 3 Number of CPUs CPU CPU No 4 Range 0 to 14k points Unit 1k point Points Word in units Set the total of all CPUs to be the following points or lower When constituted with two CPUs 14k points When constituted with three CPUs 13k points When constituted with four CPUs 12k points Provided Number of points used in the automatic refresh function is displayed Number of points that is
140. le CPU high speed main base unit Q38DB Q312DB can be used c The combination of Q173DCPU Q172DCPU and Q173HCPU T d Q172HCPU T Q173CPUN T Q172CPUNC T cannot be used Up to four modules of PLC CPU modules QO3UDCPU Q04UDHCPU QO6UDHCPU Motion CPU modules can be installed from the CPU slot the slot on the right side of power supply module to slot 2 of the main base unit CPU modules called as CPU No 1 to CPU No 4 from the left sequentially There is no restriction on the installation order of CPU No 2 to No 4 For CPU module except CPU No 1 an empty slot can be reserved for addition of CPU module An empty slot can be set between CPU modules However the mounting condition when combining with the High performance PLC CPU module Process CPU module PC CPU module C controller module is different depending on the specification of CPU modules refer to the Manuals of each CPU modules It takes about 10 seconds to startup state that can be controlled of Motion CPU Make a Multiple CPU synchronous startup setting suitable for the system f Execute the automatic refresh of the Motion CPU modules and PLC CPU modules QO3UDCPU Q04UDHCPU QO6UDHCPU by using the automatic refresh of Multiple CPU high speed transmission area setting When the High performance PLC CPU module Process CPU module PC CPU module C controller module is mounted in the combination of Multiple CPU system the Motion CPU module cannot be execute the automat
141. loper 1 Conditions of the absolute position system start Perform a home position return after machine adjustment at the absolute position system start 2 In the absolute positioning system the absolute position may be lost in the following cases Set the absolute position with a home position return a The battery unit is removed or replaced b The battery error of the servo amplifier occurs It is detected at the servo amplifier power on c The machine system is disturbed by a shock d The cable between servo amplifier and encoder is removed or the servo amplifier or encoder is replaced 3 The current value history can be monitored using of the System setting mode allowable travel during power off or Monitor mode using a MT Developer Refer to the help of MT Developer to be used Allowable travel during power off and Monitor mode NCAUTION After removing or replacing the battery unit correctly install the new unit and set the absolute position After a servo battery error occurs eliminate the cause of the error and ensure operation is safe before setting the absolute position After the mechanical system is disturbed by a shock make the necessary checks and repairs and ensure operation is safe before setting the absolute position 4 AUXILIARY AND APPLIED FUNCTIONS 1 The address setting range of absolute position system is 2147483648 to 2147483647 It is not possible to restore positi
142. m G1 U3E0 G10110 5 FA W1 U3E0 G10110 LA uso YY A 2 V3ENG 100 YY CPU No 1 CPU No 1 transmitting transmitting data data WIZZ 5 U3E0 G10100 u3E0 G10110 LY Multiple CPU high speed transmission in 0 88ms cycle I I 1 2 Note 1 The area composed in the Multiple CPU high speed transmission area Refer to Section 3 Memory configuration of Multiple CPU high speed transmission area 4 Write data in the user setting area by the instruction that uses the Multiple CPU area device 3 6 Read data from the user setting area e by the instruction that uses the Multiple CPU area device 5 Transmit the contents of user setting area e to the other CPU with by Multiple CPU high speed transmission in 0 88ms cycle 2 MULTIPLE CPU SYSTEM 1 Access to Multiple CPU high speed transmission area a Description of Multiple CPU area device Word device U O GO gt CPU shared memory address decimal 10000 to up to 24335 First I O number of CPU module First O number 3EQ H 3E1 H 3E2 H 3E3 H Bit device UD GO O Bit specification 0 to F Hexadecimal CPU shared memory address decimal 10000 to up to 24335 First I O number CPU module First O number 3EQ H 3E1 H 3E2 H 3E3 H Example Multiple
143. m design I O Manual relevant to each module modules and intelligent function module Operation method for MT Developer Help of each software Design method for Motion SFC program Q173DCPU Q172DCPU Motion controller SV13 SV22 Design method for Motion SFC parameter Programming Manual Motion SFC Motion dedicated PLC instruction Design method for positioning control program in the real mode Q173DCPU Q172DCPU Motion controller SV13 SV22 Design method for positioning control Programming Manual REAL MODE parameter SV22 Design method for mechanical system Q173DCPU Q172DCPU Motion controller SV22 Virtual mode program Programming Manual VIRTUAL MODE 1 OVERVIEW SSS 1 2 Features The Motion CPU and Multiple CPU system have the following features 1 2 1 Features of Motion CPU 1 Q series PLC Multiple CPU system a Load distribution of processing can be performed by controlling the complicated servo control with Motion CPU and the machine control or information control with PLC CPU Therefore the flexible system configuration can be realized b The Motion CPU and PLC CPU are selected flexibly and the Multiple CPU system up to 4 CPU modules can be realized The Motion CPU module for the number of axis to be used can be selected Q173DCPU Up to 32 axes Q172DCPU Up to 8 axes The PLC CPU module for the program capacity to be used can be selected One or more PLC CPU is necessary with the M
144. matic refresh CPU Paints Stat End Points No 1 No 1 7128 610000 G17127 40 No 2 No 2 6488 610000 G16487 680 No 3 No 3 No 4 No 4 PLC No 1 PLCNo2 CPU No 1 CPUNG2 z Auto refresh CPU specific send range U3E1N _ The device will be used to send the data to other CPU ind Sat Sa E Automatic refresh po 15488 617127 Seting No oder Stat M2400 617128 617167 640 00 40 M2400 e i en o o The applicable device of start device is X Y M B D W SM SD The unit of points of CPU specific send range is word EA i XYMLBD Automatic Refresh Setting List Multiple CPU high speed refresh setting Word is used for point Every 2 points are counted as a set ox __cercet_ Settings should be set as same when using multiple CPU Settings should be set as same when using multiple CPU T Setting using multipl Check Cancel Note The operation example of automatic refresh is shown on the next page 2 MULTIPLE CPU SYSTEM Set the following operation for automatic refresh setting using GX Developer 1 Select tab Multiple CPU high speed communication area setting 2 Set Use Multiple CPU high speed communication Multiple CPU settin
145. may lead to signals not being output when trouble occurs or the protective functions not functioning Control output Do not connect or disconnect the connection cables between signal each unit the encoder cable or PLC expansion cable while the power is ON Securely tighten the cable connector fixing screws and fixing mechanisms Insufficient fixing may lead to the cables combing off during operation Do not bundle the power line or cables 24VDC 5 Trial operation and adjustment Z CAUTION Confirm and adjust the program and each parameter before operation Unpredictable movements may occur depending on the machine Extreme adjustments and changes may lead to unstable operation so never make them When using the absolute position system function on starting up and when the Motion controller or absolute value motor has been replaced always perform a home position return 6 Usage methods Z CAUTION Immediately turn OFF the power if smoke abnormal sounds or odors are emitted from the Motion controller servo amplifier or servomotor Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized Do not make any modifications to the unit Keep the effect or electromagnetic obstacles to a minim
146. n 1 Multiple CPU high speed transmission Multiple CPU high speed transmission is a function for fixed cycle data transmission between Multiple CPUs Multiple CPU high speed transmission cycle is 0 88ms Secure data transmission is possible without effecting the PLC CPU scan time or Motion CPU main cycle because the data transmission and execution of PLC program and Motion SFC program can be executed with parallel processing High speed response between multiple CPUs is realized by synchronizing the Multiple CPU high speed transmission cycle with Motion CPU operation cycle CPU No 1 PLC CPU PLC program SM400 GEN 1 MOV Wo G10000 H U3E0 610010 1 a A x x SM400 stet A MOV W1 G10100 H U3EO 610110 5 4 eo END L The following methods of data transmission exist between Multiple CPUs for Multiple CPU high speed transmission Multiple CPU area device method Directly set the Multiple CPU high speed transmission area by Multiple CPU area device ULGLI in the program Automatic refresh method Refresh the internal devices of each CPU by automatic refresh via Multiple CPU high speed transmission area a Multiple CPU area device method C U3E0 G10000 U3E0 G10010 4 U3E0 G10100 U3E0 G10110 PU shared memory User setting area Note 1 CPU No 2 Motion CPU CPU shared memory User setting area Note 1 GO U3E0 G10010 1 FO W0 U3E0 G10010 Motion SFC progra
147. n PLC CPU No 1 is reset If a stop error occurs in any of the CPUs on the Multiple CPU system either reset CPU No 1 or restart the Multiple CPU system power supply ON gt OFF gt ON for recovery Recovery is not allowed by resetting the error stopped CPU modules other than CPU No 1 1 It is not possible to reset the CPU modules of No 2 to No 4 individually in the Multiple CPU system If an attempt to reset any of those PLC CPU modules during operation of the Multiple CPU system a MULTI CPU DOWN error code 7000 error will occur for the other CPUs and the entire Multiple CPU system will be halted However depending on the timing in which any of PLC CPU modules other than No 1 has been reset an error other than the MULTI CPU DOWN may halt the other PLC CPUs Motion CPUs 2 A MULTI CPU DOWN error code 7000 error will occur regardless of the operation mode All stop by stop error of CPU n continue set at the Multiple CPU setting screen when any of PLC CPU modules of No 2 to No 4 is reset Refer to Section 2 1 6 2 MULTIPLE CPU SYSTEM 2 1 6 Operation for CPU module stop error The entire system will behaves differently depending whether a stop error occurs in CPU No 1 or any of CPU No 2 to No 4 in the Multiple CPU system 1 When a stop error occurs at CPU No 1 a A MULTI CPU DOWN error code 7000 error occurs at the other CPUs and the Multiple CPU system will be halted when a stop error occurs at the
148. n initial process and stored as the bit data SD502 b0 to b15 Axis 1 to 16 SD503 b0 to b15 Axis 17 to 32 The axis which turned from non loading to loading status after power on is handled as loaded However the axis which turned from loading to non loading status remains as loaded S Initial processing When a mode switching error occurs in real to virtual or virtual to real mode switching or a mode continuation error occurs in the virtual mode its error information is stored S Occur an error This signal is used to temporarily suspend SSCNET communication while servo amplifiers and or SSCNETIII cables after Axis 1 are exchanged with the power supply ON in a Multiple CPU system SD508 stores the command status for accept waiting or execute waiting during this process 0 Connect disconnect command accept waiting 1 Connect disconnect execute waiting 2 Connect disconnect executing Each axis is stopping O Operating 1 information is stored as a bit data SD510 b0 to b15 Axis 1 to Axis 16 SD511 b0 to b15 Axis 17 to Axis 32 S Main processing The following error codes are stored in SD512 S W fault 1 Operation cycle over Q bus WDT error WDT error 201 to 215 Q bus H W fault 250 to 253 Servo amplifier interface H W fault 300 S W fault 3 301 15 CPSTART instructions of 8 or more points were started simultaneously 303 S W fault 4 SD513 Manual pulse SD514 generator a
149. n instantaneous power failure of within 10 ms occurs during use of the AC power supply module Reset when the power supply is switched OFF then ON Battery low warning latch Battery low warning Fuse blown detection SM51 SM52 SM53 7 N N o Oo U c zZ 9 Ps m gt U lt complete SM221 CPU No 2 READY Note 1 complete M222 CPU No 3 READY complete SM223 CPU No 4 READY Note 1 complete ras A 9 os F g n HH Normal Battery low Normal Battery low Normal Turn ON if the voltage of external battery reduces to less than 2 7 V Remains ON even if the condition is restored to normal thereafter Turn on when the voltage of the external battery reduces to less than 2 7 V Turn OFF when the voltage of external battery returns to normal Turn ON if there is at least one output module whose fuse has blown Module with blown fuse Remains ON even if the condition is restored to normal OFF No error M211 Clock dat OFF CPU No 1 READY incompletion ON CPU No 1 READY completion OFF CPU No 2 READY incompletion ON CPU No 2 READY completion OFF CPU No 3 READY incompletion ON CPU No 3 READY completion OFF CPU No 4 READY incompletion ON CPU No 4 READY completion thereafter Turn ON if an error occurs in clock data SD210 to SD213 value and turn OFF if no error is detected S Request Turn ON if CPU No 1 which
150. nchronous startup setting point 1 0 No Stat End Target PLC 6510000 40 B17128 B17157 10000 680 G16488 G17167 IV Not Iv No2 F F Total T4K points Settings should be set as same when ttings sh The total number of points is up to 14K using multiple CPU Import Multiple CPU Parameter Check 2 MULTIPLE CPU SYSTEM b Operation example The example of operating Multiple CPU high speed refresh function is shown below PLC CPU CPU No 1 Motion CPU CPU No 2 Multiple CPU high speed Multiple CPU high speed Internal relay transmission area transmission area Internal relay MO U3E0 G10000 U3E0 G10000 MO CPU No 1 CPU No 1 M2399 transmitting data receiving data M2399 M2400 LEY LL Axis A Automatic Automatic j M2496 X status refresh area refresh area M3039 M3039 M3040 M3040 M3199 U3E1 G10000 U3E1 G10000 x M3199 M3200 M3200 CPU No 2 CPU No 2 E receiving data transmitting data ZZY axis command 4 M3296 signal M3839 M3839 M3840 M3840 EN EN M8191 Data register Data register DO DO D2 D3 1 axis monitor D12 D13 device Automatic Automatic i D19 refresh area refresh area c ley D20 D22 D23 2 axis monitor D32 D33 device D39 D40 D42 D43 3 axis monitor D52 D53 device D59 D60 D62 D63 4 axis monitor D72 D73 device D79 D80 5 to 32 axis monitor device D639 D639 D640 D640 Cont
151. ng from STOP to RUN M2000 is turned on by switching from STOP to RUN and setting 1 in the set register M2000 is turned on by switching from STOP to RUN Set the condition in which the PLC ready flag M2000 turns on System basic setting Forced stop Note 1 None X PX 0 to 1FFF M 0 to 8191 Set the bit device to use forced stop in the program However the forced stop input by EMI terminal of Motion CPU module cannot be invalidated using parameter setting Latch range M 0 to 8191 B 0 to 1FFF F 0 to 2047 D 0 to 8191 W 0 to 1FFF Set the latch range of device memory Self CPU insta lation position setting Set self CPU other CPU CPU empty for slots 0 1 2 The setting range varies depending on the number of Multiple CPUs installed Set the installation position of the self CPU in the main base 3 COMMON PARAMETERS Individual parameters Amplifier setting Setting range Q173DCPU Up to 2 systems 32 axes Q172DCPU Up to 1 system 8 axes Initial value Set the model name axis No and other details for the servo amplifiers External signal input setting Amplifier input invalid Amplifier input valid Amplifier input invalid Input filter setting None 0 8ms 1 7ms 2 6ms 3 5ms High speed data read setting One Q172DEX Q173DPX module and one input module Set the high speed read data Refer to Section 4 3 Optional da
152. nnot be used in the extension base unit Mount it to the main base unit 1 OVERVIEW 2 Peripheral device configuration for the Q173DCPU Q172DCPU The following a b can be used a USB configuration b RS 232 configuration B B PLC CPU module PLC CPU module QnUD H CPU QnUD H CPU t t OO RS 232 communication cable QC30R2 USB cable MED Personal computer Personal computer 1 OVERVIEW 1 3 2 Q173DCPU System overall configuration Motion CPU control module k I PLC CPU Motion CPU Servo external signals interface module Synchronous encoder interface module I Manual pulse generator interface module y y Main base unit Q3LDB Q173D CPU H L Q173D PX I O module Intelligent function module 100 200VAC A A Manual pulse generator x 3 module MR HDP01 Up to 1 module Serial absolute synchronous encoder cable USERS A92 Q170ENCCBLLIM ESESESED g Serial absolute synchronous encoder x 2 module Q170ENC Up to 6 modules Personal Computer IBM PC AT External input signals Number of Inputs FLS Upper stroke limit RLS Lower stroke limit 8 axes module STOP Stop signal Up to 4 modules DOG CHANGE Proximity dog Speed position switching Bat
153. ntent The year last two digits and month that SDO data was updated is stored as BCD 2 digit code B15 to B8 B7 to Bo Example January 2006 Year 0 to 99 Month 1 to 12 H0601 The day and hour that SDO data was updated is stored as BCD 2 digit code Clock time for Clock time for diagnostic error diagnostic error B15 to B8 B7 to Bo Example 25st 10 a m occurrence occurrence Day 1to 31 Hour 0 to 23 The minute and second that SDO data was updated is stored as BCD 2 digit code SD3 Example 35min 48 B15 to B8 B7 to BO Example somin 40 Sec H2510 H3548 Minute 0 to 59 Second 0 to 59 Category codes which help indicate what type of information is being stored in the error common information areas SD5 to SD15 and error individual information areas SD16 to SD26 are stored The category code for judging the error information type is stored B15 to B8 B7 to BO Individual information Common information category codes category codes S Occur an error Error information Error information categories category code The common information category codes store the following codes 0 No error 1 Module No CPU No Base No The individual information category codes store the following codes 0 No error 5 Parameter No 13 Parameter No CPU No Common information corresponding to the diagnostic error SD0 is stored The error common information
154. nts k Points End Points Kit Not 4 3934 G10000 613933 ez 1 0 2 4 3832 BTE E 1 o od Total 16k Points The total number of points is up to 16k Automatic refresh setting Push the automatic refresh button to set the automatic refresh of the send range v Multiple CPU synchronous startup settina Settings should be set as same when using multiple CPU Data si Setting display value ata size Setting descripti a a Points Word in units Restriction consistency check Set the total of all CPUs to be the following points or lower When constituted with two CPUs 14k points Provided When constituted with three CPUs 13k points When constituted with four CPUs 12k points CPU specific Set the number of points of data Range 0 to 14k points that each CPU module sends Unit 1k points Set the number of points for a system area to be assigned for System area each CPU module Range 1k 2k points Provided Default value of system area size is 1k point Display the total of number of points of the self CPU send area and the system area that are assigned to the each CPU module Range 1 to 16k points Set the total of all CPUs to Unit 1k points 16 0k points or lower 2 MULTIPLE CPU SYSTEM b Automatic refresh setting Setting for use of the automatic refresh function in the Multiple CPU high speed transmission area Up to 32 set
155. nuously obtained ee a Selection of module Select the module to achieve the function with the Multiple CPU system a Ch Installation of module Install the selected module on the main base unit and extension base unit Start up of GX Developer Start up GX Developer Ver 8 48A or later a Creation of parameters etc Create the parameter such as Multiple CPU setting and control CPU setting and the PLC program Connection of PC to the PLC CPU module of CPU No 1 Connect the PC that started GX Developer to the PLC CPU module of CPU No 1 with the RS 232 cable USB cable Multiple CPU system power ON Turn ON the power of Multiple CPU system in the following state of PLC CPU module of CPU No 1 RUN STOP RESET switch STOP Write of parameter and program Write parameter and PLC program in the PLC CPU of CPU No 1 For PLC CPU other than CPU No 1 select the applicable PLC CPU by specifying the connection Mc et 1 e Refer to Section 2 3 Refer to the Q173DCPU Q172DCPU User s Manual Refer to the Q173DCPU Q172DCPU User s Manual e Refer to the GX Developer Manual Create the parameters for CPU No 1 to 4 and PLC programs e Refer to the QCPU User s Manual Function Explanation Program Fundamentals 2 MULTIPLE CPU SYSTEM SSS SSS 1 i Start up of MT Developer e Refer to the help fo
156. o amplifiers or servomotors that are damaged or that have missing parts Do not block the intake outtake ports of the Motion controller servo amplifier and servomotor with cooling fan Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the Motion controller servo amplifier or servomotor NCAUTION The Motion controller servo amplifier and servomotor are precision machines so do not drop or apply strong impacts on them Securely fix the Motion controller servo amplifier and servomotor to the machine according to the instruction manual If the fixing is insufficient these may come off during operation Always install the servomotor with reduction gears in the designated direction Failing to do so may lead to oil leaks Store and use the unit in the following environmental conditions Motion controller Servo amplifier Servomotor Ambient According to each instruction manual 0C t0 t40 C Wit rio egeo temperature 32 F to 104 F 80 RH or less With no dew condensation Environment Ambient humidity According to each instruction manual Storage 20 C to 65 C According to each instruction manual temperature 4 F to 149 F Indoors where not subject to direct sunlight Atmosphere UE No corrosive gases flammable gases oil mist or dust must exist 1000m 3280 84ft or less above sea level According to each instruction manual When
157. ogical add of the output results in the regions is output ON ON Output device OFF v OFF ON region setting No 2 ae ai ON Value OFF Value A ON Value ON region setting No 1 Watch data value 2 Output enable disable bit can be set and executed enable disable of the limit switch outputs point by point Limit switch output control is executed when the output enable disable bit is ON and the output is OFF when it is OFF If there is no setting the outputs are always enabled 3 Forced output bit can be set and turned the forcibly output of the limit switch outputs point by point ON The output is ON when the forced output bit is ON Priority is given to control of this setting over off disable of the output enable disable bit If there is no setting no forced outputs are not always made 4 AUXILIARY AND APPLIED FUNCTIONS 4 When the multiple watch data ON region output enable disable bit and forced output bit are set to the same output device the logical add of output results of the settings is output fos 1 Without output enable disable bit forced output settings Output device OFF Value amp amp vf ul Lilli ON region setting Watch data value ON Value 2 With output enable disable bit forced output settings amp
158. omagnetic brake signal signal EMG Servomotor Electro magnetic brakes If an error occurs remove the cause secure the safety and then resume operation after alarm release The unit may suddenly resume operation after a power failure is restored so do not go near the machine Design the machine so that personal safety can be ensured even if the machine restarts suddenly 8 Maintenance inspection and part replacement Z CAUTION Perform the daily and periodic inspections according to the instruction manual Perform maintenance and inspection after backing up the program and parameters for the Motion controller and servo amplifier Do not place fingers or hands in the clearance when opening or closing any opening Periodically replace consumable parts such as batteries according to the instruction manual Do not touch the lead sections such as ICs or the connector contacts Before touching the module always touch grounded metal etc to discharge static electricity from human body Failure to do so may cause the module to fail or malfunction Do not directly touch the module s conductive parts and electronic components Touching them could cause an operation failure or give damage to the module Do not place the Motion controller or servo amplifier on metal that may cause a power leakage or wood plastic or vinyl that may cause static electricity buildup Do not perform a megger test insulation res
159. on commands that exceed this limit or current values after a power interruption Correspond by the degree setting for an infinite feed operation Even when the current value address is changed by a current value change instruction the restored data for the current value after a power interruption is the value based on the status prior to execution of the current value change instruction 3 When home position return has not been completed home position return request is ON restoration of the current value after a power interruption is not possible 4 AUXILIARY AND APPLIED FUNCTIONS 4 2 1 Current value control The current value when using the ABS encoder is controlled by following functions 1 The validity of an encoder data during operation is checked a Checks that the amount of change of the encoder in a 3 5 ms is within 180 degrees at the motor axis An error is displayed at the abnormal b Checks that adjustment of the encoder data and feed back positions controlled with the servo amplifier An error is displayed at the abnormal 2 The following values can be monitored by the current value history monitor of MT Developer Monitor conditions Monitor value Multiple CPU system power ON OFF Encoder current value Servo command value Home position return completion Monitor current value a Current value history monitor Month day hour minute The time such as at the completion of home position return and se
160. ons can be used to access device data from the PLC CPU to Motion CPU and start Motion SFC program 2 MULTIPLE CPU SYSTEM Eu i 2 1 2 Installation position of CPU module Up to four PLC CPUs and Motion CPUs can be installed from the CPU slot the right side slot of the power supply module to slots 2 of the main base unit The Motion CPU module cannot be installed in the CPU slot The PLC CPU module must be installed in the CPU slot CPU No 1 in the Multiple CPU system There is no restriction on the installation order for CPU modules CPU No 2 to 4 Note Refer to the manual for each CPU module when the High performance PLC CPU module Process CPU module PC CPU module and C controller module is mounted in the combination of Multiple CPU Table 2 1 Example for CPU module installation Number of CPUs Installation position of CPU module Power supply QnUD H CPU CPU Power supply QnUD H CPU 1 QnUD H CPU CPU No 1 Power supply QnUD H CPU CPU No 1 Power supply CPU QnUD H CPU 1 QnUD H CPU CPU Power supply QnUD H CPU 2 CPU QnUD H CPU Power supply QnUD H CPU CPU No 1 CPU No 2 CPU No 3 CPU No 4 CPU No 2 CPU No 1 CPU No 3 CPU No 4
161. ontrary The headings in the table that follows have the following meanings Explanation Name Indicates the name of the special register Indicates whether the register is set by the system or user and if it is set by system when setting is performed Set by S Set by system Motion CPU U Set by user Motion SFC program or test operation using MT Developer S U Set by both system Motion CPU and user Set by Whenset Indicated only if setting is done by system Motion CPU When set Main process Set during each main processing free time processing of the CPU Initial process Set only during initial processing when power supply is turned ON or when executed the reset Status change Set only when there is a change in status Error Set when error is occurred Request Set only when there is a user request Special relay etc Operation cycle Set during each operation cycle of the Motion CPU APP 5 APPENDICES Table 1 2 Special register list s E t en se Error codes for errors found by diagnosis are stored as BIN data Refer to APPENDIX 3 for details of the error code Diagnostic error After confirm the error content except the stop error it is possible to clear by code ON to OFF of the Motion error detection flag M2039 Clear SDO to SD26 by ON to OFF of the Motion error detection flag M2039 Diagnostic errors for except the stop error after confirming the error co
162. or cause Refer to the servo program setting error codes for details of servo program setting errors Check the Motion error history of MT Developer and the real mode virtual m mode switching error storage device and remove the error cause Realmode virtual mode switching error occurred SV22 Refer to the real mode virtual mode switching error codes for details of real mode virtual mode switching errors Check the Motion error history of MT Developer and the manual pulse generator axis setting error storage device and remove the error cause Refer to the manual pulse generator axis setting error codes for details of manual pulse generator axis setting errors Manual pulse generator axis setting error occurred Check the Motion error history of MT Developer and the test mode request 10010 Test mode request error occurred error storage device and remove the error cause 10011 WDT error occurred at Motion CPU Check the Motion error history of MT Developer and the Motion CPU WDT error factors and remove the error cause 10014 System setting error occurred at Motion CPU Check the error message on error monitor screen of MT Developer and remove the error cause And then turn on the power supply again or reset 10016 Motion slot fault occurred at Motion CPU the Multiple CPU system 10020 10021 10022 10023 10030 Motion CPU internal bus error occurred Motion GPU m dule hardware fault Explain the error symptom and ge
163. ories category code 0 No error 1 Module No CPU No Base No The individual information category codes store the following codes 0 No error 5 Parameter No 13 Parameter No CPU No Common information corresponding to the diagnostic error SDO is stored The error common information type can be judged by SD4 common information category code 1 Module No CPU No Base No No Meaning Error common Error common ETENN Module No CPU No Base No information information on No Empty Individual information corresponding to the diagnostic error SDO is stored The error individual information type can be judged by SD4 individual information category code 5 Parameter No No Meaning SSS SDi6 ParmeterNo 0 0 SD17 Empty Boom 0401H Base setting 0406H Motion slot setting OEO0H Multiple CPU setting Number of Multiple CPU s Error individual Error individual 0E01H Multiple CPU setting Operation mode Multiple CPU synchronous startup information information E008H Multiple CPU high speed transmission area setting CPU specific send range setting System area EOO9H EO0AH Multiple CPU high speed transmission area setting Automatic refresh setting EOOBH Synchronous setting 13 Parameter No CPU No No Meaning SD16 SD17 CPU No 1 to 4 SD18 to Empty SD26 APP 24 APPENDICES 4 Release of Multiple CPU related error The release operation of errors that
164. ots on the base number of extension bases and slot No are set in the GOT parameter for bus connection with GOT Set the one extension base 16 points x 10 slots for connection with GOT then set 10 slots as number of extension bases for connection with GOT in the system setting base setting Example When the 2nd stage of extension base is set as connection with GOT Set 10 slot as 2nd stage of extension base in the base setting Basic Setting Base Setting Multiple CPU Setting System Basic Setting Main Base 8 Slot Extension Base 1st Stage 8 i 2nd Stage Nothing vj Nothi 3rd Stage 2 iaa 4th Stage 5th Stage 12 Bth Stage Nothing th Stage Nothing 3 COMMON PARAMETERS 3 1 3 Individual parameters 1 System basic setting The following explains each item to be set in system basic setting Basic Setting Base Setting Multiple CPU Setting peration Cycle C O 4ms C 0 8ms C 1 7ms C 35ms C 71ms C 142ms Automatic Setting Latch Range Operation at STOP to RUN M2000 is turned on by switching from STOP to RUN C M2000 is tumed on by switching from STOP to RUN and setting 1 in the set register Forced Stop Nothing X PX CM Intemalrelay M Oto 8191 1000 3000 Link relay B Oto 1FFF Data register D Oto 8131 1000 5000 Latch 1 It is possible to clear using the remote operation latch clear 1 latch clear
165. peration Terminal GOT b Be sure to use the external battery c There are following methods to execute the forced stop input Use a EMI terminal of Motion CPU module Use a device set in the forced stop input setting of system setting d Forced stop input for EMI terminal of Motion CPU module cannot be invalidated by the parameter When the device set in the forced stop input setting is used without use of EMI terminal of Motion CPU module apply 24VDC voltage on EMI terminal and invalidate the forced stop input of EMI terminal e Be sure to use the cable for forced stop input sold separately The forced stop cannot be released without using it f When the operation cycle is 0 4 ms set the system setting as the axis select switch of servo amplifier 0 to 7 If the axis select switch of servo amplifier 8 to F is set the servo amplifiers are not recognized g Itis impossible to mount the main base unit by DIN rail when using the Motion CPU module Doing so could result in vibration that may cause erroneous operation h The module name displayed by System monitor Product information list of GX Developer is different depending on the function version of Motion modules Q172DLX Q172DEX Q173DPX Note Even if the function version C is displayed it does not correspond to the online module change Q172DLX Q172LX Q172DLX Q172DEX MOTION UNIT Q172DEX Q173DPX MOTION UNIT Q173DPX 1 19 1 OVER
166. points i 3 i Stores the number of points currently set for D devices assigned for D Number of points j Stores the number of points currently set for W devices assigned for W Number Of polnits Stores the number of points currently set for SW devices assigned for SW SD303 APP 8 APPENDICES Table 1 2 Special register list Continued nie t en sel SD395 Multiple CPU No Multiple CPU No CPU No of the self CPU is stored S Initial processing Real mode axis information register Servo amplifier loading information Real mode virtual mode switching error information Connect Disconnect Status Test mode request error Motion CPU WDT error cause Real mode axis information register Servo amplifier loading information Real mode virtual mode switching error code Connect disconnect of SSCNET It is operating in requirement error occurrence of the test mode axis information Error meaning of WDT error occurs The information Real mode axis 0 Except real mode axis 1 used as a real mode axis at the time of switching from real mode to virtual mode is stored SD500 b0 to b15 Axis 1 to 16 SD501 b0 to b15 Axis 17 to 32 The real mode axis information does not change at the time of switching from virtual mode to real mode S At virtual mode transition The loading status loading 1 non loading 0 of the servo amplifier checked i
167. r operation of MT Developer Start up MT Developer i Creation of system settings and e Refer to Section 3 1 for system settings program etc e Refer to the Programming Manual of each operating system software for details of program Motion CPU Create the system settings servo data and Motion SFC program Write to the Motion CPU Write the system settings servo data and Motion SFC program i Switch setting for all CPUs Set RUN STOP RESET switch of PLC CPU modules and RUN STOP switch of Motion CPU modules in CPU No 1 to 4 to RUN PLC CPU Motion CPU Reset PLC CPU module of CPU No 1 Set RUN STOP RESET switch of PLC CPU module in CPU No 1 to RESET to reset the entire system PLC CPU 1 Status check in all CPU modules Check if all CPUs of the Multiple CPU system are RUN status error by resetting the CPU module of CPU No 1 A i Check and correction of errors An error is checked with the PC diagnosis function of GX Developer and Motion CPU error batch monitor of PLC CPU MT Developer for correction Motion CPU Debug of each CPU module Multiple CPU system is debugged for each PLC CPU Motion CPU Actual operation Check in the automatic operation END Note Installation of the operating system software is required to the Motion CPU module before start of the Multiple CPU
168. rol change D703 register D704 Axis 1 to 4 status information M2400 to M2495 is transferred to the automatic refresh area one every operation cycle of the Motion CPU Axis 1 to axis 4 command signals are received from the automatic refresh area one every operation cycle of the Motion CPU Real current values of Axis 1 to axis 4 and M code is updated by setting DO to D639 of the Motion CPU to the automatic refresh area Every 0 88ms data in the automatic refresh area of all CPUs are transferred allowing each CPU to update its data upon its next independent operation cycle 2 28 2 MULTIPLE CPU SYSTEM 2 3 4 Clock synchronization between Multiple CPU The clock of each CPU is synchronized with the clock of CPU No 1 The clock data used for synchronization in a Multiple CPU system can be edited 1 Setting of clock data Set the clock of CPU No 1 The Motion CPU module operates automatically by the clock of CPU No 1 The clock data of CPU No 1 is automatically set even if the clocks of CPU No 2 to 4 are set independently 2 Synchronization of clock data All clocks are synchronized with CPU No 1 immediately after turning ON resetting power and every 1 second interval thereafter 3 Information of clock The clock data that CPU No 1 transmits is year month day day of week hour minute and second 4 Error Since CPU No 1 sets the clock data at 1 second intervals an error of up to
169. rves as a life in 100000 times writing Make the ROM writing within 100000 times If it passes over a life writing error will occur replace the Motion CPU module 3 The online change of Motion SFC program executes the Motion SFC program performed the online change from the next scanning at the mode operated by ROM Operation starts with the contents of the Motion SFC program written in the FLASH ROM built in Motion CPU module at next power supply on or reset 4 It needs to meet the following conditions for the ROM writing a PLC ready flag M2000 OFF b Not installation mode 4 AUXILIARY AND APPLIED FUNCTIONS 1 Write the programs and parameters written in the SRAM built in Motion CPU module to the FLASH ROM built in Motion CPU module for the ROM operation lt ROM writing gt Mode operated by RAM Mode operated by ROM Motion CPU module Be sure to write the programs and parameters beforehand SRAM to the SRAM built in Motion CPU module at the ROM operation IBM PC AT Programs Parameters etc MT Developer 1 ROM writing request Programs FLASH ROM Parameters etc Programs Parameters etc 2 ROM writing lt ROM operation gt Mode operated by RAM Mode operated by ROM Motion CPU module SRAM Read at starting Programs Parameters etc FLASH ROM Programs Parameters etc 4 AUXILIARY AND APPLIED FUNCTION
170. rvo amplifier power supply ON OFF is indicated In order to indicate the time correctly turn on SM801 clock data read request in the Motion SFC program after setting the clock data of special register b Encoder current value When using the MR J3 LIB the multiple revolution data and within one revolution data read from the encoder is indicated Note For the encoder current value in the home position data area the encoder current value when the motor is within the in position range at the completion of home position return is displayed not encoder value of home position c Servo command value The command value issued to the servo amplifier is indicated d Monitor current value The current value controlled in the Motion CPU is indicated Note A value near the feed current value is indicated However because the monitor current value and feed current value are different data it is not abnormal even if a different value is indicated e Alarms When an error for current value restoration occurs at the servo amplifier power on an error code is indicated 3 By setting of the Allowable travel during power off if the encoder data changes exceeding the setting range during power off it checks at servo amplifier power on An error is displayed at the abnormal Allowable travel during power off cannot be set for the Linear servo amplifier 4 10 4 AUXILIARY AND APPLIED FUNCTIONS 4 3 High Speed Readin
171. s terminated by an error etc Thus an error correspondence interlock program specified in the instruction manual must be used Use the interlock program specified in the intelligent function module s instruction manual for the program corresponding to the intelligent function module 3 Transportation and installation NCAUTION Transport the product with the correct method according to the mass Use the servomotor suspension bolts only for the transportation of the servomotor Do not transport the servomotor with machine installed on it Do not stack products past the limit When transporting the Motion controller or servo amplifier never hold the connected wires or cables When transporting the servomotor never hold the cables shaft or detector When transporting the Motion controller or servo amplifier never hold the front case as it may fall off When transporting installing or removing the Motion controller or servo amplifier never hold the edges Install the unit according to the instruction manual in a place where the mass can be withstood Do not get on or place heavy objects on the product Always observe the installation direction Keep the designated clearance between the Motion controller or servo amplifier and control panel inner surface or the Motion controller and servo amplifier Motion controller or servo amplifier and other devices Do not install or operate Motion controller serv
172. s to execute in the Motion SFC program c Reduce the number of normal task programs to execute simultaneously in the Motion SFC program d Reduce the number of automatic refresh points of CPU shared memory 4 When a main cycle is lengthened more than 1 0 s a WDT error may occur in the Motion CPU 5 Details of main cycle monitor register is shown below Current scan time Current scan time is stored in the unit 1 ms SD520 Scan time i 1ms units Setting range 0 to 65535 ms Maximum scan time Maximum main cycle is stored in the unit 1 ms SD521 Maximum scan time s 1ms units Setting range 0 to 65535 ms 4 AUXILIARY AND APPLIED FUNCTIONS 4 9 Servo Parameter Reading Function 1 When the servo parameters are changed the Motion CPU will be automatically read the servo parameters and reflected them to the servo parameter storage area in the Motion CPU Therefore an operation to read servo parameters is unnecessary in the following cases a The parameters are changed by auto tuning b The parameters are changed by connecting directly MR Configurator to the servo amplifier If the power supply of Multiple CPU system is turned off reset or the power supply of servo amplifier is turned off immediately after change it may not be reflected 2 After executing the servo parameter reading function when it needs to reflect the servo parameters changed to the MT Developer read the servo p
173. set by the automatic refresh setting is displayed Range 0 to 14336 points Unit 2 points Do not exceed the CPU specific send range points User setting area Area size specified directly by program is displayed The value where the number of points set in the automatic refresh is subtracted from the CPU specific send range setting is displayed Range 0 to 14336 points Unit 2 points 2 MULTIPLE CPU SYSTEM Selecting Advanced setting enables the ability to change the number of points from 1k to 2k in the system area used for Motion dedicated PLC instructions Changing the number of points in the system area to 2k increases the number of Motion dedicated PLC instructions that can be executed concurrently in a scan The screen where Advanced setting is selected is shown below Refer to the Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual Motion SFC for the Motion dedicated PLC instruction Basic Setting Base Setting Multiple CPU Setting System Basic Setting No of CPUC Operating Mode 4 ie dule s Error operation made at the stop of CPLI Please set the number of Multiple CPU v All station stop by stop error of CPU2 v All station stop by stop error of CPU3 JV All station stop by stop error of CPU4 Multiple CPU high speed transmission area setting CPU specific send ranae User setting area Automatic refresh System area CPU Poi
174. ssssssssessese ene eee eee 4 11 4 4 ROM Operation Function sesssssssssssssssseseseenenenem eene nennen tret sinn nnn enner e sn niin nene ESR EEEE 4 12 4 4 1 Specifications of 7 segment LED Switches sessssseseseeeeeenen enne 4 12 4 4 2 Outline of ROM operation sess eene tenerent enn n nennen nennen 4 14 4 4 3 Operating procedure of the ROM operation function sessssssssssseeeeeeeeee 4 19 4 5 Security FONCION aa eerte dte RE E e e ode Petite n eee 4 21 4 5 1 Password registration change sssssssssseeseeeeeeeneee nennen nnne nre nnne nnne rnnt 4 21 4 5 2 Password delete 5 22 d igit tap etu teu lat eld 4 23 4 5 3 P sswotd check oit Rite ett tte emet dite e iet 4 24 4 5 4 Password Save ii a e n e ined ode Re Hu o gen A MOT LR Le LOL Lo A adalah POT Lo BO eg 4 25 4 6 All clear function x ete herd Er ote eai te pe rx eri re ore pee AE a De Pre des 4 26 4 7 Communication via Network sssssssssssessssseeeeeerenene enne e nnns nennen er tls nnns nnns nennen 4 27 4 7 1 Specifications of the communications via network sess 4 27 4 7 2 Access range of the communications via network sssseeeeeeneeeeeeneenen 4 28 4 8 Monitor Function of the Main Cycle ssssssseseeee eene eene nneenmennn ener nennen ener enne 4 33 4 9 Servo Parameter Reading Function ssssssssssseeeeee nennen
175. system Refer to Chapter 5 of the Q173DCPU Q172DCPU User s Manual for installation of the Motion CPU operating system software 2 MULTIPLE CPU SYSTEM 2 3 Communication between the PLC CPU and the Motion CPU in the Multiple CPU System 2 3 1 CPU shared Memory 1 Structure of CPU shared memory The CPU shared memory is memory provided for each CPU module by which data is written or read between CPU modules of a Multiple CPU system The CPU shared memory consists of four areas Self CPU operation information area System area User setting area Multiple CPU high speed transmission area The CPU shared memory configuration and the availability of the communication from the self CPU using the CPU shared memory by program are shown below Self CPU Other CPU CPU shared memory Write Read Write Read 0H O ete ee sas eh tt i Self CPU operation Note 2 Note 2 1 us ag information area x O X O 200H 512 Po to to System area x x x D 7FFH 2047 800H 2048 to to User setting area Ga S pd P is FFFH 4095 29 1000H 4096 to to Unusable x x x X 270FH 9999 2710H 10000 Multiple CPU high speed Multiple gi to to transmission area Note 3 Note 3 Note 3 up to Variable size in 0 to A Spend O x O BFOFH 24335 14klpoints 1k words in unit j us Communication allowed gt lt Communication not allowed Note 1 Us
176. t Special relay etc Operation cycle Set during each operation cycle of the Motion CPU APP 1 APPENDICES Diagnostic error Self diagnostic error Battery low latch Battery low AC DC DOWN detection Table 1 1 Special relay list D dia B t en se No error Error No self diagnostic error Self diagnostic error Normal Battery low Normal Battery low AC DC DOWN not detected AC DC DOWN detected Turn ON if an error occurs as a result of diagnosis Remains ON even if the condition is restored to normal thereafter Turn ON by ON to OFF of the Motion error detection flag M2039 for except the stop error after confirming the error content Turn ON if an error occurs as a result of self diagnosis Remains ON even if the condition is restored to normal thereafter Turn ON by ON to OFF of the Motion error detection flag M2039 for except the stop error after confirming the error content Turn ON if the voltage of external battery reduces to less than 2 5 V Remains ON even if the condition is restored to normal thereafter Turn on when the voltage of the external battery reduces to less than 2 5 V Turn OFF when the voltage of external battery returns to S Occur an error normal Turn ON if an instantaneous power failure of within 20 ms occurs during use of the AC power supply module Reset when the power supply is switched OFF then ON Turn ON if a
177. t advice from our sales representative Check the Motion error history of MT Developer and remove the error Motion SFC error occurred at Motion SFC program cause Refer to the Motion SFC error code for details of errors APP 23 APPENDICES 3 Self diagnostic error information Ra ti Error codes for errors found by diagnosis are stored as BIN data The year last two digits and month that SDO data was updated is stored as BCD 2 digit code B15 to B8 B7 to Bo Example January 2006 Year 0 to 99 Month 1 to 12 H0601 Clock time for Clock time for The day and hour that SDO data was updated is stored as BCD 2 digit code SD2 diagnostic error diagnostic error B15 to B8 B7 to Bo Example one a m occurrence occurrence Day 1 to 31 Hour 0 to 23 The minute and second that SDO data was updated is stored as BCD 2 digit code B15 to B8 B7 to BO Example 35min 48 sec Minute 0 to 59 Second 0 to 59 H3548 Category codes which help indicate what type of information is being stored in the error common information areas SD5 to SD15 and error individual information areas SD16 to SD26 are stored The category code for judging the error information type is stored B15 to B8 B7 to BO Individual information Common information category codes category codes Error information Error information The common information category codes store the following codes categ
178. ta Day of week Sunday Day of week Always set to 0 Monday Tuesday Wednesday Thursday Friday Saturday Number of poi a SEO I Stores the number of points currently set for X devices assigned for X Number of points i A Stores the number of points currently set for Y devices assigned for Y Number of points Stores the number of points currently set for M devices assigned for M ints S ints S S S S Number ei poi Stores the number of points currently set for L devices assigned for L Number of poin y Stores the number of points currently set for B devices assigned for B Number of poin Stores the number of points currently set for F devices assigned for F Number of poin i Stores the number of points currently set for SB devices assigned for SB Device Number of poin i T j Stores the number of points currently set for V devices S Initial processing assignment assigned for V Number bet Stores the number of points currently set for S devices assigned for S Number of poin Stores the number of points currently set for T devices assigned for T Number of points f Stores the number of points currently set for ST devices assigned for ST Number of points f Stores the number of points currently set for C devices assigned for C Number of
179. ta monitor setting Set 1 to 3 for each axis Q173DCPU Up to 32 axes Q172DCPU Up to 8 axes Set the optional data monitor Refer to Section 4 10 Note 1 The forced stop can also be executed by the EMI forced stop terminal of Motion CPU module or forced stop terminal of servo amplifier besides the forced stop input setting 3 COMMON PARAMETERS SSS 3 1 2 Common system parameters 1 Parameters for operating the Multiple CPU system In the Multiple CPU system the common system parameters and individual parameter for each CPU are set and written into each CPU Regarding the Motion CPU the items in System Settings related to the entire Multiple CPU system must be identical to the parameter settings in the PLC CPU PLC CPU parameters PLC CPU parameters Motion CPU parameters Motion CPU parameters Common system Common system Common system Common system parameters parameters parameters parameters Individual Individual Individual Individual parameter parameter parameter parameter Parameter write Power supply QnUD H QnUD H CPU CPU Q173D CPU Q172D CPU 3 COMMON PARAMETERS 2 Parameters common throughout the Multiple CPU system In the Motion CPU during initialization the parameters in the table below are verified against the parameters in the PLC CPU of CPU No 1 Unmatched parameters generate a PARAMETER ERROR
180. tery and other option articles please follow the law of each country area NCAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life When considering this product for operation in special applications such as machinery or systems used in passenger transportation medical aerospace atomic power electric power or submarine repeating applications please contact your nearest Mitsubishi sales representative Although this product was manufactured under conditions of strict quality control you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident 10 General cautions NCAUTION All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections When operating the product always return the covers and partitions to the designated positions and operate according to the instruction manual REVISIONS The manual number is given on the bottom left of the back cover Print Date Manual Number Jan 2008 IB NA 0300134 A First edition Japanese Manual Number IB NA 0300126 This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot b
181. tery holder unit Q170DBATC l Analogue input output Input output Up to 256 points 1 Interrupt signals 16 points Forced stop input cable Q170DEMICBLOM Extension base unit EMI forced stop input 24VDC B Q6 gt SSCNET II cable g MR J3BUSLIM A B SSCNETITI CN1 o mE Extension cable 3 QCLIB ee SSCNET I CN2 di R d16 d1 d16 UP to 7 extensions A A 9 MR J3 1B model Servo amplifier Up to 32 axes Up to 16 axes system External input signals of servo amplifier Proximity dog Upper stroke limit Lower stroke limit 1 OVERVIEW Z CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system The ratings and characteristics of the parts other than Motion controller servo amplifier and servomotor used in a system must be compatible with the Motion controller servo amplifier and servomotor Set the parameter values to those that are compatible with the Motion controller servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect 1 11 1 OVERVIEW 1 3 3 Q172DC
182. tic 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 failur
183. ting ranges can be set for each CPU module Automatic refresh setting screen and setting range are shown below Automatic refresh setting CPU specific send range Automatic refresh CPU Points k Points Stat End 4 3832 G10000 G13831 2 1832 810000 811931 Nod CPU No 1 CPU No 2 CPU No 3 CPU No 4 The device will be used to receive the data from other CPU Automatic refresh Points Start 48 M0 Setting No 2 M2048 M2079 10 00 bg 100 D100 D199 D1000 D1001 The applicable device of start device is X Y M B D Ww H SM SD The unit of points of CPU specific send range is word Automatic Refresh Setting List Multiple CPU high speed refresh setting i E Cancel Settings should be set as same when using multiple CPU Table 2 8 Parameter setting items of automatic refresh setting Data size Setting description Setting range Restriction consistency check CPU No which exceeds the CPU No 1 to No 4 number of CPU modules cannot be selected CPU Select the CPU module for editing of the selection CPU specific send range setting The setting No for transmission of each CPU module is displayed Automatic refresh is executed between devices set to the same setting No for all CPUs that constitute the Multiple CPU system Setting which exceeds the number of points of the self CPU send area allocated to t
184. to 10V 0 to 10V User range 4 to 20mA Temperature drift compensation Resolution mode Used None Normal High Used Normal Operation mode Normal A D conversion Offset gain setting Normal A D conversion Analogue output module First I O No 00 to FFO in units of 16 points 0 Output range 4 to 20mA 0 to 20mA 1 to 5V 0 to 5V 10 to 10V User range 4 to 20mA HOLD CLEAR function CLEAR only CLEAR Output mode Normal Asynchronous Synchronous output Normal Asyn chronous Resolution mode Normal High Normal Operation mode Normal D A conversion Offset gain setting Normal D A conversion Number of usable modules Q173DCPU Q172DCPU Total 256 points or less Total 256 points or less 3 COMMON PARAMETERS 3 External signal input Servo external signal Upper stroke limit Lower stroke limit Stop signal Proximity dog can be selected for every axis from the following two methods a Q172DLX Servo external signals interface module use Set the servo external signals interface module and set axis No as the External signal setting in the system setting gt o Servo amplifier input device use MR J3 LIB use only Set Amplifier input valid as the external signal input setting in the Amplifier setting of system setting There are following restrictions to use Count t
185. tom and get advice from our sales representative 1 An error is detected at the intelligent function module The CPU module base unit and or the intelligent function module that 1403 2 The I O module including intelligent function module is nearly was accessed is experiencing a hardware fault removed or completely removed mounted during running Explain the error symptom and get advice from our sales representative An error is detected on the system bus ou 1414 Reset the CPU module and RUN it again If the same error is displayed 1415 Fault of the main or extension base unit was detected again the intelligent function module CPU module or base unit is faulty Explain the error symptom and get advice from our sales representative 1416 System bus fault was detected at power on or reset APP 17 APPENDICES Table 3 1 Multiple CPU related errors which occurs in Motion CPU 1000 to 9999 Continued Item Error code Enormess de Common information Individual Information 7 seament LED displa CPU operation Diagnostic SDO 9 SD5 to SD15 SD16 to SD26 9 Pay status timing At power ON AL flashes 3 times At reset l Steady A1 display MULTI C BUS ERR i 4 digits error code is displayed in two flashes of 2 digits each o eee aas Steady BT1 Drive name Continue Always Steady BT2 Module No SP UNIT LAY ERR J Steady A1 displ nee i Nu Sto At power ON ro p At reset 4 digits error
186. tra Project Edit Convert view Online Tool fe 3 Se Window Help Transfer setup jai Es amp Ua xno Read from CPU roe a v mt amp FS Project 5422 Verify with CPU B a System Setting Basic Setting System Structure Remote Operation CPU Backup Hf SSCNET Structure Servo Data Setting Register Password Li i dig Motion SFC Program Clear CPU Memory tz Servo Program 363 Mechanical System Epot tO RON Eoma AE Cam Data Variables E vari Monitor Commons Structure 41 771 Navire Memor Write to CPU screen Write to CPU r Transfer information Connecting interface IT B lt gt pic module Target CPU We KN F Station No Host CPU type i730 kruz OS type Evz2QA VER300C r Detail setting Target memory Program memory x Program memor File selection x Eroaram memory CPU ROM Parameter Program Select All Select None Target memory QnUD HJCPU No 1 Memory card SRAM EM Program M Motion SFC parameter SFC used unused setting M Motion SFC Program Control Code T ext Unnecessary when Motion SFC program is unused M Servo program K M Mechanical system program M Cam data converted data Parameter M System Setting Servo Data Setting Parameter Block Servo Data Servo Parameter M Limit Switch Output Data 5 o Device memory O Device data Variable Structure Related Functions lt lt
187. tructure CPU Backup Hf SSCNET Structure aj Servo Data Setting Register Password Register Change c i5 Motion SFC Program Clear CPU Memory Delete KY 5 P PANELON Export to ROM Format yg Mechanical System AX Cam Data s Variables T Structure TA Newire Mernnrv Remote Operation Monitor Commons The user data protected in this function are shown below Write Protection or Read Write Protection can be set every user data Operating User data Protected contents System software Motion SFC program Motion SFC programs Control code text SV13 SV22 Servo program Servo programs and program allocation Mechanical system program Mechanical system programs Cam data Cam data SV22 4 5 1 Password registration change Select menu Online Register Password Register Change to register change a password 1 Procedure for password registration a Enter initial registration password in password column and select registration condition Write Protection Read Write Protection It leaves in blank for the user data that does not register a password b Click on Execute button to register a password in the Motion CPU c Select menu Project Save to save a password after registration in a project Refer to Section 4 5 4 for password save 2 Procedure for password change a Status of password registered in the Motion CPU are displayed 4 AUXILIARY AND APPLIED FUNCTION
188. ulation expression bit conditional expression expression Transition program hs comparison conditional expression Number of multi execute programs Up to 256 Number of multi active steps Up to 256 steps all programs Normal task Execute in main cycle of Motion CPU Event task Fixed cycle Execute in fixed cycle ent tas ix i 4 0 88ms 1 77ms 3 55ms 7 11ms 14 2ms Execute specification Execution Executed can bs Execute when input ON is set among interrupt module QI60 task i ints masked interrupt 16 points PLC interrupt Execute with interrupt instruction D P GINT from PLC CPU Execute when input ON is set among interrupt module QI60 NMI task 16 points Internal relays M 8192 points Link relays B 8192 points Annunciators F 2048 points Numberor devices Special relays SM 2256 points Device In the Motion CPU 3 ly Data registers D 8192 points Included the positioning Link registers w 8192 points dedicated device Special registers SD 2256 points Motion registers 8736 points Coasting timers FT 1 point 888ys Multiple CPU area devices UL G Up to 14336 points usable Note Usable number of points changes according to the system settings 1 OVERVIEW 1 3 Hardware Configuration This section describes the Q173DCPU Q172DCPU system configuration precautions on use of system and configured equipments 1 3 1 Motion system configuration This section describes the equipment
189. ultiple CPLI i Cancel Set the same Multiple CPU synchronous startup for all CPUs that constitute the Multiple CPU system The self diagnosis error PARAMETER ERROR error code 3015 will occur if all CPU modules that constitute the Multiple CPU system do not have the same setting When this function is not used each CPU startup without synchronization startup of each CPU module can be confirmed by using special relays SM220 to SM223 CPU No 1 to 4 READY complete flag 2 MULTIPLE CPU SYSTEM 2 3 6 Control Instruction from PLC CPU to Motion CPU Control can be instructed from the PLC CPU to the Motion CPU using the Motion dedicated PLC instructions listed in the table below Refer to the Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual Motion SFC for the details of each instruction Control may not be instructed from one Motion CPU to another Motion CPU Instruction name Description D P SFCS Start request of the Motion SFC program Program No may be specified D P SVST Start request of the specified servo program D P CHGA Current value change request of the specified axis D P CHGT Torque control value change request of the specified axis D P GINT Execute request of an event task to the other CPU Motion CPU Write device data of the self CPU PLC CPU to the device of other CPU Motion CPU Read device data of other CPU Motion CPU to the device of self CPU PLC CPU
190. ultiple CPU system QO3UDCPU 30k steps QOAUDHCPU 40k steps QO6UDHCPU 60k steps c The device data access of the Motion CPU and the Motion SFC program start can be executed from PLC CPU by the Motion dedicated PLC instruction 2 High speed operation processing a The minimum operation cycle of the Motion CPU is made 0 44 ms and it correspond with high frequency operation b High speed PLC control is possible by the universal model QCPU For LD instruction QO3UDCPU 20 ns QO4UDHCPU 9 5 ns QO6UDHCPU 9 5 ns 1 OVERVIEW 3 Connection between the Motion controller and servo amplifier with high speed synchronous network by SSCNET III a High speed synchronous network by SSCNETII connect between the Motion controller and servo amplifier and batch control the charge of servo parameter servo monitor and test operation etc It is also realised reduce the number of wires The maximum distance between the Motion CPU and servo amplifier servo amplifier and servo amplifier of the SSCNETII cable on the same bus was set to 50 164 04 m ft and the flexibility improved at the Motion system design The operating system software package for your application needs By installing the operating system software for applications in the internal flash memory of the Motion CPU the Motion controller suitable for the machine can be realized And it also can correspond with the function improvement of the software packa
191. um by installing a noise filter or by using wire shields etc Electromagnetic obstacles may affect the electronic devices used near the Motion controller or servo amplifier When using the CE Mark compliant equipment refer to the EMC Installation Guidelines data number IB NA 67339 for the Motion controllers and refer to the corresponding EMC guideline information for the servo amplifiers inverters and other equipment Use the units with the following conditions Q61P A1 Q61P A2 Q61P Q62P Q63P Q64P 100 to 120VAC 10 200 to 240VAC 1 400 to 240VAC 10 24VDC 99 100 to 120VAC 710 15 15 15 35 15 10 200 to 240VAC 15 85 to 132VAC 170 to 264VAC 85 to 264VAC 15 6 to 31 2VDC 85 to 132VAC 170 to 264VAC Input frequency 50 60Hz 5 20ms or less power failure 7 Corrective actions for errors Z CAUTION if an error occurs in the self diagnosis of the Motion controller or servo amplifier confirm the check details according to the instruction manual and restore the operation if a dangerous state is predicted in case of a power failure or product failure use a servomotor with electromagnetic brakes or install a brake mechanism externally Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally Shut off with the Shut off with servo ON signal OFF emergency stop alarm electr
192. umber of slots in each base identically between Base Settings Motion CPU in MT Developer and I O Assignment Settings PLC CPU in GX Developer In GX Developer the detailed settings may be omitted by setting the base mode Automatic Base Settings Motion CPU in MT Developer Basic Setting Multiple CPU Setting System Basic Setting Manes a se Total number of bases e and number of slots in Extension Base each base 1stStage 2nd Stage Nothing 3rd Stage Nothing v 4th Stage Nothing v 5th Stage Nothing v Bth Stage Nothing 7th Stage Nothing vf I O Assignment Settings PLC CPU setting in GX Developer Q parameter setting PLC name PLC system PLC file PLC RAS Device Program Boot file SFC 1 0 Assignment Sto Twe Modelname Points Stay PBENo1 v e 3800 Switch setting Detailed setting Assigning the I O address is not necessary as the CPU does it automatically Leaving this setting blank will not cause an error to occur Note Only the Motion CPU may be set without C Auto A CIUS setting the PLC CPU 8 Slot Default 12 Slot Default Base mode Cede pp 255979 impor Multiple CPU Parameter Read PLC data Acknowledge XY assignment Multiple CPU settings Default Check End Cancel 3 COMMON PARAMETERS GOT is recognized as an intelligent function modules 16 points x 10 sl
193. uses Multiple CPU high speed bus can be operated between Multiple CPU Turn ON if CPU No 2 which uses Multiple CPU high speed bus can be operated between Multiple CPU Turn ON if CPU No 3 which uses Multiple CPU high speed bus can be operated between Multiple CPU S Change status Turn ON if CPU No 4 which uses Multiple CPU high speed bus can be operated between Multiple CPU M240 No 1 CPU resetting Dci OPUS Treset cengal Goes OFF when reset of the CPU No 1 is cancelled ON CPU No 1 resetting OFF CPU No 2 t l M241 No 2 CPU resetting TED MIN Goes OFF when reset of the CPU No 2 is cancelled ON CPU No 2 resetting M242 No 3 CPU resetting Mee SOR Reset cancel Goes OFF when reset of the CPU No 3 is cancelled ON _ CPU No 3 resetting APP 2 APPENDICES Table 1 1 Special relay list Continued Name Meaning Details Uu Remark When set SM243 No 4 CPU resetting A SPA Tino roset cancel Goes OFF when reset of the CPU No 4 is cancelled CPU No 4 resetting OFF CPU No 1 normal Goes OFF when the CPU No 1 is normal Including a SM244 No 1 CPU error ON CPU No 1 during s continuation error error OFF CPU No 2 normal SM245 No 2 CPU error ON CPU No 2 during s error Goes OFF when the CPU No 4 is normal turns ON incompletion S Change status uding a PCPU READY Comes ON when the CPU No 3 is during s Gomipiete OFF PCPU READY data etc are checked and
194. xecuted with mode operated by RAM mode operated by ROM Rom writing is executed with installation mode ROM writing can be executed for the data of mode written in ROM MT Developer ROM operation APP 26 APPENDICES Table 4 1 Differences Between Q173DCPU Q172DCPU and Q173HCPU Q172HCPU Continued Q173DCPU Q172DCPU Q173HCPU Q172HCPU Medium of operating system CD ROM 1 disk FD 2 disks software Model of operating system software SW8DNC SVOQ SW6RN SVOQ CPU module No 1 QnUD H CPU Qn H CPU Install Motion CPU module on the right hand side of PLC CPU module Combination of Motion CPU Combination with Q173DCPU Q172DCPU only modules Q173CPUN T Q172CPUNC T CPU empty slot Settable between CPU modules Not settable between CPU modules Multiple CPU high speed transmission Provided None CPU shared area memory Access by Multiple Possible Impossible CPU shared memory Multiple CPU high speed transmission area in Memory Automatic refresh area in CPU shared memory CPU shared memory Installation orders CPU No 2 or later No restriction Automatic refresh Automatic 32 range possible 4 range possible setting refresh Multiple CPU high speed refresh Provided None function Each LED of MODE RUN ERR M RUN BAT LED display 7 segment LED display ae E l and BOOT Latch 1 It is possible to clear with latch clear 1 and latch Range which can be cleared with the lat
195. xis Number of SSCNET M Note 1 2 systems 1 system systems Q172DLX 4 modules usable Q172DLX 1 module usable Motion related interface Q172DEX 6 modules usable Q172DEX 4 modules usable module Q173DPX 4 modules usable Note 1 The servo amplifiers for SSCNET cannot be used Note 2 When using the incremental synchronous encoder SV22 use you can use above number of modules When connecting the manual pulse generator you can use only 1 module Q173DPX 3 modules usable 1 OVERVIEW b Motion SFC Performance Specifications Code total Motion SFC chart Operation control 543k bytes Motion SFC program capacity Transition Text total 484k bvtes Operation control Transition d Number of Motion SFC programs 256 No 0 to 255 Motion SFC chart size program Up to 64k bytes Included Motion SFC chart comments Number of Motion SFC steps program Up to 4094 steps Motion SE Ss program Number of selective branches branch 255 Number of parallel branches branch Parallel branch nesting Up to 4 levels 4096 with F Once execution type and FS Scan execution type Number of operation control programs combined F FSO to F FS4095 4096 G0 to G4095 Operation control program F FS Up to 8192 blocks in the case of 4 steps min blocks Transition program G nesting block Up to 32 levels Operation control program Calculation expression bit conditional expression Descriptive on Calc
196. xis SD515 setting error Manual pulse generator axis setting error information Contents of the manual pulse generator axis setting error is stored when the manual pulse generator axis setting error flag SM513 turn on Normal O Setting error 1 SD513 The manual pulse generator axis setting error is stored in bO to b2 P1 to P3 The smoothing magnification setting is stored in b3 to b5 P1 to P3 SD514 One pulse input magnification setting error is stored in bO to b15 axis 1 to axis 16 SD515 One pulse input magnification setting error is stored in bO to b15 axis 17 to axis 32 S Occur an error No of servo program servo program No will be stored information program corresponding to the erroneous setting item will be stored Scan time Main cycle is stored in the unit 1ms D520 Scan time 1ms units Setting range 0 to 65535 ms D521 Maximum scan Maximum A time time 1ms units S Main processing The maximum value of the main cycle is stored in the unit 1ms Setting range 0 to 65535 ms APP 9 APPENDICES Table 1 2 Special register list Continued Name Meaning Details Set by Remark When set SD522 operation e operation The time required for motion operation cycle is stored in the ys unit S Operation cycle cycle cycle Operation cycle Operation cycle SD523 of the Motion of the Motion CPU The setting operation cycle is stored in the js unit S Initial pro
197. ype home position return cannot be used Speed position switching control cannot be executed Stop signal STOP cannot be used The correspondence of external signal and input device is shown below Note External signals Input device CN3 Upper stroke limit FLS Lower stroke limit RLS Proximity dog DOG Note Refer to the MR J3 LIB Servo Amplifier Instruction Manual for pin configurations Set the external signal setting in the Input Filter Setting 3 COMMON PARAMETERS 3 2 I O number assignment In the Multiple CPU system I O numbers are used for interactive transmission between the Motion CPU and I O modules and intelligent function modules or between PLC CPU and Motion CPU 3 2 1 I O number assignment of each module The Multiple CPU system is different from the Single CPU system in the position slot of 1 O number OH for PLC CPU However I O number of control module can be assigned independently for each CPU for Motion CPU 1 Position of I O number OH a b c d The number of slots set with the Multiple CPU settings are occupied by the PLC CPU Motion CPU on the Multiple CPU system I O modules and intelligent function modules are installed from the right of the slots occupied by PLC CPU Motion CPU I O number of Motion CPU control module can be assigned independently for each CPU The I O number of PLC CPU control module for an I O module or intelligent

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