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MELSEC iQ-R Motion Controller Programming Manual (Common)

1. Optical hub unit Servo amplifier MR J4 W OB MR MV200 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 IN p IN UE Axis 10 Axis 11 Axis 14 Axis 15 R32MTCPU 2 lines Up to 32 axes up to 16 axes per line R16MTCPU 1 line Up to 16 axes The optical hub unit is not included in the count 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 4 5 6 Compatible Devices with SSCNETIII H 69 Point P e If the optical hub unit is connected to a sub route an error occurs and the optical hub unit does not communicate with the Motion CPU e A servo amplifier can b
2. R32MTCPU 1 to 32 R16MTCPU 1 to 16 SD722 222us free running 222us free running timer Current value SD722 SD723 is incremented by 1 per 222us S Every 222s timer Read SD722 device in 2 word unit Data size 2 word 2147483648 to 2147483647 SD723 Latch Cleared to zero at power supply on or reset counting is continued thereafter Usable tasks Normal event NMI Access Read enabled only Timer specifications 222us timer SD740 Operating system Operating system software Stores the Motion CPU operating system software model and version in S Initial SD741 software version version ASCII processing SD742 SD740 SD741 SD742 SD743 SD744 SD745 SD746 SD747 RIM T F Wie erty ees a OT ute SD743 y X Model name Version SD744 12 characters 4 characters SD745 i Space SD746 SD747 SD760 Sampling settings Sampling settings storage Stores the storage target for the sampling settings file being sampled S Change storage target target status SD761 Sampling settings Sampling settings results Stores the sampling results save destination for the data being results save target save target sampled 0 No sampling 1 Standard ROM 2 SD memory card SD762 Sampling settings Sampling settings sampling Stores the sampling type being sampled sampling type type 0 No sampling 1 Trigger sampling SD764 Sampling settings Sampling settings latest file Stores the latest sampling results file info
3. E MT Developer2 GX Works2 Servo amplifier MR J4 W OB SSCNETII H head module LJ72MS15 SSCNETII H S R32MTCPU 2 lines Up to 8 stations Up to 4 stations line R16MTCPU 1 line Up to 4 stations Ne J R32MTCPU 2 lines Up to 32 axes Up to 16axes line R16MTCPU 1 line Up to 16 axes Point The parameters of the SSCNETII H head module and modules mounted to the SSCNETII H head module are set using GX Works2 Refer to the following for details of the SSCNETII H head module LAMELSEC L SSCNETII H Head Module User s Manual 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 4 41 5 5 Connection of SSCNETIII H Head Module SSCNETIII H head module parameters Set the parameters used for connecting the SSCNETII H head module Set LJ72MS15 for the le setting in the servo network settings and set the RIO axis No Station No d and RIO axis label 5 Page 58 Amplifier setting Amplifier setting Amplifier information Amplifier model LJ72MS15 Axis information RIO axis No R32MTCPU 601 to 608 R16MTCPU 601 to 604 Station No d 1 to 64 RIO axis label Up to 32 characters of SSCNETIII H head module Set the parameters to use the SSCNETII H head module O Motion CPU Common Parameter gt Head Module
4. Axis 3 INC Axis 1 ABS INC 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 4 5 4 Driver Communication Function 37 z When a servo amplifier fails due to a SSCNETIL H communication failure communication with the axes after the failed axis cannot be executed For this reason be sure to connect the master axis to the position closest to the Motion CPU Precautions during control NCAUTION During operation by driver communication function the positioning control or JOG operation etc by servo program is not interrupted even if a servo error occurs in the slave axis Be sure to stop the master axis by user program amplifier e For the axes where driver communication is executed be sure to use a servo amplifier that supports driver communication Driver communication function is only valid in MR J3 O1B and MR J4 O1B MR J4W OB and MR J3W DB cannot be used Nor can MR J4W CDB be used in MR J3 OB compatibility mode e Be sure to connect the master CPU and slave CPU in the same SSCNETII H line The master CPU and slave CPU combination is set in the servo parameters After writing the servo parameters turn ON again or reset the Multiple CPU system power supply so that the parameters become valid The differences between SSCNETII and SSCNETII H communication method in driver communication function are shown below Communication with servo amplifiers after
5. Standby time after pulse Standby time after pulse conversion module clear signal Set the standby time after pulse conversion module clear conversion module clear output is outside the range of 1 to 1000 ms signal within the range of 1 to 1000 signal output outside range error 1B3EH Parameter block No Parameter block No is outside the range of 1 to 64 Set the parameter block No within the range of 1 to 64 outside range 1B3FH Dwell time error during The dwell time is outside the range of 0 to 5000 ms during Set the dwell time within the range of 0 to 5000 during the home position return the home position return retry home position return retry retry 1BAOH Input axis type setting The value of input axis parameter Pr 300 Servo input Set Pr 300 Servo input axis type Pr 320 Synchronous outside range axis type and Pr 320 Synchronous encoder axis type encoder axis type within the range was set outside range 1BA1H Input axis module setting The setting value of input axis parameter Pr 321 Set the Pr 321 Synchronous encoder axis unit setting outside range Synchronous encoder axis unit setting is outside the within the range setting range 1BA2H Input axis module The value of input axis parameter Pr 323 Synchronous Set the Pr 323 Synchronous encoder axis unit change denominator encoder axis unit conversion denominator is set less than conversion denominator within the rang
6. b15 6543210 SD81 With or without specification A EN Argument No rgumen 2 Stored in the range frc Fixed to 0 Sequence step No Fixed to 0 FB No File name Fixed to 0 Fixed to 0 FB No 1st character 2nd character 3rd character File name 4th character First 8 characters 5th character of Unicode 6th character 7th character 8th character character string SD98 2 Drive and file information b15 210 SD81 With or without specification A Drive name Drivename gt a 4st character File name 2nd character File name 3rd character f Drive name first 8 characters 4th character 2 SD Memory card of Unicode 4 Standard ROM 5th character 6th character 7th character 8th character character string SD90 S Occur an error 302 APPENDICES APPENDIX Appendix 4 Special Registers SD81 to Detailed information 1 Detailed information 1 4 Parameter information S Occur an ae b15 9876543210 error With or without S22 SD81 specification Parameter type SD82 paama Parameter Parameter storage target 1 0 No 10h Parameter No Network No Station No Number of parameter items Line No Field No SD83 1 0 No 10h SD84 Parameter No SD85 Network No SD86 Station No SD87 Number of parameter SD88 Line No soso _ Field No b15 87 0 i nf
7. Motion control Axis setting Fixed parameter O O x Parameter reading data Home position return data JOG operation data O External signal parameter x Expansion parameter O Speed torque control data x Optional data monitor setting Pressure control data Override data Vibration suppression command filter data Servo parameter O Parameter block Input axis parameter x Synchronous parameter System configuration check O O x I O module intelligent function module initialization O O x Initialization of devices outside latch range O O x Motion SFC program servo program reading O O O Cam data reading O O O 1 Shows the timing at which data is read from the settings file Refer to each function for details on the indirect setting data read cycle and data check timing 2 COMMON PARAMETERS 62 2 4 Motion CPU Operating Status Point Parameter and program content is read from a file and processed as follows until used for control 1 Data programs or parameters is read from a file 2 The read data is extracted to standard memory A consistency check is performed if necessary 3 Indirectly set parameter values are read from the device 4 The data content is checked Value range check etc 5 Data is then used for control The timing of the above steps 1 to 5 may differ depending on the processing The parameter and program read processing in the table above indicates the timing for steps 1 an
8. 09E7H Control mode switching The switching request of control mode was executed when Switch the control mode when the axis is stopped and during zero speed OFF the zero speed was turned OFF the zero speed is turned ON Make Invalid selection during zero speed at control mode switching valid when not waiting for the stop of the servo motor 09E8H Control mode outside Specify the incorrect value in the control mode setting Correct the value of the control mode setting device range device and execute the control mode switching Return to the mode before the continuous mode is changed when switching the continuous control mode to control mode O9EAH Control mode switching The control mode switching request of speed torque Do not switch the control mode switching request of incorrect control was executed for the axis that connects to the drive speed torque control for the axis that connects to the drive which do not support the control mode switching which does not support the control mode switching O9EBH Control mode switching Unable to switch during operation when switching to the Request the switching during operation when switching to prohibited stopper control was requested the stopper control is available O9ECH Continuous path control During continuous path control the speed at a passing Set the speed command value within the range of 1 to speed limit value over point exceeded the speed limit value Sp
9. 0 Sunday 1 Monday 2 Tuesday 3 Wednesday 4 Thursday 5 Friday 6 Saturday SD113 Detailed information 2 Detailed information 2 5 System configuration information S Occur an to error SD143 With or without b18 16543210 specification VO No 10 VO No 10 SD115 Base unit No Slot No Slot No U module Power supply Pee Base unit No No module No Power supply Network No na module No Station No irs CPU module No i Network No e Station No Hed b15 87 o l Slot No i 0 to 11 Slot No 0 Main base unit 1 to 7 Extension base unit 1 1to7 i 8 Exceeding 7 extension base units i b15 87 0 L 1 to 2 Power supply module 1 to 2 1 to 4 CPU No 1 to No 4 SD200 Status of switch Status of CPU switch The Motion CPU switch status is stored as shown below S At switch 0 RUN change 1 STOP SD201 LED status CPU LED state This register stores the information that indicates LED status 0 off 1 S Change on 2 flashing of the CPU module in the following bit patterns status b15 b12b11 b8 b7 b4 b3 bO i i i i ik 1 i 1 i 1 1 4 gt lt gt lt gt lt gt lt gt lt gt Not used 4 3 Not used 2 1 1 READY 2 ERROR 3 CARD READY 4 CARD ACCESS SD203 Operating status of Operating status of CPU The CPU module operating status is stored as shown below S Main CPU 0 RUN processing 2 STOP SD210 Clock data Clock data Year The year four digits is stor
10. No Indicates the device No of the special relay Name Indicates the name of the special relay Meaning Indicates the nature of the special relay Details Indicates detailed information about the nature of the special relay Set by When set Indicates whether the relay is set by the system or user and if it is set by system when setting is performed lt Set by gt S Set by system Motion CPU e U Set by user Motion SFC program or test operation using MT Developer2 S U Set by both system Motion CPU and user lt When set gt Indicated only if setting is done by system Motion CPU e 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 Write Set when there is writing from a user Operation cycle Set during each operation cycle of the Motion CPU SMO Latest selfdiagnostics OFF No error Turn ON if an error occurs as a result of self diagnosis S Occur an error ON Error e Remains ON even if the condition is restored to normal thereafter error After confirming the error details turn OFF by Error reset SM50 ON to OFF except for the stop er
11. RIO axis No 601 to 608 Refresh device setting CPU side Device name Bit device name Word device name Input RX RWr Output RY RWw Module I O No 10h 00 to FF Points Bit device 16 to 512 Word device 1 to 32 Start Bit device Word device Status device Bit device Word device Monitor device Word device Command device Bit device Word device e The number of SSCNETTI H head module stations that can be connected to a SSCNETII H line according to operation cycle settings are as follows 0 888 Up to 4 stations 0 444 Up to 2 stations 0 222 Up to 1 stations BRIO axis No Display the SSCNETII H head module RIO axis No and RIO axis label settings set in the servo network settings For Motion SFC programs this number is used for specifying 4 42 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 5 Connection of SSCNETIII H Head Module Refresh device setting CPU side Set the device Input RX RWr Output RY RWw for storage of link data Motion CPU device is set using automatic refresh by cyclic transmission of the SSCNETII H head module Link devices RX RWr RY RWw of the Motion CPU are automatically assigned in MT Developer2 Point Link devices RX RWr RY RWw of the Motion CPU are used only for internal processing These cannot be used in user data such as Motion SFC programs etc e Device name Set the device name for the bit device or word device that stores link data
12. b15b14 to b8b7b6b5b4b3 to bO SD233 CPU No 4 operating status Empty j Operating ii T A Empty gt Mounting status Classification gt 0 RUN id ia gt 0 Normal 2 STOP 1 Mounted 2 Minor error 3 PAUSE L Stop error flag 3 Moderate a 0 Not stop error error Reset 1 Stop error 4 Major error SD241 Number of extension 0 base unit only The maximum number of implemented extension base units is stored S Initial base units 1 to 7 number of extension processing base units SD242 Identification for Identification of the base Identify whether or not Q series module can be mounted When no SD whether or not Q type memory card is inserted the value is fixed to 0 series module can be 0 Q series module cannot b15 to b8 b7 to b2 b1 b0 mounted be mounted There is no Fixed to 0 to base unit that can mount the Q series unit gt Main base unit 1 Q series module can be fixed to 0 mounted There is a gt Extension base unit 1 base unit that can mount Q series modules can be mounted the Q series unit gt Extension base unit 2 Q series modules can be mounted to gt gt Extension base unit 7 Q series modules can be mounted SD243 Number of base slots Number of base slots The number of slots of the base unit which is specified in the Base sD244 power supply extension cable setting of system parameters is stored When the number of slots of the base unit is not specified by the system parameter that of
13. i i Transient request Send start start b1 M Transient Transient L T Start device 6 Transient reception 1 Disconnection completed normally A status receiving b2 b3 Transient command processing completion wait b0 Point e Response data is only updated when normal receive is completed When an error occurs with the data valid bit bF it is kept until normal receive is completed 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 4 4 5 2 Optional Data Monitor Function 9 Optional data monitor setting This section explains the setting items of the optional data monitor Data for registered monitor and transient command data types per axis can be set for setting 1 to 14 However of the 14 settings set no more than 6 settings of registered monitor data for SSCNETII H lines and no more than 3 settings of registered monitor data for SSCNETIT lines O Motion Control Parameter gt Axis Setting Parameter gt Optional Data Monitor Setting 1 to 14 Data type Page 121 Registered monitor 0 K Page 122 Transient command Address Transient ID H0000 to HFFFF Storage device No Word device Set the total of number of communication data points per 1 axis so they are no more than the points shown below MR J4 W OB Up to 6 points MR J4 0B RJ Up to 2 points MR J4 OB LL Up to 5 points MR J3 W OB Up to 3 points 1 When sett
14. scroll monitor information and synchronous control backup data e The system operating system software is not deleted even when initializing data e Refer to the following for details on MT Developer2 operation Help of MT Developer2 8 MOTION CPU MEMORY STRUCTURE 2 8 3 Memory Initialization 33 8 4 _ Installing the Operating System Software The operating system software is installed in the Motion CPU module when the product is shipped There is therefore no need to install the operating system software however installation is required if upgrading to the latest version or changing the version Point FP e Be sure to turn OFF the Multiple CPU system power supply before changing rotary switch setting Even if the operating system software is installed the programs parameters and absolute position data written in the Motion CPU module not rewritten e If installation is interrupted by actions such as power supply of Multiple CPU system being turned OFF RUN STOP RESET switch of PLC CPU module being changed to RESET power supply of the personal computer being turned OFF When using MT Developer2 personal computer s communication cable being removed When using MT Developer2 and the SD memory card being removed When using a SD memory card files being installed will be deleted Reinstall the operating system software e While the Motion CPU module is in installation mode a Multiple CPU error will occur at other M
15. 1 Motion operation cycle The Y device content at the moment output refresh processing is executed is output at the inter module synchronization cycle immediately after Example 1 2 When the timing of the output refresh and inter module synchronization cycle overlap a discrepancy in the actual output timing may occur depending on the module Example 2 Therefore to align the actual output timing of all modules ensure that the inter module synchronization cycle gt motion operation cycle If the Motion CPU fixed cycle processing time including output refresh processing does not end within the motion operation cycle an operation cycle over is detected Example 3 1 MULTIPLE CPU SYSTEM 1 3 Data Communication Between CPU Modules in the Multiple CPU System 35 e When inter module synchronization cycle gt motion operation cycle EA Input refresh ES Output refresh Actual input timing A Actual output timing Inter module synchronization cycle i i p lt gt y SM D Example Y 3 ee Z TIA Operation cycle over l l I l I 1 I lt re p lt p lt Motion operation cycle Example 4 Input refresh is performed when processing the first Motion CPU fixed cycle within the inter module synchronization cycle Output refresh is performed when processing the last Motion CPU fixed cycle within the inter module synchronization cycle Example 4 I
16. If the PU is disconnected operation will be continued e PU stop is disabled at SSCNETID connection 2 e Reset input is always enabled e When the PU is disconnected the inverter trips PU stop is disabled at SSCNETII connection 3 A reset can be input only when the protective function is activated When the PU is disconnected the inverter trips PU stop is disabled at SSCNETID connection 14 Reset input is always enabled If the PU is disconnected operation will be continued Deceleration stop by PU stop in any operation mode 15 A reset can be input only when the protective function is activated If the PU is disconnected operation will be continued Deceleration stop by PU stop in any operation mode 16 e Reset input is always enabled e When the PU is disconnected the inverter trips Deceleration stop by PU stop in any operation mode 17 A reset can be input only when the protective function is activated e When the PU is disconnected the inverter trips Deceleration stop by PU stop in any operation mode 1 Note that the default value is set to 14 Change the value to 0 to 3 In position range Set the in position range in the parameter of the inverter In position width Pr 426 When the position of the cam axis is restored in advanced synchronous control a check is performed by the servo parameter In position range PA10 However because the s
17. Page 75 Latch Function Up to 4096 X Y points set in the GX Works3 System Parameter gt I O Assignment Setting can be used as actual input actual output By specifying I O settings other than group settings the I O status for management of other CPUs can be read The total number of devices for the number of devices latch setting can be changed within 128k words lt Page 73 Device Setting Includes dedicated positioning devices O indicates the CPU No CPU No 1 0 CPU No 2 1 CPU No 3 2 CPU No 4 3 This is the usage range at the Motion CPU The maximum number of CPU buffer memory access devices will differ depending on the CPU module The total number for each unit can be changed within 24k words in the GX Works3 System Parameter gt Multiple CPU Setting However the maximum number per CPU is 12288 O indicates 00h to FFh module I O No 10h The accessible range differs depending on the module Refer to the manual for the module being used 3 DEVICES 3 1 Device List Point Device writing precautions Do not write to the following devices from the Motion CPU Writing will be ignored or a malfunction will occur e Actual input devices or I O number that is not allocated to any module and is within range of the maximum 1 0 number for the modules being used from inputs X e Actual output devices from outputs Y for which other CPU management performed e Other CPU buffer memory access devices U3EO G
18. Log onto vision system of vision sensor camera No 2 Confirm log on completion 20 with vision system status storage device D2000 Confirm that there is no error with error flag MO Load job Worksearch1 set in program No 1 Confirm completion of job loading and online status 1 with program status storage device D3000 Confirm that there is no error with error flag MO Set status storage device reset in vision sensor camera No 2 vision system Wait for trigger request X0 Issue trigger to vision system of vision sensor camera No 2 Wait for completion of image data reception 40 with vision system status storage device D2000 Confirm that there is no error with error flag MO Convert data mm stored in image data storage device D3010 to into position command unit 0 1 um Move to command position Wait for positioning completion axis 1 axis 2 in position 6 COMMUNICATION FUNCTIONS 6 5 Vision System Connection Function 207 6 6 Test Mode In test mode Motion CPUs are connected to a personal computer and test operation is performed to verify whether servo motors are operating in accordance with design specifications By starting the MT Developer2 test a test mode request is issued to the Motion CPU If the test mode request is successfully accepted a test screen appears allowing all test mode functions to be selected Refer to the following for details on how to operate
19. 1C20H The setting method of A value outside the range of 0 to 2 was set in synchronous Set within the range of 0 to 2 current value per cycle parameter Pr 460 Current value per cycle after main after main shaft gear shaft gear setting method outside range 1C21H The initial value of A value outside the range of 0 to Cam axis length per Set in the range of 0 to Cam axis length per cycle 1 current value per cycle cycle 1 was set in synchronous parameter Pr 465 after main shaft gear Current value per cycle after main shaft gear outside range 1C22H The setting method of A value outside the range of 0 to 2 was set in synchronous Set within the range of 0 to 2 current value per cycle parameter Pr 461 Current value per cycle after auxiliary after auxiliary shaft gear shaft gear setting method outside range 1C23H The initial setting value A value outside the range of 0 to Cam axis length per Set in the range of 0 to Cam axis length per cycle 1 of current value per cycle cycle 1 was set in synchronous parameter Pr 466 Initial after auxiliary shaft gear setting value of the current value per cycle after auxiliary outside range shaft gear 1C24H Cam axis position A value outside the range of 0 to 2 was set in synchronous Set within the range of 0 to 2 recovery target outside parameter Pr 462 Cam axis position recovery target range 1C25H Cam reference position A value outside the range of 0 to 2 was set in
20. 242 9 2 Safety Functions Processing time monitor and check The time taken for Motion operation and Motion SFC program execution can be monitored with a special register The Motion CPU internal processing timing and corresponding processing time monitor devices are shown in the following diagram Ba Motion SFC processing A Operation cycle of the Motion CPU C p setting SD523 Processing priority System processing lt gt SD570 to SD580 SD584 to SD594 pie pid gt Motion operation cycle SD522 4 gt 4 gt 4 gt ere Fixed cycle system processing time i i Fixed YCIE eya SD581 SD595 processing gt 1 i i 1 i 1 i 1 1 CPU refresh 145 CPU refresh 145 executing executing processing 5 processing time SD583 SD597 i ji if i i i Motion SFC fixed cycle Motion SFC event task task processing time i i i 1 I i if i processing 5 Motion operation task Motion SFC normal task processing time processing time SD566 SD569 Motion SFC normal SD582 SD596 ammm lt gt task main cycle processing ff a RRT i bie pie rie gt i Scan time SD520 SD521 SD562 to SD565 gt Time 1 The Motion operation cycle SD522 maximum value latches to the Maximum Motion operation cycle SD524 2 The Scan time SD520 and Scan time SD562 SD563 maximum values latch to th
21. Rq 1123 OFF Rq 1123 ON Y 3 servo error Ready ON servo OFF CO Ready ON servo ON dQ i Y i i Rq 1155 ON i i ii Communication error disconnected 5 Communication disconnected AA The value in the parentheses indicates the servo amplifier LED display 1 OFF OFF OFF 2 OFF OFF OFF 3 OFF OFF ON 4 ON ON ON 5 OFF OFF OFF Follow up function The follow up function monitors the number of motor rotations actual present value with the servo OFF and reflects the value in the present feed value If the servomotor rotates during the servo OFF the servomotor will not just rotate for the amount of droop pulses at switching the servo ON next time so that the positioning can be performed from the stop position on of follow up Follow up function is executed continually in the operation cycle during the servo OFF status including servo OFF by servo error Rq 1123 All axes servo ON OFF on command M2042 ON Rq 1155 Servo OFF OFF E J command M3215 20n ON Servo error occurrence Servo ON OFF status OFF Follow up process execution Follow up process execution Follow up process execution The follow up function performs the process servo OFF and SSCNETII H communication regardless of the presence of the absolute position system 4 AUXILIARY
22. Speed change gear 1 smoothing time constant outside range A value outside the range of 0 to 5000 was set in synchronous parameter Pr 435 Speed change gear 1 smoothing time constant Set within the range of 0 to 5000 1C03H Speed change gear 1 The input value is overflowed sign reverse because of Reduce the absolute value of synchronous parameter operation overflow the speed change ratio of speed change gear 1 is large Pr 436 Speed change ratio 1 numerator Increase the synchronous parameter Pr 437 Speed change ratio 1 denominator Slow down the input axis speed 1C04H Speed change gear 2 A value outside the range of 0 to 3 was set in synchronous Set within the range of 0 to 3 arrangement outside parameter Pr 490 speed change gear 2 arrangement range 1C05H Speed change ratio 2 Set the value of synchronous parameter Pr 493 Speed Set within the range of 1 to 2147483647 denominator outside change ratio 2 denominator less than 0 range 1C06H Speed change gear 2 A value outside the range of 0 to 5000 was set in Set within the range of 0 to 5000 smoothing time constant synchronous parameter Pr 491 Speed change gear 2 outside range smoothing time constant 1C07H Speed change gear 2 The input value is overflowed sign reverse because of Reduce the absolute value of synchronous parameter operation overflow the speed change ratio of speed change ge
23. Synchronous encoder axis command signal Synchronous encoder axis monitor device and Synchronous encoder axis control device indicates a value corresponding to synchronous encoder axis No as shown in the following table 1 0 4 9 8 2 1 5 10 9 3 2 6 11 10 4 3 7 12 11 5 6 7 8 Calculate as follows for the device No corresponding to each synchronous encoder Ex For synchronous encoder axis No 12 M10440 10n St 320 Synchronous encoder axis setting valid flag M10440 10 x 11 M10550 D13240 20n Md 320 Synchronous encoder axis current value D13240 20 x 11 D13460 MULTIPLE CPU SYSTEM 1 1 Multiple CPU System Overview 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 System configuration based on load distribution By distributing such tasks as servo control machine control and information control among multiple processors the flexible system configuration can be realized e 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 R32MTCPU e Overall system responsiveness is improved by dis
24. cycle or fixed scan communication cycle 1 MULTIPLE CPU SYSTEM 2 1 3 Data Communication Between CPU Modules in the Multiple CPU System 9 MApplication example of refresh setting 145 executing Refresh setting 145 executing is used as in the following applications e Read the data such as the real current value and synchronous encoder current value with PLC CPU at high speed Exchange the FIN waiting signal at high speed refresh setting Q compatibility high speed refresh setting With self Motion CPUs data between Motion CPU internal devices and the CPU buffer memory is updated every operation cycle in the settings of devices for which refresh at END is set XZ R Series Common Parameter gt System Parameter gt Multiple CPU Setting gt Fixed Scan Communication Area Setting gt Refresh END Setting gt Detailed Setting gt Q Compatibility High speed Refresh Setting In the device setting which executed multiple CPU refresh setting END execute the data refresh of the following setting device in each calculation cyde on the motion CPU of self CPU Q Compatibility High speed Refresh Setting The applicable device of start device is X Y M B D W The unit of points is word Please set the total number to 256 or less Display Setting Setting No which executes high speed refresh is 1 to 128 No displayed Up to 128 CPU CPU No s
25. e Data consistency for data exceeding 64 bits In refresh method data is read in descending order of the setting number in refresh setting parameter Transfer data separation can be avoided by using a transfer number lower than the transfer data as an interlock device 1 MULTIPLE CPU SYSTEM 1 3 Data Communication Between CPU Modules in the Multiple CPU System Data communication by refreshing at Motion CPUs This section describes data communication by refreshing at Motion CPUs The refresh timing at Motion CPUs differs from that for PLC CPUs The refresh types and refresh timing are as follows MELSEC Q R series Refresh END CPU buffer memory At END processing Main cycle Refresh Q compatibility Operation cycle and main cycle high speed refresh Refresh 145 executing Fixed scan When executing Multiple CPU The longer of the operation cycle or communication area synchronous interrupt program 145 fixed scan communication cycle MELSEC Q series Automatic refresh At END processing Main cycle Q Platform compatible High speed refresh The longer of the operation cycle or 0 888ms and main cycle 4 This is an interchangeable setting equivalent to the MELSEC Q series High speed refresh setting 2 The order of processing inside the Motion CPU is as follows Motion SFC event task gt Receipt refresh gt Motion operation gt Transmission refresh 3 The order of
26. 64H 7 Data sustain error 41 66H 7 Data sustain error 43 67H 7 Data sustain error 44 6CH A 7 Rated speed command Invalid 3 6DH 1 b Input power supply error 6EH FLASH Nonvolatile memory writing error 6FH 9 3 Remote sequence control receive timeout 70H F 5 Remote sequence control communication stand by warning 71H 9 1 Remote sequence control IC defect 72H 9 2 Remote sequence control communication OFF 73H A 4 Servo control communication disconnection error 75H A 5 Servo control communication error 76H F 2 Main power supply low voltage detection warning 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 6 Compatible Devices with SSCNETIII H 157 77H 3 4 Linear sensor resolution error 78H 6 0 Free curve motion data error 79H 6 1 Standard position return data error 7AH 6 2 Slave axis movement error 7CH F 6 Remote sequence control SW change warning 82H 3 5 IPU error 83H 3 6 Serial number check error 84H 3 7 Serial number none setup Empty 87H 3 8 tDISC motor 1 rotation position detection speed error 88H 3 9 tDISC absolute encoder light receiving element error 89H 3 A tDISC absolute encoder light emitting element error 8BH 3 b Magnetic pole detection error AAH E 5 Over speed ABH E 6 Initialization error ACH E 7 Hardware error ADH E 8 Absolute data error AEH E 9 Transducer error AFH E A Signal strength error BOH F b Signal strength w
27. 9 MITSUBISHI ELECTRIC Mitsubishi Programmable Controller series MELSEC iQ R Motion Controller Programming Manual Common R16MTCPU R32MTCPU SAFETY PRECAUTIONS Read these precautions before using this product Before using this product please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly The precautions given in this manual are concerned with this product only Refer to the user s manual of the CPU module to use for a description of the PLC system safety precautions In this manual the safety precautions are classified into two levels J N WARNING and ZN caution A WARNING Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury A CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in minor or moderate injury or property damage Under some circumstances failure to observe the precautions given under A CAUTION may lead to serious consequences Observe the precautions of both levels because they are important for personal and system safety Make sure that the end users read this manual and then keep the manual in a safe place for future reference Design Precautions WARNING O Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external power supply
28. CPU No 4 READY OFF CPU No 4 READY Turn ON when access to No 4 PLC module is enabled from other CPU complete incompletion modules when the Multiple system power supply is turned ON or reset ON CPU No 4 READY completion SM230 No 1 CPU error OFF CPU No 1 normal Goes OFF when the CPU No 1 is normal Including a continuation ON CPU No 1 during stop error error Comes ON when the CPU No 1 is during stop error 2 SM231 No 2 CPU error OFF CPU No 2 normal Goes OFF when the CPU No 2 is normal Including a continuation ON CPU No 2 during stop error error Comes ON when the CPU No 2 is during stop error 2 SM232 No 3 CPU error OFF CPU No 3 normal Goes OFF when the CPU No 3 is normal Including a continuation ON CPU No 3 during stop error error Comes ON when the CPU No 3 is during stop error 2 SM233 No 4 CPU error OFF CPU No 4 normal Goes OFF when the CPU No 4 is normal Including a continuation ON CPU No 4 during stop error error Comes ON when the CPU No 4 is during stop error 2 SM240 No 1 CPU resetting OFF CPU No 1 reset cancel Goes OFF when reset of the No 1 CPU module is cancelled ON CPU No 1 Comes ON when the No 1 CPU module is resetting including the resetting case where the CPU module is removed from the base The other CPUs are also put in reset status SM241 No 2 CPU resetting OFF CPU No 2 reset Goes OFF when reset of the No 2 CPU module is cancelled cancel Comes ON when the No 2 CPU module is resett
29. Control loop changing command Invalid Valid when using servo amplifier for fully closed loop control MR J3 OB RJ006 Servo parameter read write Unusable Usable Amplifier less operation function Usable Usable Driver communication Unusable Usable Monitoring of servo parameter error No Unusable Usable Servo error Motion error history Error codes detected by FR A700 series are stored Error codes detected by servo amplifier are stored Programming tool MR Configurator2 is not available MR Configurator2 is available Use FR DUO7 FR PUO7 or FR Configurator 1 For details of FR A700 series refer to FR A700 series instruction manual 2 During amplifier less operation function the following are spuriously connected Servo amplifier MR J3 10B Servo motor HF KP053 3 Parameters set in FR A700 series are not controlled by Motion CPU Therefore the operation is the same as when the servo parameter Rotation direction selection travel direction selection PA14 is set as below during amplifier less operation mode Rotation direction selection travel direction selection 0 Positioning address increase CCW or positive direction PA14 Positioning address decrease CW of negative direction 4 Refer to the Servo Amplifier Instruction Manual for the servo amplifiers that can be used 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 1 64 5 6 Compatible Devices with SSCNETIII H itions during control Absolute positio
30. Correctly set the number of CPU modules including the configuration error for the CPU module in the system parameters I O empty setting in the system parameters in accordance assignment setting with the number of CPU modules actually mounted An I O module or intelligent function module is mounted Remove the I O module or intelligent function module between the CPU modules mounted between the CPU modules 2043H CPU module The CPU module is mounted on the inapplicable slot Mount the CPU module on the applicable slot CPU slot configuration error or I O slot 0 to 6 Remove the CPU module from the inapplicable slot 2044H CPU module The host CPU No set in the system parameters I O Re set the host CPU No in the system parameters in configuration error assignment setting differs from the one determined by the accordance with the mounting position of the CPU module mounting position of the CPU module 2050H CPU module An unsupported CPU module is mounted Remove the unsupported CPU module If all the CPU configuration error modules are supported the possible cause is a hardware failure of the CPU module or base unit Please consult your local Mitsubishi representative 2060H Base unit configuration Eight or more extension base units are connected Reduce the number of extension base units to seven or error less APPENDICES APPENDIX Appendix 1 Error Codes 281 2070H Base unit configuration error An unsup
31. Rq 346 Command generation axis error reset command M10967 20n or Rq 323 Synchronous encoder axis error reset M11600 4n turns ON When a servo error or servo warning occurs a minor error error code 1C80H or warning error code OC80H is stored in Md 1005 Servo error code D8 20n and servo amplifier error codes or warning codes are not stored Error codes or warning codes read from the servo amplifier are stored in Md 1019 Servo amplifier display servo error code 48008 20n 2 0 APPENDICES APPENDIX 5 Appendix 1 Error Codes Point Even if Rq 1148 Servo error reset command M3208 20n turns ON at the servo error occurrence the same error code might be stored again When a servo error occurs reset the servo error after removing the error cause on the servo amplifier side APPENDICES APPENDIX 2 4 Appendix 1 Error Codes 5 Warning 0800H to OFFFH Warning details and causes and corrective action are shown below 093CH Home position data There is a factor that the execution of the home position Execute the home position return after checking the incorrect return is needed in the absolute position system batteries of the Motion CPU module and the servo The home position return has never been executed after amplifier the system start The home position return is started but not completed e The absolute value data in the Motion CPU disappeared due
32. SD7 The day of the week that SDO data was updated is stored as BIN code 0 Sunday 1 Monday 2 Tuesday 3 Wednesday 4 Thursday 5 Friday 6 Saturday SD10 Self diagnostic error Self diagnostic error code 1 The maximum of 16 types of error codes are stored into SD10 onwards sp11 code Self diagnostic error code 2 when the diagnostics detects an error 5 The same error code as one already stored in SD10 onwards is not SD12 Self diagnostic error code 3 stored The 17th error code onwards are not stored Also error codes SD13 Self diagnostic error code 4 are not stored when 16 types of error codes have already been stored SD14 Self diagnostic error code 5 nto SD10 to SD25 SD15 Self diagnostic error code 6 SD16 Self diagnostic error code 7 SD17 Self diagnostic error code 8 SD18 Self diagnostic error code 9 SD19 Self diagnostic error code 10 SD20 Self diagnostic error code 11 SD21 Self diagnostic error code 12 SD22 Self diagnostic error code 13 SD23 Self diagnostic error code 14 SD24 Self diagnostic error code 15 SD25 Self diagnostic error code 16 SD53 AC DC DOWN Number of times for AC DC Every time the input voltage fails to or below 85 AC power 65 detection DOWN detection DC power the rating during calculation of the Motion CPU module the value is incremented by 1 and stored in BIN code The counter repeats a 0 to 65535 to O pattern SD61 I O module verify 1 0 module verify error The lowest I O number of the mod
33. Sampling settings RUN status SM760 is ON 1 Used for interlock conditions to access CPU modules No 1 to 4 if set to asynchronous in the Multiple CPU synchronization settings 2 To remove the stop error remove the error factor then reset and remove reset for CPU No 1 APPENDICES APPENDIX Appendix 3 Special Relays 299 Appendix 4 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 contrary The headings in the table that follows have the following meanings Number Indicates the No of the special register Name Indicates the name of the special register Meaning Indicates the nature of the special register Details Indicates detailed information about the nature of the special register Set by When set Indicates whether the register is set by the system or user and if it is set by system when setting is performed lt Set by gt S Set by system Motion CPU U Set by user Motion SFC program or test operation using MT Developer2 S U Set by both system Motion CPU and user lt When set gt Indicated only if setting is done by syste
34. command write executes to servo amplifier command information 27FFE Write project Wrote project data Operation Drive and file initiator information information 27FFF Motion controller OS Changed the Motion controller OS OS version changet information 1 For home position return request ON by a servo amplifier connection in an incremental system the information for several axes is recorded in one record when SSCNETI H is established 2 When the disconnection of several axes in the same operation cycle is detected all disconnected axes are recorded in one record Disconnected axis information can be checked as detailed information 3 When project data is written with CPU write in MT Developer2 separate file names are not recorded 4 After installation the operating system software is recorded when started up in normal mode When the operating system software before change does not support this event the operating system software version before change is not displayed correctly APPENDICES APPENDIX 294 Appendix 2 Event List Appendix 3 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 A order to control the Motion CPU The headings in the table that follows have the following meanings
35. degree 1A5DH Movement amount Overrun occurred since the target position after changing Set the speed so that an overrun will not occur insufficient during target was less than the deceleration distance at target position Specify the target position so that an overrun will not position change change request CHGP occur 1A5EH Stroke limit outside range The target position after changing has exceeded the range Set the target position after changing or stroke range so target position change of stroke limit at target position change request CHGP that the positioning control is within the range of stroke limit 1A5FH Reference axis long axis In reference axis specified linear interpolation or the long Set the target position after change with the Reference movement amount error axis specified linear interpolation the movement amount axis or Long axis movement amount after the target after target position of the reference axis or the long axis after the target position change is not 0 change position change request CHGP is 0 1A9FH Bias speed at start At JOG start the command speed is outside the range Set the command speed within the range of Bias speed setting outside range of Bias speed at start to Speed limit value at start to Speed limit value The Bias speed at start is larger than the speed limit Set the Bias speed at start to a value smaller than the value speed limit value 1B02H Home position address The h
36. ie 1n 4 The 5th detection replaces the previous first detection 2n 4 3n 4 The 4th detection n in above figure is different depending on the data type storage device e 16 bit integer type 1 e 32 bit integer type 2 64 bit floating point type 4 4 AUXILIARY AND APPLIED FUNCTIONS 4 3 Mark Detection Function 89 90 Operations Operations done at mark detection are shown below e Calculations for the mark detection data are estimated at leading edge trailing edge both directions of the high speed input request signal However when the Specified Number of Detection mode is set the current mark detection is checked against the counter value for number of mark detections and then it is determined whether or not to latch the current detection data When a mark detection data range is set it is first confirmed whether the mark detection data is within the range or not Data outside the range are not detected The mark detection data is stored in the first device of the mark detection data storage area according to the mark detection mode and then the number of mark detections counter is updated Operation examples for each mode are shown below Continuous Detection mode Confirmation of mark detection data range Upper lower value setting Valid High speed input request signal Rising detection setting Mark detection data current i J SAtinuc
37. input A MEA equipment Input Input Output Output f L L External Input seee A AA External equipment Input Input Output Output equipment i Input module Output module i T Internal buffer Internal buffer f Input latch Synchronized output 1 Motion SFC event task and Motion real time task processing Inter module synchronization target module input X refresh is performed when starting Motion CPU fixed cycle processing and output Y refresh is performed when Motion CPU fixed cycle processing is complete Perform read to and write from the module buffer memory by direct access with a module access device UD G Depending on the module a buffer memory is available for inter module synchronous control Refer to the User s Manual of each module for details on module operation relating to the inter module synchronization function When the inter module synchronization cycle and motion operation cycle differ The processing timing if the inter module synchronization cycle and motion operation cycle differ is as follows When inter module synchronization cycle lt motion operation cycle ZZA Input refresh ES Output refresh Actual input timing Inter module PA Actual output timing f synchronization cycle i Motion CPU fixed cycle P processing p i l o Example 1 i i E I i SPEA A 1220525055 peed ENN IW Sd o7 ON t PA Operation cycle over l Es J 1 i i
38. number Last 8 characters Power ON cumulative time h 2 0 O O 0319h Inrush relay ON OFF number times 2 0 O O 031Ah Read alarm history number items 1 0 O O 0323h Alarm history Detail 1 2 4 0 O O 0324h 8 Alarm history 1 9 Alarm detail 1 10 Alarm history 2 11 Alarm detail 2 Alarm history Detail 3 4 4 0 O O 0325h 8 Alarm history 3 9 Alarm detail 3 10 Alarm history 4 11 Alarm detail 4 Alarm history Detail 5 6 4 0 O O 0326h 8 Alarm history 5 9 Alarm detail 5 10 Alarm history 6 11 Alarm detail 6 Alarm history Detail h 4 0 Q O 0328h 8 Alarm history Occurrence time number N 1 9 Alarm history number N 1 detail 10 Alarm history number N 1 occurrence time 2 words Alarm occurrence time 1 2 h 4 0 O O 0329h 8 Alarm occurrence time 1 2 words 10 Alarm occurrence time 2 2 words Alarm occurrence time 3 4 h 4 0 O O 032Ah 8 Alarm occurrence time 3 2 words 10 Alarm occurrence time 4 2 words 4 22 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 2 Optional Data Monitor Function Alarm occurrence time 5 6 h 0 O O 032Bh 8 Alarm occurrence time 5 2 words 10 Alarm occurrence time 6 2 words Alarm history clear command 0 O O 0382h Home position command pulse
39. range 198DH Manual pulse generator The unset manual pulse generator axis is started Start the set manual pulse generator axis unset 198EH Manual pulse generator The same manual pulse generator started during the Start the manual pulse generator after checking the multiple start error manual pulse generator operation decelerating manual pulse generator stopped 198FH Manual pulse generator e Number setting register of the axis to be controlled in Set the Number setting register of the axis to be 258 control axis unset error APPENDICES APPENDIX Appendix 1 Error Codes Cd 1098 manual pulse generator 1 is 0 Number setting register of the axis to be controlled in Cd 1099 manual pulse generator 2 is 0 e Number setting register of the axis to be controlled in Cd 1100 manual pulse generator 3 is 0 controlled in Cd 1098 manual pulse 1 Set the Number setting register of the axis to be controlled in Cd 1099 manual pulse generator 2 Set the Number setting register of the axis to be controlled in Cd 1100 manual pulse generator 3 1993H A Software stroke limit e The feed current value exceeded the stroke limit range Set within the stroke range by the JOG operation Or set at start within the stroke range by the home position return or The feed current value exceeded the stroke limit range current value change when controlling Only the
40. rev 0 O O 0408h 8 Home position unit within one revolution 2 words 11 Home position multiple revolution counter Main circuit bus voltage V 0 O O 040Ah Regenerative load ratio 0 O O 040Bh Effective load ratio 0 O O 040Ch Peak load ratio 0 O O 040Dh Estimate inertia moment ratio x 0 1 0 O O 040Eh Model loop gain rad s 0 O O 040Fh LED display characters 0 O O 0410h 8 Lower 2 digits 9 Higher 2 digits Load side encoder pulse 0 O O 0416h Fully closed information 1 control or Load side encoder pulse 0 O O 0417h synchronous information 2 encoder via servo amplifier use Speed feedback 0 01mm s 0 O O 0418h Linear servo motor use Servo motor thermistor C 0 O O 0419h temperature Z phase counter pulse 0 x O 041Ah Linear servo motor use Module power consumption W 0 x O 0424h Module integral power Wh 0 x O 0425h consumption Disturbance torque 0 1 0 x O 0427h Instantaneous torque 0 1 0 x O 0428h Overload alarm margin 0 1 0 x O 0429h Error excessive alarm margin pulse 0 x O 042Ah Settling time ms 0 x O 042Bh Overshoot amount pulse 0 x O 042Ch Servo motor side load side 0 x O 042Dh Fully closed position deviation control use Servo motor side load side 0 x O 042Eh speed deviation Machine diagnostic status 0 x O 042Fh 8 Machine diagnostic status 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 4 2 5 2 Optional Data Monitor Function 3 Friction estimation data 0 1
41. x x O O Motion SFC program Operation Bit device setting item O As x O control program Word device setting item x x O O F FS transition program G WAIT ON WAIT OFF O O x O Motion SFC parameter Program Executing flag A O x x parameter Digital Sampling function Sampling target O O O O oscilloscope 4 Annunciators F cannot be set 2 3 4 5 CPU buffer memory access devices U3ED G U3ED HG and module access devices UD G cannot be set Only inputs X can be set Inputs X and outputs Y cannot be set Setting is not possible for commands BMOV FMOV TO RTO RFROM DIN DOUT in which bit data is used as 16 point units or 32 point units 3 DEVICES 3 1 Device List 69 70 3 2 User Device This section describes user devices used with the Motion CPU Input X These are commands or data given to the Motion CPU with external devices such as buttons switches limit switches and digital switches Output Y These are program control results output to external signal lamps digital displays electromagnetic contactors and solenoids etc Internal relay M These are devices intended for use as auxiliary relays inside the Motion CPU When the following operations are performed all internal relays turn OFF e Multiple CPU system power OFF gt ON e Multiple CPU system reset e Latch clear Some internal relays M are used as positioning signals Refer to the following for details L
42. 0 if there is no command O O 1 to 32 Disconnect command of Set axis No 1 to 32 to be O SSCNET communication disconnected 10 Connect command of Set 10 to connect axis while O SSCNET communication disconnecting 20 Start command of Set to change from the normal O amplifier less operation operation to amplifier less operation 25 Release command of Set 25 to change from the amplifier amplifier less operation less operation to normal operation 2 Execute command Set 2 to execute the processing O when the status SD508 is execute waiting after setting the value of each command 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 4 29 5 3 SSCNET Control Function Connect disconnect function of SSCNET communication Temporarily connect disconnect of SSCNET communication is executed during Multiple CPU system s power supply ON This function is used to exchange the servo amplifiers or SSCNET cables Set the request for the connect disconnect of SSCNET communication in SSCNET control command SD803 and the status for the command accept waiting or execute waiting is stored in SSCNET control status SD508 Use this device to connect the servo amplifiers disconnected by this function When the power supply module of head axis of each SSCNET line servo amplifier connected directly to the Motion CPU module turns OFF ON this function is not necessary Point P e Servo amplif
43. 1 777ms 3 555ms 7 111ms If a fixed scan interval other than the above that is not compatible with the Motion CPU is set a moderate error error code 2222H occurs when the Multiple CPU system power supply is turned ON The operating status of the inter module synchronization function for each module can be checked with the GX Works3 system monitor function onization target refresh settings Refresh settings are not required for modules controlled by Motion CPUs I O X Y refresh is performed for all modules controlled by Motion CPU control Also perform read to and write from the module buffer memory by direct access with a module access device UD G 1 MULTIPLE CPU SYSTEM 1 3 Data Communication Between CPU Modules in the Multiple CPU System Inter module synchronization control timing Timing of I O refresh processing When using the inter module synchronization function the timing of motion operation cycles with Motion CPUs is linked to inter module synchronization cycles Refresh of inter module synchronization target modules I O X Y is performed before and after Motion CPU fixed cycle processing Motion SFC fixed cycle event tasks motion operation processing etc The processing timing is as follows Inter module synchronization cycle 4 i Motion operation time i 1 4 id Motion CPU Input Operation Output fixed cycle refresh cycle refresh processing 1 i i Ht Se
44. 4 3 Mark Detection Function on data range When the data at mark detection is within the range they are stored in the mark detection data storage device and the number of mark detections counter is incremented by 1 When outside of range mark detection is not processed e Upper limit value gt Lower limit value The mark detection is executed when the mark detection data is greater or equal to the lower limit value and less than or equal to the upper limit value gt t EE a Lower limit Upper limit value value e Upper limit value lt Lower limit value The mark detection is executed when the mark detection data is greater or equal to the lower limit value or less than or equal to the upper limit value gt t gt Lower limit Upper limit value value e Upper limit value Lower limit value The mark detection range is not checked The mark detection is always executed Direct setting 16 bit integer type K 32768 to K32767 H0000 to HFFFF 32 bit integer type K 2147483648 to K2147483647 H00000000 to HFFFFFFFF 64 bit floating point type K 1 79E 308 to K 2 23E 308 KO K2 23E 308 to K1 79E 308 indirect setting Word devices are set for the mark detection data range Set an even number at the start of the device for 32 bit integer type 64 bit floating point type devices Setting values are read each operation cycle Refer to device list for the range of word devices that can be set 57 Page 66 Device
45. 60 60 Use with the default value STR terminal function selection Pr 179 61 61 JOG terminal function selection Pr 185 5 76 Set 76 Proximity dog SSCNETIT input filter selection Pr 449 4 0 None Set the input filter setting value at reading an external signal 1 0 88ms 2 1 77ms 3 2 66ms 4 3 55ms 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 1 62 5 6 Compatible Devices with SSCNETIII H Comparisons of specifications with MR J3 W B Item FR A700 series MR J3 W cB Amplifier type FR A700 MR J3 W B MR J3 W B Fully closed MR J3 W B Linear MR J3 W B DD motor Control of servo amplifier parameters Set directly by inverter Not controlled by Motion CPU Controlled by Motion CPU External input signal External input signals of FR A700 series are available External input signals of servo amplifier are available Optional data monitor Data type Registered Motor load factor e Effective load ratio monitor Position feedback Regenerative load ratio Encoder position within one revolution Peak load ratio Encoder multiple revolution counter e Position feed back Load inertia moment ratio Encoder position within one revolution Position loop gain Encoder multiple revolution counter Converter output voltage Load inertia moment ratio Cumulative current value Position loop gain 1 Torque command value e Main circuit bus voltage Optional add
46. Control of FR A700 series parameters Parameters set in FR A700 series are not controlled by Motion CPU Set the parameters by connecting FR A700 series directly with the operation panel on the front of inverter FR DUO7 FR PUO7 or FR Configurator that is inverter setup software For details on setting items for FR A700 series refer to the instruction manual of the FR A700 series Point P In the state of connecting between FR A700 series and Motion CPU only a part of parameters can be set if the parameter of the inverter Pr 77 Parameter write selection is in the initial state Set 2 Write parameters during operation to rewrite the parameters of FR A700 series Reset selection disconnected PU detection PU stop selection When PU stop is executed in FR A700 series position error excessive etc occur because a command from Motion CPU does not stop Set 0 to 3 in the parameter of the inverter Pr 75 Reset selection disconnected PU detection PU stop selection To stop FR A700 series use the stop signal and the forced stop of Motion CPU or use the output stop MRS of FR A700 series Setting item Default Setting Details value value Reset selection 14 0 Reset input is always enabled disconnected PU If the PU is disconnected operation will be continued detection PU stop e PU stop is disabled at SSCNETID connection selection Pr 75 1 A reset can be input only when the protective function is activated
47. I O module or intelligent function module connected Please consult your local Mitsubishi representative 24C1H System bus error An error was detected on the system bus Take measures to reduce noise 284 APPENDICES APPENDIX Appendix 1 Error Codes Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the CPU module base unit extension cable or module I O module or intelligent function module connected Please consult your local Mitsubishi representative 24C2H System bus error An error was detected on the system bus Check the connection status of the extension cable A Take measures to reduce noise Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the CPU module base unit extension cable or module I O module or intelligent function module connected Please consult your local Mitsubishi representative 24C3H System bus error An error was detected on the system bus Take measures to reduce noise Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the CPU module base unit extension cable or module I O module or intelligent function module connected Please consult your local Mitsubishi representative 24C4H System bus error An error was dete
48. Optional address of registered monitor Effective load ratio Regenerative load ratio e Peak load ratio e Position feed back Encoder position within one revolution Encoder multiple revolution counter e Load inertia moment ratio Model loop gain e Main circuit bus voltage e Cumulative current value Servo motor speed Selected droop pulse Module power consumption Module power consumption 2 words Module integral power consumption e Instantaneous torque e Load side encoder information 1 e Load side encoder information 2 Z phase counter e Servo motor thermistor temperature e Disturbance torque Overload alarm margin e Error excessive alarm margin Settling time Overshoot amount Servo motor side load side position deviation Servo motor side load side speed deviation e Servo command value Torque command value Optional address of registered monitor Effective load ratio Regenerative load ratio Peak load ratio Position feed back Encoder position within one revolution Encoder multiple revolution counter Load inertia moment ratio Model loop gain Main circuit bus voltage Cumulative current value Servo motor speed Selected droop pulse Load side encoder information 1 Load side encoder information 2 Motor thermistor temperature Servo command value Torque command value Optional address of registered monit
49. Refer to device list for bit device and word device names that can be set 37 Page 66 Device List e Module I O No 10h If a module access device UNIG is set for the device name set the I O No for the module access device UD G in which the link data being input is stored Refer to device list for the range of module access devices UD G that can be set lt Page 66 Device List e Points Set the points of the device that stores link data Set the points of the device in units of words The total points for bits and words must be 64 bytes or less Device Setting range Bit device 16 to 512 Word device 1 to 32 1 Set in units of 16 points 1 word e Start Set the start device number in which link data is stored with a bit device or word device Refer to device list for the range of bit devices and word devices that can be set lt 5 Page 66 Device List 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 4 4 5 5 Connection of SSCNETIII H Head Module 3 Status device Set the device for storage of the status of the SSCNETII H head module with a bit device or word device e Refer to device list for the range of bit devices and word devices that can be set 357 Page 66 Device List e The device uses 16 points 1 point if a word device from the specified device number The details stored in the status device are shown below 0 Unusable 1 2 3 4 5 6 7 During stop error Operation cy
50. SD memory card forced stop 0 0 0 cette teen e ete e eee 231 8 3 Memory Initialization cesses icc oe a ctdad a eos eee 233 8 4 Installing the Operating System Software 0 00 cece ences 234 Installation procedure using MT Developer2 0 000 cette eee 235 Installation procedure using SD memory card 0 0 00 2s 236 8 5 Add on FUNCHON iveco ected ceed ne E LENE EE Cee des cee 237 Add on module Structure 238 Installing add on library s cuco ia cd a ato 238 Add onifunction load SMO ei spats ira a e A eee Aa 238 CHAPTER 9 RAS FUNCTIONS 239 9 1 Self Diagnostics Function ooococococon cee eee ene eee eens 239 Self diagnOstics MING swe saa coed raid e abe ae Qe Sard weaned a eld a a a ia ie era 239 Error checking methods 0 0 cee teeta 239 Operations at error detection 0 0 20 sanana anaana kaeaea 241 Cancelling emorssesis a semea ewes id aaa noe oA baad endl aw web ahd alse alba RR ca 242 9 2 Safety FUNCHONS oo 0 ii A A A EME SetEnd eee ReneS 243 Processing time monitor and Check cooommosociiricis cee bea cee eee eee tiasa tra eee ee sa 243 9 3 Event History Function iio ee Sheecu dene gaeee Deu E Rees eee ee EEEE EERE 246 Event history SOCIOS ura mike taba tty kat np cele E casi 246 Saving event history 0 20 0 tent tenet e erences 246 Viewing the event hiStory econo rs bee beet be pas OS a la Sa eee Rade 248 Clearing the event history seasca cca Cee nek des de tee bee bene
51. To prevent this configure an external safety circuit such as a fuse O Configure a circuit so that the programmable controller is turned on first and then the external power supply If the external power supply is turned on first an accident may occur due to an incorrect output or malfunction O For the operating status of each station after a communication failure refer to manuals relevant to the network Incorrect output or malfunction due to a communication failure may result in an accident Design Precautions A WARNING When connecting an external device with a CPU module or intelligent function module to modify data of a running programmable controller configure an interlock circuit in the program to ensure that the entire system will always operate safely For other forms of control such as program modification parameter change forced output or operating status change of a running programmable controller read the relevant manuals carefully and ensure that the operation is safe before proceeding Improper operation may damage machines or cause accidents O Especially when a remote programmable controller is controlled by an external device immediate action cannot be taken if a problem occurs in the programmable controller due to a communication failure To prevent this configure an interlock circuit in the program and determine corrective actions to be taken between the external device and CPU module in case
52. external outputs are retained for modules set to Continue in CPU Module Operation Setting at Error Detection In either case device memory outputs Y are retained Depending on the error content positioning of all axes is stopped Refer to the following for details on error stop processing LAMELSEC iQ R Motion Controller Programming Manual Positioning Control Continue mode In this mode Motion CPU operation is continued Depending on the error content there may be times when the program for which the error was detected or positioning control is stopped however execution of unrelated programs and positioning control continues Error status at error detection The error status is categorized into major errors moderate errors and minor errors The status for which it is not possible to continue program or axis control for the Motion CPU in full or in part is categorized as an error Major error Stop mode Other CPUs can All programs stop All axes stop There is an error in the Motion CPU hardware and be stopped operation cannot be continued Moderate Program execution or axis operation cannot be error continued due to an incorrect program or parameter setting or temporary noise etc Continue mode Continues Complete or partial stop Continues Axis operation continues however programs cannot depending on error content be executed due to an incorrect program or parameter setting Minor err
53. if i i i A i i 1 ih i i ji 1 i i i Parameter type i 1 System parameter l 2 CPU parameter i 3 Module parameter 4 Module extension parameter 5 Memory card parameter i 101 Servo network setting 102 Head module setting j 103 Motion CPU basic setting 1 104 High speed input request i signal setting 105 Mark detection setting I 106 Limit switch output setting i 107 Manual pulse generator i connection setting 7 108 Vision system parameter i Ethernet communication line 109 Vision system parameter l Vision program operation i 110 Multiple CPU refresh setting 111 Servo parameter 112 Axis setting parameter i 113 Parameter block i 114 Servo input axis parameter 115 Synchronous encoder axis I parameter 116 Command generation axis i parameter 1 117 Synchronous parameter 118 Boot operation file i 119 Servo program l 120 Motion SFC parameter I 121 Motion SFC program i 122 Cam data 123 Multiple CPU advanced 1 synchronous control l Parameter storage target 2 SD memory card 4 Standard ROM I O No 10h When parameter type is 3 Module parameter or 4 Module extension parameter 5 System configuration information With or without we 76543210 SD81 specification x SD82 1 0 No 10 1 0 No 10 SD83 Base unit No SlotNo oi No i ase unit
54. milo 007F 007F M239 M240 M367 WO0000 W0017 wW0018 W002F D2020 D2051 D2052 D2083 1 Used only for internal processing of Motion CPU The number of points set in the refresh device CPU side is automatically assigned in MT Developer2 4 46 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 5 Connection of SSCNETIII H Head Module Data operation of intelligent function module by Motion SFC program In addition to refresh of data by device data read write operations to the buffer memory of intelligent function modules on the SSCNETII H head module can be executed by the RTO and RFROM instructions of Motion SFC programs Refer to the following for details LAMELSEC iQ R Motion controller Programming Manual Program Design Others RTO Write buffer memory data to Writes word device data to the buffer memory of the intelligent function module mounted to head module the SSCNETII H head module RFROM Read buffer memory data Reads data from the buffer memory of the intelligent function module mounted to the from head module SSCNETII H head module to the word device Data of refresh device The refresh of data by device for the status of Motion CPU or when there is a communication failure with the head module are as follows At communication failure occurrence Clear Maintain At STOP of Motion CPU Maintain At Motion CPU oper
55. of 16 16 for the device number The combination of S1 and D is not correct Correct the program so that the S1 and D are combined properly 397CH RTO execution error The number of words n to be written is outside the Correct the program so that number of words n to be range of 1 to 32767 written is within the range 1 to 32767 The target SSCNETII H head module axis No specified Correct the program so that the target SSCNETII H by D1 is outside the range of 601 to 608 head module axis No specified by D1 is within the The target SSCNETII H head module is not connected range of 601 to 608 during the instruction execution Connect the target SSCNETII H head module e Start device number S which stores the writing data Correct the program so that start device number S number of words n to be written is outside the device which stores the writing data number of words n to range be written is within the device range e S is a bit device and its device number is not a multiple When S is specified a bit device specify a multiple of of 16 16 for the device number RTO instruction was executed again before RTO Execute RTO instruction again after the complete bit of instruction is executed and complete bit device is turned RTO instruction is turned on on 397DH RFROM execution error The number of words n to be read is outside the range Correct the program so that number of words n
56. 0002 a A A a a ere ee 89 Operations ridiani tiara ds o A iaa 90 Mark detection settidg i cera can sause ici a a a Be A 91 4 4 Servo ONOFF sii in E A ei eame ane dleaene ieee 97 SENO ON OFF cerina eri a A a wae ae Peat 97 Follow up FUMCTH a E EE 98 4 5 Absolute Position System o ooocococcccnncnnnn n 99 Absolute position SYST M wicks es read ede a a eee eee 99 Synchronous control absolute position systeM 0 2 0 101 Saving and recovering backup data 2 0 cece 101 4 6 Clock FUNCtON iia A ee Sag nade ie ie seneise a meee epee E E eee 102 47 File Transfer Function 2 220422c ce ec eee ee be cde eee cece a a eee ee 103 4 8 File Transmission at Boot Functi0N ooocococonnoo eee eee eee 107 File transmission at DOOtfilGS ocio rra A A dane ee ea e 107 File transmission at boot procedure oooococcoo ete 111 Operation when security function is set 2 2 eee eae 112 CHAPTER 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 114 5 1 Servo Parameter Management oooooococcnoc eee eee eee eee eee eee e eee 114 Transmission of servo parameters o 114 Servo Parameter Read Change Function 00 0 eee eee eee eee ene 116 5 2 Optional Data Monitor Function 000 cece eee eee 117 Optional data monitor setting 0 0 eee eae 120 Example of using transient commands 0 00 0 cece eee 126 5 3 SSCNET Control FUNCION lt lt lt 0c0iciii eit eto tie ew cece eee eae dee ee ek he
57. 0430h 8 8 10 11 Forward rotation torque Coulomb friction 0 1 Forward rotation torque Friction torque at rated speed 0 1 Reverse rotation torque Coulomb friction 0 1 Reverse rotation torque Friction torque at rated speed 0 1 Vibration estimation data Hz 0 1 043h 8 9 10 11 Motor stopped Oscillation frequency Hz Motor stopped Vibration level 0 1 Motor operating Oscillation frequency Hz Motor operating Vibration level 0 1 Optional transient command 4 Number of words for response data 8 to 11 2 Refer to the following for details on the content stored in response data 8 to 11 4 LAServo amplifier Instruction Manual 4 24 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 2 Optional Data Monitor Function O O Address Transient ID Set when the registered monitor Optional address of registered monitor or transient command Optional transient command is set Optional address of registered H0000 to HO3FE Refer to the following for the address ID that can be set monitor LAServo amplifier Instruction Manual Optional transient command H0000 to HFFFF Refer to transient command for the transient commands that can be set gt Page 122 Transient command CAUTION Do not set an address transient ID other than those published in this manual Setting an address transient ID not published
58. 1 to 12 Synchronous encoder axis current value per cycle Cam axis current value per cycle Cam axis cycle unit 1 to 32 1 to 16 Cam axis current value per cycle Actual 1 Current value per cycle takes into consideration the delay of the servo amplifier 92 4 AUXILIARY AND APPLIED FUNCTIONS 4 3 Mark Detection Function Since the system specific delay exists in the current value data of the synchronous encoder axis there may be a difference between the actual current value and the current value of mark detection When the synchronous encoder current value synchronous encoder axis current value or synchronous encoder axis current value per cycle is used in the mark detection data the mark detection process compensation time shown below can be set to compensate the delay However when the phase compensation advance time is set in the synchronous control parameter to compensate the delay of the synchronous encoder setting of the mark detection process compensation time is not necessary Incremental synchronous encoder 614 Q171ENC W8 Via servo amplifier 968 Word device data Device Word devices are set for mark detection data Refer to device list for the range of word devices that can be set Page 66 Device List e Data type Set the data type at word device data setting 16 bit integer type 32 bit integer type Set the device No as an even No 64 bit floating point type e Es
59. 256 bytes correct the device No of D 38F1H Cell tag name error The string length of cell tag name specified in S2 of the Correct the program so that the length of cell tag name MVIN MVOUT instruction is outside the range of 1 to 32 specified by S2 is 1 to 32 bytes bytes Confirm that the cell tag specified by S2 is defined in The cell tag specified in S2 of the MVIN MVOUT vision system side instruction does not exist Correct the program so that the S3 data type and the The data type of the cell tag specified in S2 of the data range are corresponding to the vision system side MVOUT instruction and the transfer data type range in MVOUT instruction specified in S3 do not match 38F2H Received data Data received by the MVIN instruction cannot be Correct the program to specify 0 ASCII to S3 of the conversion error recognized as numeric data MVCOM instruction or use the MC protocol when At the BIN conversion mode of the MVCOM instruction acquiring the data string etc other than numerical value received data cannot be recognized as numeric data from the vision system 38F3H Transfer data error The transferred data specified by the MVOUT instruction When the floating point type is specified in the data of S3 S3 is incorrect correct the program so that the data is within the range of the 32 bit floating point type 3901H El execution error Event task enable was executed at except for the normal Event
60. 4 4 5 1 Servo Parameter Management 5 Servo Parameter Read Change Function The servo parameters can be changed or displayed individually from Motion CPU Use the following special registers to change or display the servo parameter Servo parameter write read request device No Name Meaning Details Set by SD552 Servo parameter Servo parameter The read value of servo parameter which executed 2 Read request in SD804 is stored System At write read request read value reading request sDa04 Servo parameter e The write read request is executed after setting of the axis No and servo parameter No User write read request 1 Write request System flag 2 Read request e 0 is automatically set by Motion CPU after completion of servo parameter write read request 1 is stored by Motion CPU at write read error SD805 Axis No The axis No to write read servo parameter is stored User R32MTCPU 1 to 32 R16MTCPU 1 to 16 SD806 Servo parameter The servo parameter No to be written read is stored in hexadecimal No H Oooo gt Parameter No gt Parameter group No 0 PA 5 PF PB 9 Po 2 PC A PS 3 PD B PL MR J4 W OB only 4 PE e C PT MR J4 W OB only Fixed to 0 SD807 Servo parameter The setting value of servo parameter to be written is stored when 1 Write request is set in setting value SD804 4 Do not execute the automatic refresh Pro
61. 5 2 5 3 5 4 5 5 5 6 6 2 6 5 6 7 6 8 Chapter 8 Section 8 1 8 5 Chapter 9 Section 9 1 9 2 9 3 Appendix 1 2 3 June 2015 IB NA 0300237 C MAdded or modified parts Terms Section 1 1 2 1 2 4 4 4 4 8 5 2 5 6 6 6 6 8 7 7 Appendix 1 2 3 4 Japanese manual number IB 0300236 C This manual confers no industrial property rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 02014 MITSUBISHI ELECTRIC CORPORATION 318 WARRANTY Please confirm the following product warranty details before using this product 1 Gratis Warranty Term and Gratis Warranty Range If any faults or defects hereinafter Failure found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company However if repairs are required onsite at domestic or overseas location expenses to send an engineer will be solely at the customer s discretion Mitsubishi shall not be held responsible for any re commissioning maintenance or testing on site that involves replacement of the failed module Gratis Warranty Term The gratis warranty term of the product shall be for one year after the date of
62. AND APPLIED FUNCTIONS 4 4 Servo ON OFF 4 5 Absolute Position System 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 Absolute data current value backup data home position data used with absolute system control is stored in the Motion CPU internal backup memory The absolute position system configuration is as Batt E a H Servo motor follows Motion CPU e Position command e Control command e Servo parameter Current value backup data Home position Monitor data coordinates Back and restoration of current value Absolute position encoder Absolute position system start Set the Absolute position detection system PA03 in the servo parameters to 1 for axes used with the absolute position system To establish the machine position perform home position return with the servo program servo command ZERO or with test mode Page 208 Test Mode Establishing the absolute position In the absolute positioning system the absolute position may be lost in the following cases Set the absolute position with a home position return e The battery unit of the servo amplifier is removed or r
63. By establishing the servo ON status with the servo ON command servo motor operation is enabled The following two signals can be used to execute servo ON OFF Rq 1123 All axes servo ON command M2042 Common on all axes Rq 1155 Servo OFF command M3215 20n For each axis A list of the Rq 1123 All axes servo ON command M2042 and Rq 1155 Servo OFF command M3215 20n is given below O Servo ON Servo operation enabled X Servo OFF Servo operation disabled Rq 1123 All axes servo ON command OFF x Servo ON command OFF X Servo ON command OFF M2042 Ready ON command OFF Ready ON command OFF ON O Servo ON command ON x Servo ON command OFF Ready ON command ON Ready ON command ON e Refer the following for details of servo ON command OFF and ready ON command OFF from Motion CPU LA Servo amplifier Instruction Manual When the delay time of Electromagnetic brake sequence output PC02 is used execute the servo ON to OFF by Rq 1155 Servo OFF command M3215 20n e If the servomotor is rotated by external force during the servo OFF status follow up processing is performed Page 98 Follow up function e Change between servo ON or OFF status while operation is stopped position control mode The servo OFF command of during operation during start accept flag ON will be ignored e When Rq 1123 All axes servo ON command M2042 is turned OFF gt ON the servo does not turn ON for axes for
64. Changes can be made within an overall range of 0 to 24k words The transmission area per module can be set in the 0 to 12k word range 1 To transfer data using the fixed scan communication area specify fixed scan communication area settings at GX Works3 Refer to the following for details on fixed scan communication area settings LCIMELSEC iQ R CPU Module User s Manual Application Point e The system area is determined by the allocation in the system Use the user area for communicating user data e The refresh END 145 executing area is used with the Multiple CPU refresh Do not directly change this area with a program Assurance for data communicated between Multiple CPUs 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 refresh e Data consistency for 32 bit data Transfer data with refresh method is in units of 32 bits Since 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 refresh setting e Data consistency for 64 bit data By setting the first number for the device set by refreshing to a multiple of 4 64 bit data separation can be prevented
65. Connect command of SSCNET communication in SSCNET control command SD803 Check that 1 Execute waiting is set in SSCNET control status SD508 Connect execute waiting Set 2 Execute command in SSCNET control command SD803 Check that 0 Command accept waiting is set in SSCNET control status SD508 Completion of connection OANh WN 2 Resume operation of servo amplifier after checking the St 1075 Servo ready M2415 20n ON Connect execute Connect command o command command clear lt 4 SSCNET control command SD803 Completion of connection SSCNET control status SD508 Command accept Connect processing Command accept waiting Connect execute waiting execute waiting I lt Program Program to connect disconnect the servo amplifiers after Axis 5 of self CPU Procedure Operation Disconnect procedure Turn OFF the servo amplifier s control circuit power supply after checking the LED display AA of servo amplifier Connect procedure Resume operation of servo amplifier after checking the St 1075 Servo ready M2415 20n ON System configuration R61P RnCPU R32MT RY40 RY40 CPU NT5P NT5P Disconnection After Axis 5 E E E a E E E AMP AMP AMP AMP AMP AMP AMP AMP 1 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 1 Motion SFC program
66. DI Turn ON at El instruction execution U ON During El APPENDICES APPENDIX Appendix 3 Special Relays 298 SM760 Sampling settings OFF STOP Turn ON when sampling is started Turn OFF when saving of the S Change RUN status ON RUN sampling results is complete status SM761 Sampling settings OFF Before trigger Turn ON when trigger conditions are established Remains ON even trigger status ON After trigger when sampling is complete and turn OFF when starting sampling SM762 Saving sampling OFF Not saving Turn ON while saving data in the buffer data to the storage target when settings ON Saving performing sampling SM765 Sampling settings OFF No error Turn ON when sampling error occurs Turn OFF when the next sampling error ON Error sampling is started SM805 Rapid stop OFF Setting error valid When this relay is ON the large value than deceleration time can be set U deceleration time ON Setting error invalid as rapid stop deceleration time The servo program setting error error setting error invalid code 51 will not occur flag SM860 Sampling settings OFF STOP Requests sampling By turning from OFF to ON after setting the RUN request ON RUN Sampling settings storage target SD860 sampling is started Sampling is stopped by turning the device OFF during sampling This device does not change even when sampling is complete This device is ignored even if turned from OFF to ON while the
67. Denso e Amplifier operation mode Set the amplifier operation mode only when MR J4 W B RJ is selected for the amplifier model MR J4 W B RJ e Standard Fully closed Linear DD motor MAxis information Set the axis No station No and axis label used to identify the servo amplifier Axis No Set the axis No for each line used by the Motion CPU to identify the servo amplifier R32MTCPU R16MTCPU e RIO Axis No Set the RIO axis No used by the Motion CPU to identify the remote I O only when LJ72MS15 is selected for the amplifier model R32MTCPU 601 to 608 R16MTCPU 601 to 604 e Station No d Set the station No set with the servo amplifier rotary switch for each line When SSCNETII H is set 1 to 64 When SSCNETIT is set 1 to 16 e Axis label RIO label Set an axis label of up to 32 characters for the set axis RIO axis This is the RIO axis label when LJ72MS15 is selected for the amplifier model External synchronous encoder input Set external synchronous encoder input when MR J4 W B RJ is selected for the amplifier model input filter setting Set the signal input filter time for the servo amplifier with external input signal 2 COMMON PARAMETERS 2 3 Motion CPU Common Parameter 59 MAllowable travel during power off Set only when MR J3 W B or MR J3 B S fully closed is selected for the amplifier model when communication type SSCNETII is selected I
68. Disconnect operation Connect operation Disconnect processing C Connect processing G10 an Check the disconnect G10 ES Check the connect SD508 0 command accept status or command accept status Set 5 Disconnect command 40 F10 spgo3 5 of SSCNET communication F11 gpgo3 10 e eona Disconnect after Axis 5 in SD803 in SD803 m 520 SD508 Disconnect execute waiting 620 SD508 Connect execute waiting F20 Set 2 Execute command F20 z Set 2 Execute command Save in SD803 dead in SD803 G30 E Check the completion of G30 Check the completion of SD508 0 disconnect processing SD508 0 connect processing END END 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 4 4 5 3 SSCNET Control Function 3 mProgram to connect disconnect the servo amplifiers after Axis 5 connected to the Motion CPU CPU No 2 by the PLC CPU CPU No 1 Disconnect procedure Turn OFF the servo amplifier s control circuit power supply after checking the LED display AA of servo amplifier by turning XO from OFF to ON Connect procedure Resume operation of servo amplifier after checking the St 1075 Servo ready M2415 20n of servo amplifier by turning X1 from OFF to ON System configuration R61P RnCPU R32MT RY40 RY40 CPU NT5P NT5P Disconnection After Axis 5 AMP AMP AMP AMP Axis D Axis b Axis D Axis D Axis b Axis D
69. E E REE AN SS pr ats at a a ai i i Output module Inter module synchronization target RD So A Output module i i Not inter module synchronization Output stop Output modules either hold or clear stop Operation at RUN STOP gt RUN When the Motion CPU is changed from STOP to RUN the Motion CPU issues an inter module synchronization start command to each module at the next inter module synchronization cycle after STOP to RUN and begins execution of the Motion SFC fixed cycle event task at the next inter module synchronization cycle The next operation is performed at the first inter module synchronization cycle An Inter module synchronization command is issued to the control module The Motion SFC fixed cycle event task is not executed nter module synchronization E te cycle Inter module synchronization cycle Inter module synchronization cycle STOP to RUN a l I gt i 1 Main cycle 1 rie 1 i Motion operation 3 Motion operation Motion CPU Motion operation Motion SFC ion SFC fixed Moton SFC iniction SEC fixed Motion SFC l normal task normal task normal task i cycle event task cycle event task I St 1550 PCPU ready OFF complete SM500 The next operation is performed at the second inter module synchronization cycle Execution of the Motion SFC fixed cycle event task is started Output module Hold j Inter module S
70. Ethernet or USB I O No CPU No the CPU No of each CPU module in a Multiple CPU system Network No Station No IP Address Event history file information Information on the event history file Axis control event information Information on axis control Time information Information on time Home position return information Information on home position return SSCNETII H communication information Information on SSCNETII H communication Parameter change information Transient command information Information on parameter Information on transient command Operating system version information Information on version of operating system software Detailed Communication speed and communication mode Information on the communication speed and the communication mode information 2 Communication status Security key operation information Information on the communication status Information on security keys Remote password information Information on the remote password File password information Information on the file password Disconnected IP address information Information on the disconnected IP address Drive and file information Information on drive names and file names Operation target information Information about the operation target I O No Detailed information 3 APPENDICES APPENDIX Appendix
71. Ethernet ports are enables in the network connections setting on the personal computer communication by direct connection is not possible In the setting leave only one Ethernet port enabled for direct connection and disable the other Ethernet ports Condition in which direct connection communication may not be available Under the following conditions direct connection communication may not be available In that case check the setting of the Motion CPU and or personal computer In the Motion CPU IP address bits corresponding to 0 in the personal computer subnet mask are all ON or all OFF Motion CPU IP address 64 64 255 255 Personal computer IP address 64 64 1 1 Personal computer subnet mask 255 255 0 0 e In the Motion CPU IP address bits corresponding to the host address for each class in the personal computer IP address are all ON or all OFF Motion CPU IP address 64 64 255 255 Personal computer IP address 192 168 0 1 Personal computer subnet mask 255 0 0 0 6 COMMUNICATION FUNCTIONS 4 6 4 Communication Function via PERIPHERAL I F 85 Connection via HUB Between the Motion CPU and MT Developer2 can be connected via HUB n uc l Ethernet cable straight cable Ethernet cable straight cable PERIPHERAL I F MT Develop
72. Field Not Set Mounted Slot No 0 8 Synchronization Setting within the Modules Explanation Set whether to use or not used inter module synchronization function in system a The following parameters cannot be changed when changing to use VO Assignment Setting SS Item List Find Result k Restore the Default Settings System Parameter Diversion 1 MULTIPLE CPU SYSTEM 1 3 Data Communication Between CPU Modules in the Multiple CPU System 33 34 If setting inter module synchronization settings at the Motion CPU set as follows Module Name Management Master Local Setting R32GPU Host Stat 1PLO No E R32MTCPU 2PLC No ynchror RX40C7 2PLG controlled Synchronize RY40NT5P 2PLC controlled Synchronize RD62D2 2PLC controlled Synchronize Explanation Set synchronous do not synchronous for target module Set Use inter module synchronization function in system to Use Set Synchronize from the setting of the selected synchronization target module displayed in Select the synchronous target unit for the module to be synchronized Set the Inter module synchronization target module selection as follows Set 0 05ms unit setting to Not set e Set the following fixed scan interval compatible with the Motion CPU in Fixed scan interval setting not set by 0 05ms 1 0 222ms 0 444ms 0 888ms
73. Internal relay M 12288 points 12k 48 MO to M12287 Decimal O Link relay B 8192 points 8k BO to B1FFF Hexadecimal Annunciator F 2048 points 2k 4 FO to F2047 Decimal Word device Data register D 20480 points 20k 45 DO to D20479 Decimal O Link register W 8192 points 8k 4 WO to W1FFF Hexadecimal Motion register 12288 points 12k 4 0 to 12287 Decimal System Bit device Special relay SM 4096 points SMO to SM4095 Decimal x device Word device Special register SD 4096 points SDO to SD4095 Decimal O CPU buffer Word device CPU buffer memory Up to 2097152 2M U3ED G0 to Decimal memory access device U3ED G2097151 6 7 access device CPU buffer memory Up to 12288 points U3ELNHGO to Decimal access device fixed 12k U3ED HG12287 scan communication area Module Word device Module access device Up to 268435456 UOIGO to Decimal access device points 256M UNG268435455 Constant 16 bit integer Decimal notation K 32768 to K32767 type Hexadecimal notation HO to HEFFF 32 bitinteger Decimal notation K 2147483648L to K2147483647L type Hexadecimal notation HOL to HEFFFFFFFL 64 bit floating Decimal notation K 1 79E 308 to K 2 23E 308 point type K0 0 K2 23E 308 to K1 79E 308 4 2 3 4 5 6 7 8 9 The description for word device bit designation is Device No n n bit No O to F Example W100 A indicates W100 bit A Refer to latch function for details on the latch function
74. Memory error An error has been detected in the memory Take measures to reduce noise Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the CPU module Please consult your local Mitsubishi representative 3C22H 3C2FH Memory error Memory error An error has been detected in the memory An error has been detected in the memory Take measures to reduce noise Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the CPU module Please consult your local Mitsubishi representative Take measures to reduce noise Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the CPU module Please consult your local Mitsubishi representative APPENDICES APPENDIX Appendix 1 Error Codes 289 3C30H Memory error An error has been detected in the memory Take measures to reduce noise Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the CPU module Please consult your local Mitsubishi representative 3C31H Memory error An error has been detected in the memory Take measures to reduce noise Reset the CPU module and run it again If the same error code is displayed again the possib
75. Motion SFC program error Parallel branching resulted in an END step without parallel coupling The Motion SFC program code is corrupted Turn Rq 1120 PLC ready flag OFF and write the Motion SFC program again 33F4H Motion SFC code error An impossible code is used The internal code is The Motion SFC program code is corrupted Turn corrupted Rq 1120 PLC ready flag OFF and write the Motion SFC program again 33F5H Jump code error 1 Internal code in jump destination information List code The Motion SFC program code is corrupted Turn fault Rq 1120 PLC ready flag OFF and write the Motion SFC program again 33F6H Jump code error 2 Internal code in jump destination information Label The Motion SFC program code is corrupted Turn information fault Rq 1120 PLC ready flag OFF and write the Motion SFC program again 33F7H Jump code error 3 Internal code in jump destination information Label The Motion SFC program code is corrupted Turn number fault Rq 1120 PLC ready flag OFF and write the Motion SFC program again 33F8H Jump code error 4 Internal code in jump destination information Label The Motion SFC program code is corrupted Turn address fault Rq 1120 PLC ready flag OFF and write the Motion SFC program again 33F9H Jump code destination The specified pointer does not exist at the jump The Motion SFC program code is corrupted Turn Error destinat
76. Multiple CPU system power supply ON Servo amplifiers cannot be operated until connection with all axes set by system setting is confirmed Servo amplifier cannot be operated until connection with all axes set to driver communication is confirmed Normal axes axes not set to driver communication can also be connected after the network is established Connect disconnect with servo amplifier Only the first axis of the SSCNET line servo amplifier connected directly to the Motion CPU can connect disconnect Servo amplifiers other than the first axis can be disconnected but cannot be connected Only the first axis of the SSCNET line servo amplifier connected directly to the Motion CPU can connect disconnect Only normal axes axes not set to driver communication other than the first axis can be connected when they are disconnected However when axes set to driver communication are disconnected they cannot communicate with servo amplifiers that were connected after disconnecting The servo amplifier s LED display remains AA If all axes set to driver communication are not detected at the start of communication with the servo amplifier all axes connected to that line including normal axes cannot be operated The servo amplifier s LED display remains Ab Check with the following SSCNETII searching flag Line 1 SM532 SSCNETII searching flag Line 2 SM533 if a SSCNET line can be operated When all normal
77. No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A0CH UD Gn read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper APPENDICES APPENDIX Appendix 1 Error Codes 275 3A0DH UD GnL read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper 3A0EH UD GnF read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper 3A0FH UO HGn read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper 3A10H UD HGnL read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper 3A11H UO HGrF read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper 3A1BH SD n read error The indirectly specified device No is outside the range Correct the program so th
78. No ca A eae a Power supply module No SD85 Network No SD86 Station No CPU module No Network No Station No i i 1 if it if 1 i i b15 87 0 Base unit No f I ii i if I li 1 i i to 11 Slot No Main base unit 1to7 Extension base unit 1 to 7 8 Exceeding 7 extension base b15 87 0 ip oda ule ower suppl No module No E 1 to 2 Power supply module 1 to 4 CPU No 1 to No 4 APPENDICES APPENDIX Appendix 4 Special Registers 303 SD81 to SD111 Detailed information 1 Detailed information 1 6 Number of times information b15 210 SD81 With or without specification Time L set value H Time actual L measurement H SD85 7 Time information SD81 With or without specification Time set value Time actual measurement 43210 SD82 SD83 SD84 SD85 Time set value ms Time set value us Time actual measurement value ms 135 Add on function information b15 Time set value ms Time set value us Time actual measurement value ms Time actual measurement value us 43210 With or without SD81 specification SD82 L SD83 Detailed code SD84 Add on SD85 package name spsg Stored as Unicode character string SD87 SD88 Add on SD89 library name spgo
79. No which indirectly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A70H 3A71H 16 bit batch M n read error 32 bit batch M n read error The indirectly specified device No is not a multiple of 16 The indirectly specified device No is not a multiple of 16 is outside the range or is outside the range or Correct the program so that the device No which indirectly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range Correct the program so that the device No which indirectly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A72H 3A73H 16 bit batch B n read error 32 bit batch B n read error The indirectly specified device No is not a multiple of 16 The indirectly specified device No is not a multiple of 16 is outside the range or is outside the range or Correct the program so that the device No which indirectly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range Correct the program so that the device No which indirectly specifies is proper Set the device range according to th
80. Parameter 51 52 Module Parameter Specify local node settings and security in order to communicate with external devices with the Motion CPU PERIPHERAL I F O R Series Common Parameter gt Motion CPU Module gt Module Parameter Window El Module Parameter Ttem Local Node Setting IP Address Setting IP Address Subnet Mask Default Gateway Security IP Filter Setting Set IP filter to identify IP address of access source and execute ac IP Filter Use or Not Not Used Disable Direct Connection to MELSOFT Set whether to disable enable direct connection with MELSOFT Disable Direct Connection to MELSOFT Enable Do Not Respond to Search for CPU Module on Network Set whether to respond to search for CPU module on network or not Do Not Respond to Search for CPU Module on Network Response a bai ERA EA EAS Local node IP address IP address 0 0 0 1 to 223 255 255 254 192 168 3 39 setting setting Subnet mask 0 0 0 1 to 255 255 255 254 blank No setting Default gateway 0 0 0 1 to 255 255 255 254 blank No setting Security IP filter setting IP filter use or not Use Not used Not used IP filter setting Up to 32 settings No setting Disable direct connection to MELSOFT Enable Disable Enable Do not respond to search for CPU module on Response no check Not responded check Response no check network Local node setting IP address setting IP address Set
81. RUN When remote RUN is performed when the status is STOP the Rq 1120 PLC ready flag M2000 changes from OFF to ON RUN status and the Rq 1120 PLC ready flag M2000 OFF to ON operation is executed Remote STOP Turns the Rq 1120 PLC ready flag M2000 OFF STOP status mote RUN STOP operation procedure Operation with MT Developer2 Select RUN or STOP on by remote operation to execute Refer to the following for details of the operation procedure Help of MT Developer2 XZ Online gt Remote Operation gt RUN STOP p Transfer Information Connecting Interface piss lt gt Pic Module Target CPU Network No F Station pps Type Raam fuz tation m CPU Status CPU Status prop Operation 6 COMMUNICATION FUNCTIONS 4 4 6 3 Remote Operation 8 Operation with RUN contact Set the X device to be set as the RUN contact at MT Developer2 O IR series common parameters gt Motion CPU module gt CPU parameter gt Operation related setting gt RUN contact The settable device range is XO to X2FFF Operations are performed with the set RUN contact ON OFF and remote RUN STOP status e Ifthe RUN contact is OFF the status of the Motion CPU will be RUN By executing a remote RUN STOP in the RUN status the Motion CPU RUN STOP status can be switched If the RUN contact is ON the status of the Motion CPU will be STOP The status of the Motion CPU will be STOP even if remote
82. RUN is performed in the STOP status Point or cia te en tn conta see The Rq 1120 PLC ready flag M2000 can also be turned ON OFF PCPU READY complete flag SM500 ON OFF in the following methods e RUN STOP switch change 4 82 6 COMMUNICATION FUNCTIONS 6 3 Remote Operation 6 4 Communication Function via PERIPHERAL I F The Motion CPU can communicate data by connecting built in PERIPHERAL I F of the Motion CPU with personal computers and or display devices etc using an Ethernet cable There are following two ways to communicate between the Motion CPU and MT Developer2 e Direct connection connected with the Ethernet cable e Connection via HUB connected via HUB Direct connection Between the Motion CPU and MT Developer2 can be connected using one Ethernet cable without HUB The direct connection enables communication with only specifying connection target IP address setting is not required i Hr at Hi d Ethernet cable crossover cable PERIPHERAL I F MT Developer2 Point If connecting directly with an Ethernet cable the wiring will be longer than a USB cable and therefore it is possible that an unauthorized connection may be established from a distance By setting R Series Common Parameters gt Motion CPU Module
83. Remains blank for JOG start synchronous control start and control mode switching 212 6 COMMUNICATION FUNCTIONS 6 7 Positioning Control Monitor Function Current value history monitor The current value history monitor is a function used to monitor the encoder position data history for each axis Current position data home position return data and Multiple CPU system power supply ON OFF data for past 10 times can be monitored Current value history monitor information is always stored regardless of whether the system is absolute or incremental and is retained even when the Multiple CPU system power supply is turned OFF or when reset The current value history monitor is cleared when performing a Motion CPU memory clear from MT Developer2 or when clearing the built in memory with the rotary switch The following items are displayed on the current value history monitor Display item Displayed content Remarks ltem Displays current value history items Home position data Current value when home position return is completed normally Monitor value Current real time current value Power supply ON Current value when servo amplifier initial communication established 2 e Power supply OFF Current value when communication with servo amplifier disconnected 1 2 3 Date time Displays the date and time at which current value history was recorded Year month day hour minute second 1 1000 second yyyy MM dd hh mm
84. Sampling settings RUN request SM860 turns from OFF to ON ERUN from digital oscilloscope The sampling settings file is specified and sampling is started with digital oscilloscope RUN Sampling can be stopped with digital oscilloscope STOP during sampling Sampling settings RUN request SM860 OFF gt ON Sampling settings storage target SD860 is specified and sampling is started when Sampling settings RUN request SM860 is turned ON Furthermore sampling is stopped by turning the Sampling settings RUN request SM860 OFF Sampling can be performed even when not connected to the personal computer scilloscope request device Sampling settings Requests sampling By setting the Sampling settings storage target and turning ON RUN Main cycle SM860 RUN request ON the RUN request sampling is started Sampling is stopped by turning OFF the OFF STOP request during sampling This device does not change even when sampling is complete The RUN request is ignored even if the device is turned from OFF to ON while the Sampling settings RUN status is ON loscope setting device Sampling settings Set the storage target drive for sampling settings data subject to sampling Read 0 StandardROM When storage target when the Sampling setting RUN request is ON 1 SD memory Sampling card setting RUN request is ON 22 7 DIGITAL OSCILLOSCOPE 0 7 6 Sampling Functions Sampling interval S
85. Select whether to use the SSCNET SSCNET III H e SSCNET III H IIH or the SSCNET III in each line C SSCNET IIT SSCNET IIT i Operate as MR J3 compatibility mode when MR J4 W servo amplifiers are connected to SSCNET III system However an alarm may occur when the MR J4 W which was once connected to SSCNET III H is connected to SSCNET III Please refer to the troubleshooting of MR J4 servo amplifier instruction manual for the details Lx ea Displ ji Communication type SSCNETIM H SSCNETE SSCNETII H Communication type Set the communication type to communicate with the servo amplifier for every line e SSCNETII H MR J4 W O1B e SSCNETII MR J3 W OB 2 COMMON PARAMETERS 2 3 Motion CPU Common Parameter 57 58 Amplifier Information E Amplifier Model MR 34 W B RJ lt Amplifier Operation Mode Standard Axis Information Axis No 1 4a to 32 Station No d 1 za to 64 Axis Label m External Synchronous Encoder Input Invalid ad corresponding MR J4 B RJ can be used can Servo Parameter Setting Input Filter Setting C Nothing C 0 8ms C 1 7ms C 2 6ms 3 5ms Only the scale measurement mode Amplifier Amplifier model lt Communication type SSCNETII H use gt MR J4 W B RJ information MR J4 W B RJ MR J4 B LL VCII Nikki Denso LJ72MS15 lt Communication type SSCNETII use gt MR J3 W
86. Servo status 1 8010 20n The errors detected by FR A700 series are shown in the table below Refer to the instruction manual of FR A700 series for details of the errors MFR A700 series Errorcode FR A700 series LED display Name Remarks 10H E 0C1 Overcurrent trip during acceleration 11H E 0C2 Overcurrent trip during constant speed 12H E 0C3 Overcurrent trip during deceleration or stop 15H E OV3 Regenerative overvoltage trip during deceleration or stop 16H E THM Motor overload trip electronic thermal relay function 17H E THT Inverter overload trip electronic thermal relay function 18H E IPF Instantaneous power failure 19H E UVT Undervoltage 20H E BE Brake transistor alarm detection 21H E GF Output side earth ground fault overcurrent 22H E OHT External thermal relay operation 23H E OLT Stall prevention stop 24H E OPT Option fault 27H E PE Parameter storage device fault 28H E PUE PU disconnection 30H E CPU CPU fault 31H E ILF Input phase loss 32H E FIN Heatsink overheat 33H E OS Overspeed occurrence 34H E OSD Speed deviation excess detection 35H E ECT Signal loss detection 36H E OD Excessive position fault 45H E P24 24VDC power output short circuit 46H E CTE Operation panel power supply short circuit RS 485 terminal power supply short circuit 47H E LF Output phase loss 48
87. Status Storage Device D2010L Error Flag M10 Ethernet Communication Line Set the parameters related to the vision system Ethernet communication Vision system No 1 to 32 IP address 0 0 0 1 to 255 255 255 254 Port No For telnet communication 1 to 65535 For TCP IP communication Cannot use 21 68 80 502 1069 1070 1212 2222 44818 50000 User name Up to 15 characters Password Up to 15 characters Status storage device Word device Error flag Bit device EVision System camera No Not necessary to set This number 1 to 32 is used by the vision system dedicated function to identify the vision system HIP Address Set the IP address set for each vision system 6 COMMUNICATION FUNCTIONS 4 6 5 Vision System Connection Function 95 Port No Set the port number used for communication with the vision system Set the same number as the port number set for the vision system with In Sight Explorer e For Telnet communication Set the Telnet connection port number used to control the vision system from the Motion CPU If this number is not set the Telnet default port number 23 will be used e For TCP IP communication Set the vision system s TCP IP server port number used to batch send the vision system job execution results with the format output string setting of TCP IP protocol This does not need to be set when not using the format output string setting of TCP IP protocol MUser Name Selec
88. Stored as Unicode character string SD91 SD92 Add on SD93 module name spo4 Stored as Unicode SD95 character string Detailed code Add on package name Add on library name Add on module name 141 Servo error error at communication failure b15 76543210 With or without SD81 specification SD82 Servo L SD83 amplifier type H SD84 Axis No SD85 Error LED display SD86 Parameter error No SD87 Line No SD88 Optical hub unit No SD89 Alarm detailed No Servo amplifier type Axis No Error LED display Parameter error No Line No Optical hub unit No Alarm detailed No S Occur an error 304 APPENDICES APPENDIX Appendix 4 Special Registers SD81 to Detailed information 1 Detailed information 1 142 Axis control related error S Occur an s A E 6543210 error With or without SD81 specification E es SD82 Axis type ea SD83 Axis No SD84 Program No Program No SD85 Detail code ra pea Setting data E aa data unit SD87 H SD88 Setting data L b15 1098 0 SD89 unit H 1 Fixedato oo i SY b9 Speed control 10 x multiplier setting for degree axis 0 Invalid 1 Valid When the error setting data units are 11 Control unit speed data and control units are 10 degree the status at an error occurrence is set b10 Fixed at 0 b12 b11 Control unit
89. System No Vision Program Name Status Storage Device Read Value Cell Read Value Storage Device Image Data Storage Device Vision Program Operation The job vision program set in the vision system is assigned as a program number so that it can be executed from the vision system dedicated functions e Program No 1 Vision system No 2 Vision program name Worksearch1 Status storage device D3000 Read value cell Not necessary to set Read value storage device Image data storage device D3010F 206 6 COMMUNICATION FUNCTIONS 6 5 Vision System Connection Function Motion SFC program Alignment ajustment FO Log onto vision system MVOPEN K2 ol En a G0 Confirm log on completion D2000 K20 MO F1 Load job MVLOAD K1 G1 Confirm load completion of job D3000 K1 MO ee f F2 Reset status storage device MVFIN K2 G2 Nait for trigger request X0 F3 IIssue trigger to vision system MVTRG K2 G3 Wait for complete of image data reception D2000 40 IMO F4 Calculate command position from image data D4000L LONG D3010F 10000 0 Axis 1 X D4002L LONG D3014F 10000 0 Axis 2 Y AE AA K1 Real 1 ABS 2 Vector speed Axis 1 D4000 um Axis 2 D4002 um Vector Speed 1000 mm s G4 IWait for positioning completion M2402 M2422
90. Torque limit value When the positive direction and negative direction of torque limit value is set individually using CHGT instruction is as follows Motor current value gt Positive direction torque limit or Negative direction torque limit value Zero pass signal Always ON Each signals is shown below at the amplifier less operation start St 1071 External signals FLS M2411 20n Normal open OFF Normal close ON St 1072 External signals RLS M2412 20n Normal open OFF Normal close ON St 1074 External signals DOG CHANGE M2414 20n Normal open OFF Normal close ON The servo amplifier external signals can be operated during amplifier less operation by turning ON OFF the St 1071 External signals FLS M2411 20n St 1072 External signals RLS M2412 20n or St 1074 External signals DOG CHANGE M2414 20n using the user program Home position return All home position return methods can be used Absolute position system The absolute position is controlled as the normal servo amplifier connection At the amplifier less operation start The absolute position is restored by the saved absolute position data The absolute position is restored as the travel value 0 during the servo amplifier s power supply OFF MDuring amplifier less operation Suppose the servo motor operated during amplifier less operation and the absolute position data is refreshed MT he servo amplifiers are connected after amplifier
91. U3ED HG Other CPU management module access devices UD G e Devices updated at the module side from module access devices UD G e Devices other than user set devices from special relays SM special registers SD e Monitor signals from internal relay M data register D Motion register dedicated positioning devices 3 DEVICES 3 1 Device List 67 Devices that can be used with each function The following is a list of word and bit devices that can be used with each Motion CPU function O Setting possible A Setting possible restrictions apply X Setting not possible 68 Multiple First device A x A x CPU refresh setting Parameter R series common CPU refresh END A x A x parameter setting 145 executing Al x A x Main cycle operation A x A x cycle CPU parameter RUN contact AS x x x Module CPU common System basic Forced stop input setting x O parameter settings Limit switch Bit device setting item O O x O output setting Word device setting item x x O O High speed Bit device setting item O O x O input request Word device setting item x x O O signal setting Mark detection Bit device setting item O O x O setting Word device setting item x x O O Vision system Bit device setting item O O x O parameter Word device setting item x x O O Head module CPU refresh device O x O O setting setting Inpu
92. View Only PLC Type of Project Find CPU Built in Ethernet port on Network No response within a specific time period Connected via a router or subnet mask is different Do not respond to search for CPU Built n Ethernet port is checked in PLC parameter Finds CPU Built in Ethernet port on the same network This cannot be performed when the following happens IEEE802 3 10BASE T standards The maximum number of devices that can access to one Motion CPU simultaneously is 16 Hubs with 10BASE T or 100BASE TX ports can be used The ports must comply with the IEEE802 3 100BASE TX or The Ethernet cables must to be installed away from power cabling lines 6 COMMUNICATION FUNCTIONS 6 4 Communication Function via PERIPHERAL I F 189 e The module operation is not guaranteed if any of the following connection is used Check the module operation on the user side Connections using the Internet general public line Connections using devices in which a firewall is installed Connections using broadband routers Connections using wireless LAN When multiple Motion CPUs are connected to MT Developer2 beware of the below cautions IP addresses must be different for each Motion CPU Different projects must be used for each Motion CPUs on MT Developer2 4 90 6 COMMUNICATION FUNCTIONS 6 4 Communication Function via PERIPHERAL I F 6 5 Vision System Connection Function The Cognex In Sigh
93. a enue Qe A id 248 APPENDICES 249 APPeNdix 1 Error COGS cu seco cence iria E or Ber fd nie A E A eben A Ei 249 EFORCOGGS SSI simson dotar aa idea 249 Operations at error OCCUrrENCE ooo 250 Cancelllng errorS iia ii is a dik 4 6 dos diia 250 Error codes stored using the Motion CPU 0 0 ce eee 250 Warning 0800H to OREEH cco 052 erates day a eae A be eee 252 Minor error 1000H to 1FRER coa ico a kiss anie bee ee ee eee eee de 257 Minor error SFC 3100H to 3BFFH 2 eens 268 Moderate error 2000H to 3BFFH 0 0 eee eee 281 Sampling type sois str ceed A eds ee Eee eRe eee weed hae Sta rey wh ale 220 Major error 3C00H to SFFFH ss 00000000 a oe PS ra a ee A RE A a ke aia E fal e ia 289 Appendix 2 Event List 0 A cee de e EE r aE EE ies 291 Guide for reference of event list oocoocococcoooc ttt eee 291 EVGMtMiStOryiiSt a a a A E E E 292 Appendix 3 Special Relays o lt oomoociriororrsrrir rar dee ee eee dee tae eeeee cent 295 Appendix 4 Special RegisterS lt 00 0 oe e wie nie ie rgiel ncn ges are A e era sie nee ee ee 300 REVISIONS ocurra prensi ne nee a E Bee eee OP SE ee eee ee Ree ame 318 WARRANTY e235 e004 noite e ti DA e ta da ehea ees Pade gee bed eae das 319 TRADEMARKS iodo did Salen aed be eee ca Slo E ee wa DS eae ie Cea 320 15 16 RELEVANT MANUALS Print book MELSEC iQ R Motion Controller Programming Manual This manual e
94. a hardware failure of the memory card Replace the memory card 2180H Invalid file An invalid file has been detected Check the detailed information drive file information select the correct file name and write the specified file to the CPU module If the same error code is displayed again the possible cause is a hardware failure of the CPU module Please consult your local Mitsubishi representative 21A0H File specification error The file which specified control data in boot operation file does not exist in the memory card Please check the detailed information Drive File information and write the displayed file If still shows the same error maybe the memory card hardware is error Exchange the memory card 21A1H 2200H File specification error Parameter error The file specified in parameter cannot be created The parameter file do not exist Check the detailed information parameter information and correct the name and size of the file corresponding to the displayed number Check the detailed information drive file information take the following actions Format the corresponding drive Delete unnecessary files on the corresponding drive to increase free space Unlock the corresponding drive if it is locked Check the detailed information select the correct file name and write the file to the CPU module 2220H Parameter error The parameter setting is corrupt
95. an even number for the device number Refer to device list for the range of word devices that can be set Page 66 Device List 4 AUXILIARY AND APPLIED FUNCTIONS 4 1 Limit Switch Output Function 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 section setting As the watch data motion control data word device data or word device data ring counter can be used Motion control data Settable watch data is shown in the following table Feed current value Real current value Servo command value Position feed back Absolute position encoder single revolution position Control unit pulse 32 bit integer type Absolute position encoder multiple revolution position 16 bit integer type Deviation counter value pulse Servo command speed pulse s Motor speed Motor current value 0 01r min 0 1 32 bit integer type 16 bit integer type Command generation axis feed current value Command generation axis cumulative current value Command generation axis current value per cycle Synchronous encoder axis current value Synchronous encoder axis current value per cycle Control unit Encoder axis unit Cam axis current value per cycle Cam axis current value per cycle Actual Cam axis cycle unit 32 bit integer
96. and displays a list Select the connecting Motion CPU and click Select IP Address Input button to set the IP address for Motion CPU side TEPU side I F Detailed Setting oF PLC PLC Mode RCPU x Ethernet Port Direct Connection Connection via HUB Please select Connection via HUB when you use HUB even if the equipments to be communicated is one The load hangs to the line when Ethernet Port Direct Connection is selected with other equipment connected with HUB and it communicates and there is thing that influences the communication of other equipment IP Address 192 1687339 IP InputEormat pEc C Host Name Found Motion CPU is displayed Selection IP address input button Find CPU Built in Ethernet port on network button Response Wait Time 2 sec r Find CPU Built in Ethernet port on Network Finds CPU Built in Ethernet port on the same network This cannot be performed when the following happens No response within a specific time period Connected via a router or subnet mask is different Do not respond to search for CPU Built in Ethernet port is checked in PLC parameter Selection IP Address Input e Set the title and comment of the Motion CPU in name setting The title and comment set are displayed on the CPU side I F Detailed Setting of PLC Module screen 57 Page 48 CPU parameter 188 cpu Parameter kakade Name Set
97. based on the fixed scan interval set with the inter module synchronization function enabling control with the timing of both inter module synchronization function and CPU fixed scan communication aligned e Set Cooperate in System Parameter gt Multiple CPU Setting gt Communication Setting Between CPU gt Fixed Scan Communication Function gt Fixed Scan Interval Setting of Fixed Scan Communication gt Fixed Scan Communication Function and Inter Module Synchronization Function Point If using both the fixed scan communication function and inter module synchronization function set Fixed Scan Communication Function and Inter Module Synchronization Function to Cooperate If set to Not cooperated a moderate error error code 2222H occurs and the Motion CPU does not RUN Inter module synchronization function operation when the CPU operating status changes Operation at power supply ON reset e Normal startup RUN If there are no setting errors in the parameters etc after analysing inter module synchronization function related settings system parameters CPU parameters module parameters written to the Motion CPU when turning the Multiple CPU system power supply ON or when cancelling a reset the inter module synchronization function operates e Abnormal stop STOP When parameter inconsistencies between Multiple CPUs or network parameter setting errors etc occur or if module hardware errors have occurred whe
98. cause Corrective action code 1A55H Radius setting error The address that does not generate an arc is set atthe R Correct the address of servo program radius specified R radius specified helical interpolation Relationships among the start point radius and end point 1A56H Reference axis The movement amount of the reference axis is set at 0 in Set the axis of which the movement amount is not 0 to a movement amount 0 the linear interpolation for reference axis specification reference axis 1A57H Movement amount Overrun occurred because preset movement amount is Set the speed so that an overrun will not occur insufficient during speed less than The deceleration distance at The proximity dog Set the setting movement amount so that an overrun will position switching signal input during The speed position switching signal not occur control count method Change input or The home position return of count home position return method during The speed position switching control 1A58H Movement amount During control an overrun occurred because the Set the speed setting movement amount so that an insufficient deceleration distance for output speed was not reached overrun will not occur upon detection of the last positioning address Set the speed setting movement amount deceleration e During acceleration deceleration time change control time so that an overrun will not occur an overrun occurred because the deceleration distance f
99. code 308FH occurs at the initial processing of the Motion CPU module and the Motion CPU module does not RUN Add on function load error The following describes the details codes and corrective actions when add on function load error moderate error error code 308FH is detected 0500 Device number outside the range The device number of a device used by the add on library is outside the range Correct the device number of the CPU parameter so that it is within the range 0510 Operating system not supported An add on library not supported by the operating system is installed Check the operating system version that supports the add on library 0511 Operating system support ended An add on library that the operating system has ended support for is installed Delete the add on library 238 8 MOTION CPU MEMORY STRUCTURE 8 5 Add on Function 9 RAS FUNCTIONS 9 1 Self Diagnostics Function Checks if a problem exists with the Motion CPU Self diagnostics timing If an error occurs when the Multiple CPU system power supply is turned ON or while it is in the RUN STOP state the Motion CPU detects and displays the error and stops operation depending on the error details However depending on the error occurrence status or the instruction to execute the Motion CPU may not be able to detect the error Configure safety circuits external to the Motion CPU to ensure that the entire system operates safely even in such a
100. connect the cable Incorrect wiring connecting the cable to an incorrect interface may cause failure of the module and external device Tighten the terminal screws or connector screws within the specified torque range Undertightening can cause drop of the screw short circuit fire or malfunction Overtightening can damage the screw and or module resulting in drop short circuit fire or malfunction When disconnecting the cable from the module do not pull the cable by the cable part For the cable with connector hold the connector part of the cable For the cable connected to the terminal block loosen the terminal screw Pulling the cable connected to the module may result in malfunction or damage to the module or cable Prevent foreign matter such as dust or wire chips from entering the module Such foreign matter can cause a fire failure or malfunction A protective film is attached to the top of the module to prevent foreign matter such as wire chips from entering the module during wiring Do not remove the film during wiring Remove it for heat dissipation before system operation Programmable controllers must be installed in control panels Connect the main power supply to the power supply module in the control panel through a relay terminal block Wiring and replacement of a power supply module must be performed by qualified maintenance personnel with knowledge of protection against electric shock For wiring refer to the MELSEC iQ
101. data is stored to the Address Transient ID following devices Settings and operations are not performed in W24 to W31 Storage device No W32 Motor stopped Oscillation frequency Hz e W33 Motor stopped Vibration level 0 1 W34 Motor operating Oscillation frequency Hz e W35 Motor operating Vibration level 0 1 e Motion SFC program G1 Wait for estimation completion W8 H0111 PE Start machine diagnosis F2 Read friction estimation data W50 W20 Forward rotation torque Coulomb friction 0 1 W51 W21 Forward rotation torque Friction torque at rated speed 0 1 W52 W22 Reverse rotation torque Coulomb friction 0 1 W53 W23 Reverse rotation torque Friction torque at rated speed 0 1 _A ISl F3 Read vibration estimation data W60 W32 Motor stopped Oscillation frequency Hz W61 W33 Motor stopped Vibration level 0 1 W62 W34 Motor operating Oscillation frequency Hz W63 W35 Motor operating Vibration level 0 1 Refer to the following manual and conduct the machine diagnosis estimation operation pattern LU1Servo amplifier Instruction Manual 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 2 Optional Data Monitor Function 127 Optional transient command If using optional transient commands any given data type can be stored in response data devices 8 to 11 by inputting the transient ID from a GOT etc to the devi
102. deceleration system of the Advanced S curve acceleration deceleration parameter block or the servo program to the trapezoid S curve acceleration deceleration 19E7H Unsupported stopper Switching to the stopper control was requested to the Use the available stopper control for servo amplifier control servo amplifier which unsupported to the stopper control 19E8H Stroke limit invalid axis The circular interpolation or helical interpolation was Make the stroke limit valid for the control unit degree axis circular helical interpolation execution error started in the invalid axis of stroke limit starts the circular interpolation or helical interpolation APPENDICES APPENDIX Appendix 1 Error Codes 259 19E9H Speed position control restart error The speed position switching control restart VPSTART was performed although it was not after the stop during operation of the speed position switching control Do nat restart except for the stop during speed position switching control 19EAH Fixed position stop Servo axis Servo axis speed control start error The speed control with fixed position stop was executed Set the unit degree for the axis for which fixed position for the axis which the unit has been set other than stop speed control is started degree Set the stroke limit to invalid lower stroke limit value The speed control with fixed p
103. device No W b15 b9b8b7 b4b3 bO ws gt Forward rotation friction 0000 Estimating friction 0001 Estimating complete 0010 One side operation motor rotation stays in one direction 0011 Parameter threshold exceeded 0100 Low variation high speed operation 0101 Time constant underestimate 0111 60 minutes elapsed Reverse rotation friction 0000 Estimating friction 0001 Estimating complete 0010 One side operation motor rotation stays in one direction 0011 Parameter threshold exceeded 0100 Low variation high speed operation 0101 Time constant underestimate 0111 60 minutes elapsed Vibration estimation 0 Estimating vibration 1 Estimating complete 4 26 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 2 Optional Data Monitor Function Setting 2 Data type Friction estimation data When friction estimation is completed normally friction estimation data is stored to the Address Transient ID following devices Settings and operations are not performed in W12 to W19 e W20 Forward rotation torque Coulomb friction 0 1 Storage device No w12 e W21 Forward rotation torque Friction torque at rated speed 0 1 e W22 Reverse rotation torque Coulomb friction 0 1 e W23 Reverse rotation torque Friction torque at rated speed 0 1 Setting 3 Data type Vibration estimation data When vibration estimation is completed normally vibration estimation
104. device of other CPU Motion CPU M P DDRD D P DDRD Read device data of other CPU Motion CPU to the device of self CPU PLC CPU M P BITWR D P BITWR Write bit operation to the bit device of another Motion CPU 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 Ex PLC CPU Motion CPU H D P SFCS instruction 42 1 MULTIPLE CPU SYSTEM 1 3 Data Communication Between CPU Modules in the Multiple CPU System 2 COMMON PARAMETERS 2 1 Parameters Used by the Motion CPU The parameters used by the Motion CPU are as follows R series common parameters Common parameters for R series CPU modules Motion CPU common parameters Common parameters for Motion CPU modules Motion control parameters Positioning control parameters and synchronous control parameters used by the Motion CPU for Motion control A list of parameters used by the Motion CPU is shown below O Input X Not input R series System parameter O x Set the R series CPU common Page 46 common parameters for the base slot and module System parameter settings and the Multiple CPU system parameter CPU parameter O x settings Page 48 The system parameters for each CPU in CPU parameter the Multiple CPU system must be Module parameter O x matched Page 52 M
105. do not reset the CPU module during the setting registration Doing so will make the data in the flash ROM undefined The data need to be set in the buffer memory and to be written to the flash ROM again Doing so may cause malfunction or failure of the module O When changing the operating status of the CPU module from external devices such as remote RUN STOP select Do Not Open by Program for Opening Method in the module parameters If Open by Program is selected an execution of remote STOP causes the communication line to close Consequently the CPU module cannot reopen the communication line and external devices cannot execute the remote RUN Installation Precautions A WARNING O Shut off the external power supply all phases used in the system before mounting or removing the module Failure to do so may result in electric shock or cause the module to fail or malfunction Installation Precautions AN CAUTION O Use the programmable controller in an environment that meets the general specifications in the manual Safety Guidelines included in the base unit Failure to do so may result in electric shock fire malfunction or damage to or deterioration of the product O To mount a module place the concave part s located at the bottom onto the guide s of the base unit and push in the module until the hook s located at the top snaps into place Incorrect mounting may cause malfunction failure or drop of the
106. during booting Standard ROM write permission read Standard ROM Set whether to permit protect file protection write permission transmission at boot Standard ROM write protection read read protection protection Standard ROM write protection read permission Standard ROM write permission read protection Boot operation file invalid Servo SSCNET Communication type SSCNETII H SSCNETIHL SSCNETII H Set the communication type for network setting every line setting Amplifier Amplifier Amplifier lt Communication type SSCNETII H use gt MR J4 W B RJ Set the model name axis No and setting information model MR J4 W B RJ MR J4 B LL other details for the servo VCI Nikki Denso LJ72MS15 amplifiers lt Communication type SSCNETII use gt MR J3 W B MR J3 W B MR J3 B S Fully closed MR J3 W B Linear MR J3 W B DD motor MR MT1200 FR A700 FR A700 NA FR A700 EC FR A700 CHT VCI Nikki Denso Amplifier lt Communication type SSCNETII H use gt Standard operation Standard Fully closed Linear DD motor mode Axis Axis No R32MTCPU Up to 2 lines 32 axes No setting information R16MTCPU Up to 1 line 16 axes RIO axis lt Communication type SSCNETII H use gt No setting No R32MTCPU Up to 2 lines 8 axes R16MTCPU Up to 1 line 4 axes Station lt Communication type SSCNETII H use gt No setting No d 1 to 64 Axis label Up to 32 characters No setting RIO axis label External synchronous Invalid ABS INC Invalid encoder
107. during degree within error during degree range has been set to ABS direction setting device during the range degree 19A6H Start error during home The St 1069 Home position return request is ON if the After the home position return is accomplished execute position return Servo program not executed is selected in the operation the servo program incomplete setting when the home position is not completed For systems that allow the execution of the servo program even if a St 1069 Home position return request is ON set Operational setting for home position return incomplete of the home position return data setting to Execute servo program 19DFH Stop function valid Enable the stop function valid setting to backing side of Disable the stop function valid setting for backing side setting error for backing servo parameter PT12 TOP1 pressure control function side selection 1 19E0H Pressure control exceed e The difference between last address and home position Correct the value of last address to make it within the last address error exceed motor encoder pulse unit 2 31 pulse to motor setting range of limit value encoder for 10 rev The difference between last address and actual current value exceed motor encoder pulse unit 23 pulse 19E1H Pressure control start Necessary setting value for pressure control starting is Correct the setting value error outside the range 19E2H Command speed The command spee
108. error Internal processing error occurred when MVCOM is executing The Motion SFC program code is corrupted Turn Rq 1120 PLC ready flag OFF and write the Motion SFC program again 3920H SET execution error The device number which indirectly specifies D is illegal Correct the program so that the device number which indirectly specifies D is proper 3921H RST execution error The device number which indirectly specifies D is illegal Correct the program so that the device number which indirectly specifies D is proper 3922H SET execution error The device number which indirectly specifies D is illegal Correct the program so that the device number which indirectly specifies D is proper 3923H RST execution error The device number which indirectly specifies D is illegal Correct the program so that the device number which indirectly specifies D is proper 3924H DOUT execution error The device number which indirectly specifies D is illegal Correct the program so that the device number which indirectly specifies D is proper 3925H DIN execution error The device number which indirectly specifies D is illegal Correct the program so that the device number which indirectly specifies D is proper 3926H OUT execution error The device number which indirectly specifies D is illegal Correct the program so that the device number which indirect
109. error was detected on the system bus Take measures to reduce noise Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the CPU module base unit or extension cable Please consult your local Mitsubishi representative 24E0H System bus error An error was detected on the system bus Take measures to reduce noise Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the CPU module or base unit Please consult your local Mitsubishi representative 2500H WDT error A H W WDT error caused by the main cycle exceeding 1 0 s was detected Please take measures below Change the operation cycle into a large value Reduce the number of command execution of the event task or NMI task in the system setting If the same error code is displayed again the possible cause is a hardware failure of the CPU module Please consult your local Mitsubishi representative 2501H WDT error A S W WDT error caused by an excessively long Motion operating time 5 x the operation cycle setting or more was detected Please take measures below Change the operation cycle into a large value Reduce the number of command execution of the event task or NMI task in the system setting If the same error code is displayed again the possible cause is a har
110. for the start for absolute data method axis unit degree 1A32H Radius outside range The radius is outside the setting range at the positioning Set the radius within the range of 0 to 35999999 for the control for absolute method axis unit degree e The radius is set to O or a negative number setting atthe Set the radius within the range of 0 to 2147483648 1 positioning start for incremental method 1A36H Pitch number outside The number of pitches specified in helical interpolation is Set the specified pitch number within the range of 0 to 999 range outside the range of 0 to 999 1A4FH START instruction e Servo program specified with the START instruction Create the servo program specified with the START setting error does not exist instruction e There is a START instruction in the specified servo Delete the servo program specified with the START program instruction The starting axis of the specified servo program is Do not overlap the starting axis overlapping Do not overlap the simultaneous start program No The specified servo program start axis is overlapping Do not set self program No in simultaneous start e Self program No is set in simultaneous start program program No No Please change the setting so that the real axis program The real axis program and the command axis program and the command axis program do not exist together exist together Set to start the program existed Start progr
111. input 2 Input filter setting Nothing 0 8ms 1 7ms 2 6ms 3 5ms 3 5ms Allowable travel during lt Communication type SSCNETII use gt 10 Power Off 0 to 8191 revolution Limit output data Set 1 to 64 No setting gt Page 81 Limit output data setting High speed input request signal Set 1 to 64 No setting lt Page 86 High speed input request signal setting Mark detection Set 1 to 32 No setting lt Page 91 Mark detection setting Manual pulse generator connection setting Set P1 to P3 No setting lt Page 61 Manual pulse generator connection setting Vision system Ethernet communication Vision system No 1 to 32 No setting 5 Page 195 Ethernet parameter line Communication Line Setting Vision program operation Program No 1 to 128 No setting Page 198 Vision Program Operation Setting Head module Set module 1 to 4 for each line No setting Page 142 Parameter setting of R32MTCPU 2 lines Up to 8 modules R16MTCPU 1 line Up to 4 modules SSCNETIII H head module 1 This is the RIO axis when LJ72MS15 is selected for the amplifier model 2 This can only be set when MR J4 W B RJ is selected for the amplifier model 2 3 Motion CPU Common Parameter 2 COMMON PARAMETERS 53 Basic setting The following explains each item to be set in basic setting O Motion CPU Common Parameter gt Basic setting Default Setting Not Used de Setting Standard ROM Write Permission Read Protection System Basic S
112. is refreshed every operation cycle The data is stored in the device set by the storage device No Transient command Transient command data is sent and received asynchronously one item at a time Although refreshing data with transient command is slower compared to registered monitor transient command is used to receive data that is not required to be read in fixed cycles Transient command can also send commands to the servo amplifier according to the data type The 12 points from the device set by the storage device No are stored as transient send and receive data in the following manner Transient send and receive data Control data is automatically initialized according to the specified data type when the Multiple CPU system power supply is turned ON and the result is stored to the monitor data To change the data to be sent and received while the Multiple CPU system power supply is turned ON change the transient command after setting the command send request as 0 no request Offset Item Details 0 Control Command send Requests send of transient command The default value after Multiple CPU system power supply is turned data request ON is 2 Transient request continuous send If the value is changed while processing the process is not interrupted For 1 Transient request individual send all data is cleared to O upon the completion of all processes Setting range 1 Transient request i
113. is selected for estimation calculation the mark detection process compensation time cannot be set The time will be 0 us In indirect setting the timing is compensated as 5000000 when the compensation time is set to less than 5000000 and it is compensated as 5000000 when it is set to more than 500000 Direct setting 5000000 to 5000000 us indirect setting Word devices are used for the mark detection process compensation time Set an even number for the device number Refer to device list for the range of word devices that can be set Page 66 Device List Mark detection data PAS Set the data to latch at mark detection Motion control data Settable Motion control data is shown in the table below Feed current value 10 um 10 finch 10 degree 32 bit integer 1 to 32 1 to 16 Real current value pulse type Servo command value pulse Position feed back Absolute position encoder single revolution position Absolute position encoder multiple revolution position 16 bit integer type Deviation counter value pulse 32 bit integer Servo command speed pulse s type Motor speed 0 01 r min Motor current 0 1 16 bit integer type Command generation axis feed current value Control unit 32 bit integer Command generation axis cumulative current value type Command generation axis current value per cycle Synchronous encoder axis current value Encoder axis unit
114. is the self CPU and specifies the device received by the self CPU when the CPU specific send range setting is the other CPU w 16 points 1 word only e Device number cannot be duplicated 1 Set blank when automatic refresh is not executed 28 1 MULTIPLE CPU SYSTEM 1 3 Data Communication Between CPU Modules in the Multiple CPU System Point Parameters set at GX Works3 are read at MT Developer2 and therefore there is no need to specify the refresh END and refresh 145 executing settings however they should be set in the following cases e When a Motion register is set to the transmitting device e When the Q compatibility high speed refresh setting is used If specifying the Refresh 145 executing setting specify the following settings in the GX Works3 System Parameter gt Multiple CPU Setting gt Communication setting between CPU Refer to the following for details on settings LAMELSEC iQ R CPU Module User s Manual Application Set the Fixed scan communication function to Use Set the send area range for each CPU in the Fixed scan communication area setting e Set the fixed scan interval setting of fixed scan communication 0 222ms 0 444ms 0 888ms 1 777ms 3 555ms 7 111ms in Fixed scan communication settings Refresh processing performance is improved by setting the first device beginning with a 2 word unit or 4 word unit Operation example of refresh END that
115. is valid when the Multiple CPU system power supply is turned ON O IR Series Common Parameter gt Motion CPU Module gt CPU Parameter gt Device Related Setting gt Device Points Latch Setting gt Detailed Setting Window Device Range D to 2FFF D to 2FFF 0 to 12287 Setting Setting Oto 1FFF No Setting No Setting Input Output Internal Relay Link Relay Annundator Data Register 0 to 2047 No Setting No Setting 0 to 20479 Setting Setting Link Register 0 to 1FFF No Setting No Setting Motion Register 0 to 12287 No Setting No Setting Total of All Devices 42 9K Word Total of All Word Devices 40 0K Word Total of All Bit Devices 46 0K Bit EDTOZ lt gt Explanation Set the device points used by input Type Bit Device Display Hex Latch 1 Range Setting Disabled Latch 2 Range Setting Disabled Setting Enabled Range Change Disabled 3 DEVICES 3 8 Latch Function 75 76 The latch 1 and latch 2 ranges are cleared with the following operations 3 Page 233 Memory Initialization Latch 1 Clearing the MT Developer Motion CPU memory Cleaning built in memory with Motion CPU rotary switch C Latch 2 Cleaning built in memory with Motion CPU rotary switch C When increasing the ranges set for latch 1 or latch 2 the latch device value when the Multiple CPU system power supply is turned ON again after parameter writing will
116. limit of 50 times may cause malfunction After the first use of the product do not insert remove the SD memory card to from the CPU module more than 500 times Exceeding the limit may cause malfunction Do not touch the metal terminals on the back side of the SD memory card Doing so may cause malfunction or failure O Do not touch the integrated circuits on the circuit board of an extended SRAM cassette Doing so may cause malfunction or failure O Do not drop or apply shock to the battery to be installed in the module Doing so may damage the battery causing the battery fluid to leak inside the battery If the battery is dropped or any shock is applied to it dispose of it without using Startup and Maintenance Precautions CAUTION O Startup and maintenance of a control panel must be performed by qualified maintenance personnel with knowledge of protection against electric shock Lock the control panel so that only qualified maintenance personnel can operate it Before handling the module touch a conducting object such as a grounded metal to discharge the static electricity from the human body Failure to do so may cause the module to fail or malfunction O Before testing the operation set a low speed value for the speed limit parameter so that the operation can be stopped immediately upon occurrence of a hazardous condition O Confirm and adjust the program and each parameter before operation Unpredictable movements m
117. module i Setting between CPU Displayed Multiple CPU Communication setting setting between CPU Refresh END setting Refresh 145 executing setting Set fixed scan communication function Set the fixed scan interval of fixed scan communication Set the operation for stop error Up to 32 settings for each CPU No of points Refer to device list for allowable setting range gt Page 66 Device List Start Usable devices X Y M B D W Up to 32 settings for each CPU No of points Refer to device list for allowable setting range Page 66 Device List Start Usable devices X Y M B D W No setting No setting 4 Q compatibility high speed refresh setting Up to 128 settings for each CPU No of points 2 to 256 Start Usable devices X Y M B D W No setting 2 COMMON PARAMETERS 2 2 R Series Common Parameter Communication setting between CPU MRefresh END setting Set up to 32 settings for refresh device per CPU Refer to device list for the range of devices that can be set 37 Page 66 Device List Q compatibility high speed refresh setting Set refresh between CPUs with up to of 128 settings for the entire Multiple CPU system Set 2 points words or more each and no more than 256 points in total Refer to device list for the range of devices that can be set lt Page 66 Device List Refresh 145 executing Set up to 32 settings for ref
118. not use an interlock St 1040 Start accept flag M2001 to M2032 St 1047 Speed change accepting flag M2061 to M2092 St 1048 Automatic decelerating flag M2128 to M2159 St 1049 Speed change 0 accepting flag M2240 to M2271 St 1050 Control loop monitor status M2272 to M2303 Current position management Set 0 Used in incremental system in Absolute position detection system PAO3 of servo parameter for slave axis Because the slave axis is in torque control and operates by input from the master axis current feed value and deviation counter are not updated However the real current value is updated During servo ON the current feed value is not a value that reflects the motor movement amount If servo is turned OFF the current feed value is a value that reflects the motor movement amount The deviation counter is always 0 The St 1069 Home position return request M2409 20n of slave axis is always ON but has no influence on the control of slave axis During slave operation the following slave axis external signals and parameters are invalid Upper stroke limit signal FLS e Lower stroke limit signal RLS Stop signal STOP Upper lower stroke limit value of fixed parameter Do not operate the slave axis by a method other than driver communication with the master axis lf operated by a method other than driver communication commands to the servo amplifier become invalid and current f
119. of that file is terminated and the next cam file is transferred The File transfer status SD554 changes to 100 Error completion When the execution command FFFEh is accepted Cam data writing SM505 turns ON and then turns OFF when file transfer is complete The system will be executing a CAMRD CAMWR or CAMM command when the execution command is accepted and therefore if Operating cam data SM505 is ON file transfer will not be executed and the File transfer status SD554 will change to error completion 100 4 AUXILIARY AND APPLIED FUNCTIONS 4 4 7 File Transfer Function 05 File transfer procedure The procedures used to transfer servo parameter files and cam files is shown below ETransferring servo parameter files from the built in memory to the SD memory card Operating procedure OQ NR DB a Set the axis No to be transferred to File transmission request SD820 Setting 2001h to 2032h Ensure that the File transfer status SD554 is 1 Awaiting execution Set the FFFEh Execution commana for the File transmission request SD820 Ensure that the File transfer status SD554 is 2 Executing Performing file transfer Ensure that the File transfer status SD554 is 0 Awaiting request acceptance File transfer complete Transferring all standard ROM cam files to the cam open area Operating procedure aARWN SA gt 106 Ensure that the Cam data writing f
120. often browse can be bookmarked TERMS Unless otherwise specified this manual uses the following terms R32MTCPU R16MTCPU or Motion CPU module Abbreviation for MELSEC iQ R series Motion controller MR J4 W OB Servo amplifier model MR J4 O1B MR J4W O1B MR J3 W OB Servo amplifier model MR J3 OB MR J3W OB AMP or Servo amplifier RnCPU PLC CPU or PLC CPU module General name for Servo amplifier model MR J4 O1B MR J4W O1B MR J3 O1B MR J3W O1B Abbreviation for MELSEC iQ R series CPU module Multiple CPU system or Motion system Abbreviation for Multiple PLC system of the R series CPUn Abbreviation for CPU No n n 1 to 4 of the CPU module for the Multiple CPU system Operating system software General name for SW10DNC RMTFW Engineering software package General name for MT Developer2 GX Works3 MELSOFT MT Works2 General product name for the Motion controller engineering software SW1DND MTW2 MT Developer2 Abbreviation for the programming software included in the MELSOFT MT Works2 Motion controller engineering software GX Works3 General product name for the MELSEC PLC software package SW1DND GXW3 Manual pulse generator Abbreviation for Manual pulse generator Serial absolute synchronous encoder or Q171ENC W8 Abbreviation for Serial absolute synchronous encoder Q171ENC W8 SSCNETIL H High speed synchronous network between Motion c
121. operation the speed of the partner axis 2nd 3rd or 4th axis may exceed the speed limit value Do not go near the machine during test operations or during operations such as teaching Doing so may lead to injuries Disposal Precautions CAUTION When disposing of this product treat it as industrial waste When disposing of batteries separate them from other wastes according to the local regulations For details on battery regulations in EU member states refer to the MELSEC iQ R Module Configuration Manual Transportation Precautions AN CAUTION O When transporting lithium batteries follow the transportation regulations For details on the regulated models refer to the MELSEC Q R Module Configuration Manual O The halogens such as fluorine chlorine bromine and iodine which are contained in a fumigant used for disinfection and pest control of wood packaging materials may cause failure of the product Prevent the entry of fumigant residues into the product or consider other methods such as heat treatment instead of fumigation The disinfection and pest control measures must be applied to unprocessed raw wood CONDITIONS OF USE FOR THE PRODUCT 1 Mitsubishi programmable controller the PRODUCT shall be used in conditions i where any problem fault or failure occurring in the PRODUCT if any shall not lead to any major or serious accident and ii where the backup and fail safe fu
122. operation cycle is stored in us units If 0 is written the maximum value is reset S Initial processing S Operation cycle SD552 SD553 Servo parameter write read request Servo parameter read value The read value of servo parameter which executed 2 Read request in Servo parameter write read request flag SD804 is stored The read value low 1 word of servo parameter which executed 4 2 word read request in Servo parameter write read request flag SD804 is stored The read value high 1 word of servo parameter which executed 4 2 word read request in Servo parameter write read request flag SD804 is stored S Read request APPENDICES APPENDIX Appendix 4 Special Registers 311 SD554 File transfer Data transfer status The status of data transfer between the file and built in memory is S Main status status stored processing 0 Awaiting request acceptance 1 Awaiting execution 2 Executing 100 Error completion OO represents the following When servo parameters set axis No at which error occurred When cam file set fixed at 00 SD556 Servo parameter Servo parameter change The content of the servo parameter open area inside the Motion CPU change flag flag changes and number of the axis for which servo parameter file update is required is stored as bit data b15 to b12b11
123. or the programmable controller Failure to do so may result in an accident due to an incorrect output or malfunction 1 Emergency stop circuits protection circuits and protective interlock circuits for conflicting operations such as forward reverse rotations or upper lower limit positioning must be configured external to the programmable controller 2 When the programmable controller detects an abnormal condition it stops the operation and all outputs are Turned off if the overcurrent or overvoltage protection of the power supply module is activated e Held or turned off according to the parameter setting if the self diagnostic function of the CPU module detects an error such as a watchdog timer error 3 Also all outputs may be turned on if an error occurs in a part such as an I O control part where the CPU module cannot detect any error To ensure safety operation in such a case provide a safety mechanism or a fail safe circuit external to the programmable controller For a fail safe circuit example refer to the user s manual of the CPU module to use 4 Outputs may remain on or off due to a failure of a component such as a relay and transistor in an output circuit Configure an external circuit for monitoring output signals that could cause a serious accident 6 In an output circuit when a load current exceeding the rated current or an overcurrent caused by a load short circuit flows for a long time it may cause smoke and fire
124. points used by data register Type Word Device Display Dec Latch 1 Range Setting Enabled Latch 2 Range Setting Enabled Setting Enabled Range 20480 20K to 116480 113 75K 4 Point Unit K point unit cannot be displayed with decimal point Do not enter K point unit to set maximum value Precautions Pay attention to the following if changing the number of devices The number of inputs X and outputs Y cannot be changed The maximum number of total user devices is 128k words The range within which each device can be changed is shown below JA A NI et laxim No of Internal relay M 64 points 12k 12288 points 12k 12288 points 128k 131072 points Link relay B 64 points 8k 8192 points Ok 0 points 128k 131072 points Annunciator F 64 points 2k 2048 points Ok 0 points 128k 131072 points Data register D 4 points 20k 20480 points 20k 20480 points 113 75k 116480 points Link register W 4 points 8k 8192 points Ok 0 points 93 75k 96000 points Motion register 4 points 12k 12288 points 12k 12288 points 105 75k 108288 points 1 If devices other than the relevant device are set as the minimum number of set devices Point If the number of user devices used is changed the change will be valid when power supply of the Multiple CPU system is turned ON or when reset If changing the number of user devices used ensu
125. second or longer 2 The CARD READY LED flickers 3 Check that the CARD READY LED is OFF 4 Remove the SD memory card 1_ If there are functions that are currently accessing the SD memory card the CARD READY LED turns OFF after access with that function is complete and so depending on the function the time taken for the LED status to change from flickering to OFF will differ Operation with special relay 1 Tum sD memory card forced disable instruction SM606 ON 2 Ensure that the CARD READY LED is OFF or that SD memory card forced disable state flag SM607 is ON 3 Remove the SD memory card Cancelling the SD memory card use stop status The SD memory card use stop status can be cancelled using the following procedure e Reinsert the SD memory card CARD READY LED changes from flickering to ON e Reboot the Multiple CPU system power supply or reset the system 8 MOTION CPU MEMORY STRUCTURE 2 4 8 2 SD Memory Card 3 SD memory card forced stop precautions e If use of the SD memory card is forcibly stopped with the SD memory card access control switch and also with the SD memory card forced disable instruction SM606 the operation executed first will be valid and the subsequent operation will be invalid For example if the SD memory card forced disable instruction SM606 is turned from ON to OFF without removing the card after forced stop with the SD memory card access control switch the use stop status can b
126. ss ssss 1ms units Encoder current Displays the motor encoder multiple revolution counter and position within a single Decimal notation value revolution Servo command Displays the positioning command value sent to the servo amplifier Decimal notation value Monitor current Displays the current value managed inside the Motion CPU Decimal notation value Error code Displays the error code if an error relating to current value restoration occurs when the servo Warning error code 093CH 093FH amplifier power supply is turned ON 4 History is not updated if a servo amplifier AL 16 error encoder initial communication error 1 has occurred at an absolute position system 2 Power supply ON displays the date and time at which initial communication was established with the servo amplifier and Power supply OFF displays the date and time at which communication with the servo amplifier was disconnected Consequently a single item of history is recorded even when communication is interrupted or resumed with the SSCNET connect disconnect function when the servo amplifier control power supply and Multiple CPU system power supply are ON 3 The Power supply OFF history is updated at the same time as the Power supply ON history when the power supply is subsequently turned ON when initial communication established with servo amplifier 4 A value close to the feed current value is displayed however the monitor current v
127. synchronous Set within the range of 0 to 2 setting method outside range parameter Pr 463 Cam reference position setting method APPENDICES APPENDIX Appendix 1 Error Codes 265 Error Error name Error details and cause Corrective action code 1C26H Setting method of cam A value outside the range of 0 to 3 was set in Set within the range of 0 to 3 axis current value per synchronous parameter Pr 464 Cam axis current Set other than 3 Current value per cycle after auxiliary cycle outside range value per cycle setting method shaft gear if auxiliary shaft does not exist e The 3 Current value per cycle after auxiliary shaft gear was set when the auxiliary shaft does not exist 1C27H Initial setting value of A value outside the range of 0 to Cam axis length per Set in the range of 0 to Cam axis length per cycle 1 cam axis current value cycle 1 was set in Pr 468 Initial setting value of the cam per cycle outside range axis current value per cycle 1C28H Cam axis current value If the synchronous parameter Pr 462 Cam axis position Start the synchronous control after set a current value per cycle recovery recovery target is 0 Cam axis current value per cycle that is within the reciprocated cam pattern stroke disable recovery cam axis current value per cycle for feed current Set a reference position that is within the reciprocated value cannot
128. the Motion CPU Errors detected at the Motion CPU are divided into warnings and errors The categories and error code range of errors detected at the Motion CPU are shown below Warning 0800H to OFFFH Error Minor Common 1000H to 17FFH Unique 1800H to 1FFFH Minor SFC Unique 3100H to 3BFFH Moderate Common 2000H to 2FFFH Unique 3000H to 30FFH Major Common 3C00H to 3DFFH Unique 3E00H to 3FFFH The error detection signal of the error axis turns on at the error occurrence and the error codes are stored in the error code storage register shown below Servo axis Warning D6 20n M2407 20n M3207 20n Md 1003 St 1067 Rq 1147 Error D7 20n Md 1004 Servo Error D8 20n M2408 20n M3208 20n Md 1005 St 1068 Rq 1148 Command generation Warning D12602 20n M9807 20n M10967 20n axis Md 341 St 344 Rq 346 Error D12603 20n Md 342 Synchronous encoder Warning D13250 20n M10444 10n M11600 4n axis Md 327 St 324 Rq 324 Error D13251 20n Md 326 1 For R16MTCPU the valid range is from axis 1 to axis 16 error history can be checked using MT Developer2 Error detection signals and error codes are held until the Rq 1147 Error reset command M3207 20n Rq 1148 Servo If another error occurs after an error code has been stored the existing error code is overwritten deleting it However the error reset command M3208 20n
129. the displayed number for the CPU In the multiple CPU system the system parameter No 2 and later The settings need to be the same settings are overwritten only to the host CPU module between all the CPU modules The module and the settings differ from those of other CPU modules synchronization setting and fixed scan communication setting need to be the same between the CPU modules that use these functions When the system parameter settings are changed update the settings of all the CPU modules connected The system parameter settings must be same in all the CPU modules 2300H Security key The security key set to the program does not match the Check and correct the security key setting authentication error one registered to the CPU module 2301H Security key The security key is set to the program but it is not Check and correct the security key setting authentication error registered to the CPU module 2302H Security key The security key set to the file is corrupted and does not Write the file to the CPU module again If the same error authentication error match the one registered to the CPU module code is displayed again the possible cause is a hardware The security key registered to the CPU module is failure of the CPU module Please consult your local corrupted and does not match the one set to the file Mitsubishi representative 2400H Module verification error The I O module information at power on differs from the Check the
130. the mounted base unit is stored b15 to b12b11 to b8b7 to b4b3 to bo SD243 Extension 3 Extension 2 Extension 1 Main SD244 Extension 7 Extension 6 Extension 5 Extension 4 SD250 Latest I O for Latest I O number for The most significant two digits of the value obtained by adding one to implemented unit implemented unit the latest I O number for an implemented unit are stored as a BIN value 308 APPENDICES APPENDIX Appendix 4 Special Registers transmission section over count transmission section over not occurrence Normal 1 to 65535 Fixed scan data transmission section over cumulative count fixed cycle data transmission set in the Multiple CPU synchronous cycle After exceeding 65535 the count returns to O and counts again The counts are stored regardless of the CPU module operation setting at error detected RAS setting This counter is valid even is inter module synchronization is not used SD260 Number of points X number of points assigned The number of points of the device X currently set is stored as 32 bit S Initial A assigned to bit device L data processing SD261 X number of points assigned H SD262 Y number of points assigned The number of points of the device Y currently set is stored as 32 bit L data SD263 Y number of points assigned H SD264 M number of points assigned The number of points of the device M c
131. the parameter value execute the servo parameter read request Also when the power of VCI series is turned OFF the parameter changed by the servo parameter change function becomes invalid and the value written by VCI data editing software becomes valid e Servo parameter write read device Store the value in the following special registers to change or display the servo parameter SD552 SD553 sD804 SD805 SD806 SD808 SD809 Servo parameter write read request Servo parameter read value The read value low 1 word of servo parameter which executed 4 2 word read request in Servo parameter write read request SD804 is stored The read value high 1 word of servo parameter which executed 4 2 word read request in Servo parameter write read request SD804 is stored System At reading request Servo parameter write read request flag Axis No The write read request is executed after setting of the axis No and servo parameter No 3 2 word write request 4 2 word read request 0 is automatically set by Motion CPU after completion of servo parameter write read The axis No to write read servo parameter is stored R32MTCPU 1 to 32 R16MTCPU 1 to 16 Servo parameter No Servo parameter setting value 2 word The servo parameter No to be written read is stored in hexadecimal H 0000 Parameter No gt Parameter group No 0 Group0 5 Gro
132. the range setting outside range shaft clutch control setting is outside range 1BF5H Auxiliary shaft clutch A value outside the range of 0 to 1 was set in synchronous Set within the range of O to 1 reference address parameter Pr 423 Auxiliary shaft clutch reference setting outside range address setting 1BF6H Auxiliary shaft clutch A value outside the range of O to 5 was set in synchronous Set within the range of 0 to 5 smoothing method parameter Pr 428 Auxiliary shaft clutch smoothing outside range system 1BF7H Auxiliary shaft clutch A value outside the range of 0 to 5000 was set in Set within the range of 0 to 5000 smoothing time constant synchronous parameter Pr 429 Auxiliary shaft clutch outside range smoothing time constant 1BF8H Composite auxiliary shaft The composite value is overflowed sign reverse because Lower the input values of main shaft and auxiliary shaft gear operation overflow the input values of main shaft and auxiliary shaft are large 1C00H Speed change gear 1 A value outside the range of 0 to 3 was set in synchronous Set within the range of 0 to 3 arrangement outside parameter Pr 434 Speed change gear 1 arrangement range 1C01H Speed change ratio 1 Set the value of synchronous parameter Pr 437 Speed Set within the range of 1 to 2147483647 denominator outside range change ratio 1 denominator less than 0 264 APPENDICES APPENDIX Appendix 1 Error Codes 1C02H
133. the range of 2 to 4000 e Conversion result is outside the range of D data type Correct the program so that the points corresponding to the input values for positive conversion X0 to XN 1 for inverse conversion YO to YN 1 is monotone increasing Correct the program so that the conversion result is within the range of D data type 3971H DSCL execution error e S1 is outside the range of 0 to 3 Correct the program so that S1 is within the range of 0 e The device numbers of S2 S3 D are odd numbers to 3 S3 to S3 4N 1 is outside the range of device Correct the program so that S2 S3 D are the even Point number is outside the range of 2 to 2000 number devices In the sequential search S1 is O or 1 the points Correct the program so that S3 to S3 4N 1 is corresponding to the input values for positive within the range of device conversion X0 to XN 1 for inverse conversion YO to Correct the program so that the point number is within YN 1 are not in ascending order the range of 2 to 2000 Conversion result is outside the range of D data type Correct the program so that the points corresponding to the input values for positive conversion X0 to XN 1 for inverse conversion YO to YN 1 is monotone increasing Correct the program so that the conversion result is within the range of D data type 3972H CAMRD execution error Error occurred when CAMRD is executing Confirm and de
134. the servo amplifier and servo motor Parameter block O O Set the data for acceleration deceleration control etc used for each positioning processing Synchronous Input axis parameter O x Set the input axis used for advanced 2 control synchronous control parameter Synchronous O x Set the synchronous parameters for the parameter output axis used for advanced synchronous control Multiple CPU O x Set the master CPU and slave CPU for advanced performing Multiple CPU advanced synchronous control synchronous control setting 1 LCIMELSEC iQ R Motion Controller Programming Manual Positioning Control 2 LAMELSEC iQ R Motion controller Programming Manual Advanced Synchronous Control 44 2 COMMON PARAMETERS 2 1 Parameters Used by the Motion CPU 2 2 R Series Common Parameter Set the MELSEC Q R series CPU module common parameters used at the Multiple CPU system for the R series common parameters PLC CPU parameters Motion CPU parameters set at GX Works3 set at MT Developer2 Read by MT Developer2 Common system parameters Common system parameters Individual parameter Individual parameter Parameter write RnCPU R32MT CPU Power supply 2 COMMON PARAMETERS 4 2 2 R Series Common Parameter 5 46 System parameter These parameters are used to set the Multiple CPU system module configuration and common system items T
135. the start accept flag turns ON Scroll monitor information is retained even when the Multiple CPU system power supply is turned OFF or when reset The scroll Positioning Control Monitor Function monitor is cleared by executing the scroll monitor History clear or Motion CPU memory clear from MT Developer2 The following items are displayed on the scroll monitor Item Displayed content Remarks Date time Displays the date and time at which control was started Year month day hour minute second 1 1000 second yyyy MM dd hh mm ss ssss 1ms units Servo P No Displays the control that was KO to K4095 Starts the servo program K started JOG Starts JOG operation TEST Starts the current value change or home position return in test mode SCPU Starts M P CHGA D P CHGA M P CHGAS D P CHGAS M P SVSTD and D P SVSTD commands from the PLC Sync Starts advanced synchronous control a gt 0 Control mode switching O represents the following P Positioning control mode V Speed control mode T Torque control mode CT Continuous operation to torque control mode PRS Starts pressure control Axis No Displays the axis No to be started Servo program instruction Displays the started servo program command In the case of simultaneous start commands the number of the servo program to be started is displayed Individual servo programs to be started are not registered in the scroll monitor
136. to b8 b7 Fixed to 0 to b4b3 to bO gt Fixed to 0 gt 0 Does not exist 4 SD memory card S Initial processing or card inserted SD606 SD memory card SD memory card drive 2 The capacity of the SD memory card is stored in increments of 1k byte S Initial drive 2 capacity capacity the lowest digit the amount of free space for a formatted memory card is stored processing or unit k bytes card mounting SD607 SD memory card drive 2 unmounting capacity the higher digits unit k bytes SD610 SD memory card SD memory card drive 2 The amount of free space of the SD memory card is stored in S Change drive 2 free space free space the lowest digit increments of 1k byte status unit k bytes SD611 SD memory card drive 2 free space the higher digits unit k bytes SD622 Standard ROM Standard ROM capacity Standard ROM capacity is stored in increments of 1k byte S Initial capacity lower unit k bytes The free space after format is stored processing SD623 Standard ROM capacity higher unit k bytes SD624 Standard ROM free Standard ROM capacity Standard ROM free space is stored in increments of 1k byte S Change space lower unit k bytes status SD625 Standard ROM capacity higher unit k bytes SD634 Index for the number Index of the number of write Indicates the index value for the number of write operations to the S At wr
137. to be of 1 to 32767 read is within the range 1 to 32767 e The target SSCNETII H head module axis No specified Correct the program so that the target SSCNETII H by S1 is outside the range of 601 to 608 head module axis No specified by S1 is within the The target SSCNETII H head module is not connected range of 601 to 608 during the instruction execution Connect the target SSCNETII H head module Start device number D which stores the reading data Correct the program so that start device number D number of words n to be read is outside the device which stores the reading data number of words n to range be read is within the device range e D is a bit device and its device number is not a multiple When D is specified a bit device specify a multiple of of 16 16 for the device number RFROM instruction was executed again before RFROM Execute RFROM instruction again after the complete bit instruction is executed and complete bit device is turned of RFROM instruction is turned on on 3980H Match execution Internal processing error occurred when match is The Motion SFC program code is corrupted Turn error executing Rq 1120 PLC ready flag OFF and write the Motion SFC program again 3981H Unmatch execution Internal processing error occurred when unmatch is The Motion SFC program code is corrupted Turn error executing Rq 1120 PLC ready flag OFF and write the Motion SFC progra
138. to the reasons such as battery fault Absolute position erase of servo amplifier was detected At servo amplifier power on a communication error occurred between the servo amplifier and encoder e Rotation direction selection of the servo parameter is changed 093DH Control unit incorrect The interpolation control unit of the parameter block is Combine the control unit of the fixed parameter and setting different from the control unit of the fixed parameters parameter block 093EH SSCNET communication During operation the Encoder current value pulse was Check the motor and encoder cables error mismatched with the Feedback current value pulse encoder effective bit number It is always checked after the servo amplifier power supply on in both servo ON and OFF states 093FH Allowable travel value The motor travel value while the power is off exceeded the Check the position over during power off Allowable travel during power off set in the Amplifier Check the battery of the servo amplifier setting at servo amplifier power on 0981H JOG speed limit value The set JOG speed is higher than the JOG speed limit Set within the range of 1 to JOG speed limit value value Set the JOG speed limit value within the range The set JOG speed limit value is out of the control unit range 0987H Incorrect simultaneous Both of forward and reverse rotations were set at the Set either forward rotation or reverse rotation sta
139. to the servo parameter file in order of the smallest system setting axis number first When transfer is complete for all axes the File transfer status SD554 changes to 0 Awaiting request acceptance e If an error occurs with any of the files transfer is terminated for the axis at which the error occurred and after File to built in Any given 1 axis The target axis servo parameter file content is read to the servo parameter open area memory e If an error occurs during execution the servo parameter open area is not updated All axes The servo parameter file content is read to the servo parameter open area in order of the smallest axis number set in the system When transfer is complete for all axes the File transfer status SD554 changes to 0 Awaiting request acceptance If an error occurs with any of the files transfer is terminated for the axis at which the error occurred and after e Operation when the file transfer target is a cam file is as follows File to built in memory Any given 1 file The target cam file content is read to the cam open area If an error occurs during execution the cam open area is not updated All cam files The content of the cam file in the folder is read to the cam open area one item at a time When transfer is complete for all axes the File transfer status SD554 changes to 0 Awaiting request acceptance If an error occurs for any files expansion
140. turns from OFF to ON After that the word device contents are input per motion operation cycle and limit switch outputs are controlled Multiple outputs Up to 64 points can be also set to one watch data In each setting the output device may be the same If both of the two regions of the ON section setting are used or if the same output device is designated by multiple output settings regardless of whether or not the watch data is the same the logical add of the output results in the regions is output ON ON Output device OFF OFF OFF Upper limit value Le ON section setting No 2 ON section setting No 1 Lower limit value a limit value Watch data value Setting the forced OFF bit Forced OFF bit can be set to forcibly turn off the output of the output device point by point When the forced OFF bit is ON the output is OFF Setting the forced ON bit Forced ON bit can be set to forcibly turn on the output of the output device point by point When the forced ON bit is ON the output is ON Priority is given to control of this setting over ON of the forced OFF bit forced output OFF 4 AUXILIARY AND APPLIED FUNCTIONS 4 1 Limit Switch Output Function Limit output data setting This section describes limit output data setting items Up to 64 points of output devices can be set The items in the table below are set together as one point O Motion CPU Common
141. type 1 to 32 1 to 12 1 to 16 1 to 32 1 to 16 Valid in synchronous control Word device data word device data ring counter Device Word devices are used for watch data Refer to device list for the range of word devices that can be set 37 Page 66 Device List e Data type The following data type is set as the data type to be compared 16 bit integer type 32 bit integer type Set the device No as an even No 4 AUXILIARY AND APPLIED FUNCTIONS 4 1 Limit Switch Output Function 83 e Ring counter value When the watch data is the word device data ring counter the ring counter value is set 16 bit integer type H0001 to H7FFF 32 bit integer type K1 to K2147483647 HO0000001 to H7FFFFFFF ON Without output device OFF OFF compensation time Ring counter value ON section Upper limit setting setting Lower limit setting Ss 0 gt For the word device data updated as ring counter when the output timing is compensated without setting the correct ring counter value or when the output timing is compensated by setting the ring counter for the word device data that is not updated as ring counter the output device may not be output at the correct timing n setting The data range which makes the output device turn ON OFF toward the watch data Up to two ON regions can be set for each limit output setting data Word devices constants
142. used MTransient command Servo amplifier recognition characters 4 0310h information First 8 characters Servo amplifier recognition characters 4 0311h information Last 8 characters Servo amplifier software number characters 4 0312h First 8 characters Servo amplifier software number characters 4 0313h Last 8 characters Read alarm history number items 0323h Alarm history Detail 1 2 4 0324h 8 Alarm history 1 9 Alarm detail 1 10 Alarm history 2 11 Alarm detail 2 Alarm history Detail 3 4 4 0325h 8 Alarm history 3 9 Alarm detail 3 10 Alarm history 4 11 Alarm detail 4 Alarm history Detail 5 6 4 0326h 8 Alarm history 5 9 Alarm detail 5 10 Alarm history 6 11 Alarm detail 6 Alarm history Detail 7 8 E 4 0327h 8 Alarm history 7 9 Alarm detail 7 10 Alarm history 8 11 Alarm detail 8 Alarm history occurrence time 1 2 h 4 0329h 8 Alarm occurrence time 1 2 words 10 Alarm occurrence time 2 2 words 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 6 Compatible Devices with SSCNETIII H 161 Alarm history occurrence time 3 4 h 4 0 032Ah 8 Alarm occurrence time 3 2 words 10 Alarm occurrence time 4 2 words Alarm history occurrence time 5 6 h 4 0 032Bh 8 Alarm occurrence time 5 2 words 10 Alarm occurrence time 6 2 words Alarm history occurrenc
143. uses CPU buffer memory A refresh END operation example using the CPU buffer memory is shown below CPU No 1 CPU No 2 CPU buffer memory CPU buffer memory Read by main cycle Refresh area of CPU No 2 Refresh area A Write by END process Write by main cycle of CPU No 1 of CPU No 2 Device Device BO to B1F CPU No 1 Ma BO to BIF CPU No 1 B20 to B3F CPU No 2 kA Read by END process of CPU No 1 B20 to B3F CPU No 2 ERefresh 145 executing operation example using fixed scan communication area A refresh 145 executing operation example using the fixed scan communication area is shown below CPU No 1 CPU No 2 CPU buffer memory CPU buffer memory CPU No 1 fixed scan communication area CPU No 1 fixed scan Send to CPU No 2 communication area gt Refresh area CPU No 2 fixed scan communication area Refresh area CPU No 2 fixed scan communication area Send to CPU No 1 Refresh area Refresh area 4 Write to refresh area Write to refresh area gt A Read from refresh area Read from refresh area gt Device Device BO to B1F CPU No 1 BO to B1F CPU No 1 le gt B20 to B3F CPU No 2 B20 to B3F CPU No 2 Refresh before and after 145 process Refresh at the longer cycle of operation
144. was detected Stop Stop m Stop Set the event history Standard ROM 128 k byte Set CPU module operation when major error and moderate error is detected Over Execute Time Operation Cyde Over Set Detect and Not Detected to operation cyde of motion CPU fixed scan process Minter module synchronization signal error monitor Inter module synchronization signal cycle errors are monitored and a moderate error error code 2610H occurs if there is an error Motion CPU operation processing can bet set to Stop or Continue when a inter module synchronization signal error occurs with CPU Parameter RAS Setting gt CPU Module Operation Setting at Error Detected Point When Synchronous Interrupt Execution Interval Error CPU module is set to Continue if the continuation error is cancelled the Motion CPU ERROR LED turns OFF but the error factor is not removed Furthermore errors are not detected again even if a synchronous interrupt execution interval error reoccurs 1 MULTIPLE CPU SYSTEM 1 3 Data Communication Between CPU Modules in the Multiple CPU System Relationship between fixed scan communication and inter module synchronization If using fixed scan communication and inter module synchronization between multiple CPUs the relationship between motion operations and Motion SFC event task fixed cycle tasks is as follows Fixed scan Not used communication function Mo
145. when bit left shifted is The Motion SFC program code is corrupted Turn error executing Rq 1120 PLC ready flag OFF and write the Motion SFC program again 3940H NOT OFF execution Internal processing error occurred when NOT OFF is The Motion SFC program code is corrupted Turn error executing Rq 1120 PLC ready flag OFF and write the Motion SFC program again 3941H AND execution error Internal processing error occurred when AND is executing The Motion SFC program code is corrupted Turn Rq 1120 PLC ready flag OFF and write the Motion SFC program again 3942H OR execution error Internal processing error occurred when OR is executing The Motion SFC program code is corrupted Turn Rq 1120 PLC ready flag OFF and write the Motion SFC program again 3950H SHORT execution error The data of S is outside the range of signed 16 bit integer Correct the program so that the data of S is within the value range of signed 16 bit integer value 3951H USHORT execution error The data of S is outside the range of unsigned 16 bit Correct the program so that the data of S is within the integer value range of unsigned 16 bit integer value 3952H LONG execution error The data of S is outside the range of signed 32 bit integer Correct the program so that the data of S is within the value range of signed 32 bit integer value 3953H ULONG execution error The data of S is outside the range of unsigned 32 bit Correct the program so tha
146. which the Rq 1155 Servo OFF command M3215 20n is ON e When the servo OFF is given to all axes Rq 1123 All axes servo ON command M2042 is applied even if all axis servo ON command is turned ON to OFF with Rq 1155 Servo OFF command M3215 20n e Even if the Motion CPU status is STOP ON OFF control for Rq 1123 All axes servo ON command M2042 is possible e Rq 1123 All axes servo ON command M2042 is forcibly turned OFF when the forced stop input bit device is turned ON gt OFF set at Motion CPU Common Parameter gt Basic Setting gt Forced stop input setting or when a stop error major error moderate error occurs ignals The servo ON OFF and ready ON OFF status can be monitored with the following signals Servo ON OFF e St 1075 Servo ready M2415 20n e Md 108 Servo status 1 8010 20n b1 Servo ON Ready ON OFF e Md 108 Servo status 1 8010 20n b0 Ready ON 4 AUXILIARY AND APPLIED FUNCTIONS 4 4 Servo ON OFF 97 98 lonitor devices and the servo amplifier status The relationship between related command devices monitor devices and the servo amplifier status is shown below Refer to the following for details on servo amplifier LED display and each status Servo amplifier Instruction Manual y Status waiting Ab Communication error Connected gt 1 Initializing AC to AH initialization complete Ready OFF servo OFF 2 b0
147. with the servo amplifier has been established the Motion CPU will automatically read the servo parameters and reflect them to the servo parameter storage area in the Motion CPU The parameters are changed by auto tuning The parameters are changed by connecting directly MR Configurator2 to the servo amplifier Point P 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 of parameters on the servo amplifier side changes may not be reflected to the built in memory or the servo parameter file If changes are made to the servo parameter file content and these changes are updated to the servo parameter open area inside the Motion CPU any changes made to parameters at the servo will not be updated to the servo parameter open area inside the Motion CPU until updating of the changed parameter content to the servo amplifier is complete When changes to the servo parameters need to be reflected to the MT Developer2 project read the servo parameters from the Motion CPU and save data When the update of the servo parameter file is required If the content of the servo parameter open area inside the Motion CPU changes and it is necessary to update the servo parameter file the relevant axis bit for the Servo parameters change flag SD556 SD557 will turn ON and changes will be automatically updated to the servo parameter file the next time the Mu
148. wr a 4 02 4 AUXILIARY AND APPLIED FUNCTIONS 4 6 Clock Function 4 7 File Transfer Function The file transfer function is capable of reading and writing the following files with a File transmission request SD820 O Possible X Not possible Servo parameters O O Cam file O x By performing file transfer to the write target file the existing target file is overwritten Transfer the necessary data after first performing a backup with MT Developer2 With the file transfer function all requests are set in File transmission request SD820 and the processing status for each request is stored in File transfer status SD554 MFile transfer status devices SD554 The status of data transfer between the file and built in memory is stored System 0 Awaiting request File transfer requests can be accepted acceptance 1 Awaiting execution The system is waiting for a file transfer request 2 Executing File transfer is being executed 1 Error completion An error occurred and file transfer was not completed HO represents the following When servo parameters set axis No at which error occurred When cam file set fixed at 00 4 AUXILIARY AND APPLIED FUNCTIONS 4 4 7 File Transfer Function 03 MFile transfer request command devices SD820 Data between the file and built in memory is synchronized and a file transfer request is made The type of data User t
149. 0 1 1 1 x O Disturbance thrust Linear servo motor use Overload alarm margin 0 1 1 1 x O Error excessive alarm margin 16pulse 1 1 x O Settling time ms 1 1 x O Overshoot amount pulse 1 1 x O Servo motor side load side position deviation pulse 2 2 x O Fully closed control Servo motor side load side speed deviation 0 01r min 2 2 x O use Servo command value gt pulse 2 0 O O Torque command 1 6 0 1 1 0 O O Pressure command 1 0 x O MR J4 OB LL use Load cell pressure 8 1 0 x O Optional address of registered monitor 1 1 O O 1 The Cumulative current value Servo command value and Torque command are all command values for the servo amplifier All other data types are servo amplifier monitor values feedback 2 Position commands are in the command unit set at Motion Control Parameter gt Axis Setting Parameter gt Fixed Parameter gt Unit setting 3 The speed will be the average of every 227 ms Use a servo amplifier version compatible with this monitor The result will always be 0 if monitoring is performed with an incompatible servo amplifier 4 Inthe servo amplifier for multiple axes the measured value of whole unit is monitored When these values set to each axis of MR J4 multi axis servo amplifier the same value can be monitored in each axis Use the monitored value of not each axis but each module to calculate the module power consumption power consum
150. 03 SSCNET control status y SD508 o l al 2 X 0 Command accept Release execute waiting processing execution Command accept waiting of amplifier less operation of amplifier less operation waiting gt ON Amplifier less operation status SM508 OFF During normal During amplifier less operation operation gt lt 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 4 5 3 SSCNET Control Function 35 Program Program to start release of amplifier less operation for the self CPU Motion SFC program 136 G40 G10 F12 G20 F20 G41 Operation start Start processing of amplifier less operation SM508 a SD508 0 ap SD803 20 o SD508 1 EES ENERO SD803 2 C Check the normal 641 operation Check the accept status 610 Set 20 Start command F11 of amplifier less operation in SD803 Execute waiting 620 Set 2 Execute command F20 in SD803 Check the amplifier less G40 operation 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 3 SSCNET Control Function Operation release Release processing of amplifier less operation SM508 E SD508 0 SD803 25 CC CI SD803 2 ISM508 C END gt Check the amplifier less operation Check the connect command accept status Set 25 Release command of amplifier less operation in SD803 Execute wai
151. 1FFFH Minor error details and causes and corrective action are shown below 1000H Power shutoff A momentary power failure has occurred Check the power supply status The power supply has been shut off 1080H ROM write count error The number of writes to the flash ROM exceeded 100000 Replace the CPU module times Number of writes gt 100000 1200H Module moderate error A moderate error has been notified from the intelligent Check the detailed information system configuration function module connected information identify the error module and eliminate the error cause 1210H Module moderate error An inter module synchronous signal error has been Check the detailed information system configuration notified from the intelligent function module connected information identify the error module and eliminate the error cause 1220H Another CPU module A moderate error has been notified from another CPU Check the detailed information system configuration moderate error module information identify the error CPU module and eliminate the error cause Check the mounting status and reset status of other CPU modules 1900H PLC ready OFF during Rq 1120 PLC ready flag is OFF when operating When all axes stopped turn Rq 1120 PLC ready flag operation ON 1901H Servo ready OFF St 1075 Servo ready was OFF when starting Start when the St 1075 Servo ready is ON Servo ampl
152. 2 SM532 SSCNETII searching OFF Search complete Turns ON when searching axes that have been set to line 1 by S Change flag Line 1 ON Searching system setting status Turns OFF when all axes that have been set to line 1 by system setting have been searched SM533 SSCNETII searching OFF Search complete Turns ON when searching axes that have been set to line 2 by flag Line 2 ON Searching system setting e Turns OFF when all axes that have been set to line 2 by system setting have been searched SM561 Multiple CPU OFF Multiple CPU Turns ON when the initial processing of Multiple CPU advanced S Initial advanced advanced synchronous control is completed processing synchronous control synchronous initial initial complete flag incomplete ON Multiple CPU advanced synchronous initial complete SM600 Memory card OFF Disabled This relay is on when an SD memory card is enabled This relay S Change enabled disabled flag ON Enabled switches to on when a valid SD memory card is attached and prepared status for use SM601 Memory card protect OFF Not protected This relay is on when the write protect switch of the SD memory card is flag ON Protected set to on SM603 Memory card drive 2 OFF No SD memory card This relay is on when an SD memory card is attached This relay flag inserted switches to on when an SD memory card is attached regardless of its ON SD memory card state enabled disabled and type inserted
153. 2 Event List 291 Event history list The following table lists events related to the Motion CPU 0100 0110 0120 0130 0140 07FC 07FD O7FE O7FF 0800 0904 0906 0907 System Information Link up The Motion CPU has been entered Operation Communication into the link up state as a result of initiator speed and operation such as connection ofthe information communication network cable from an external mode device TCP connection Communication with an external Communication communication start device through TCP connection has status end been started Or communication with an external device through TCP connection has been terminated FTP connection start FTP connection with an external disconnection device has been started Or FTP connection with an external device has been disconnected Receive frame error A receive frame error has been detected SNTP server time Time setting by the time synchronization failure synchronization function time has been failed because there was no response from the SNTP server Override ratio 0 The override ratio is 0 when Axis control starting event The override ratio was changed information to 0 when controlling Operation cycle Operation cycle will be changed to Time information change the time measured us automatically because the servo amplifier which unsupported to setting operation cyc
154. 200 to 850 C Thermocouple type setting K thermocouple E thermocouple J thermocouple T thermocouple B thermocouple R thermocouple S thermocouple N thermocouple K thermocouple Offset gain setting Factory setting User range setting Factory setting Operation mode setting Normal mode temperature conversion processing Offset gain setting mode Normal mode temperature conversion processing 1 Items that can be set will differ depending on the module used 2 Default values will differ depending on the module used 3 Items that can be set will differ depending on the temperature input module used Point Set those module settings not shown above in the buffer memory for each module 1 MULTIPLE CPU SYSTEM 1 1 Multiple CPU System 23 24 1 2 Setting Operation for Multiple CPU System This section describes all operation settings for Multiple CPU systems Specify all operation settings for Multiple CPU systems in the GX Works3 System Parameter Refer to the following for details on all operation settings LCIMELSEC iQ R CPU Module User s Manual Application Setting operation for CPU module stop error If a moderate or major error occurs at any of the CPUs set whether to stop or continue operation for all CPUs Set the stopping mode for the CPU to be stopped in System Parameter gt Multiple CPU Setting gt Multiple CPU Setting gt Operation Mode Setting gt Stop Setting in GX W
155. 2500 2502 e General The detection precision is based on the fixed cycle processing of the Motion CPU General detection precision is used even when the input module setting is Enable synchronization between modules e High precision When the input module setting is inter module synchronization valid by setting the high speed input request signal accuracy to High precision high speed input request signals can be controlled with high precision If this signal is specified for a signal that is not compatible with high precision input a moderate error error code 30D3H occurs 4 AUXILIARY AND APPLIED FUNCTIONS 4 2 External Input Signal 87 88 HHigh speed input request signal compensation time Compensate the input timing of the high speed input request signal Set it to compensate for sensor input delays etc Set a positive value to compensate for a delay and set a negative value to compensate for an advance However high speed input request status outputs the status of the signal with no relation to the set value In indirect setting the timing is compensated as 5000000 when the compensation time is set to less than 5000000 and it is compensated as 5000000 when it is set to more than 500000 If Estimate calculation is set to Invalid in the mark detection settings the input timing for high speed input request signals is not compensated e Direct setting Setting range 5000000 to 5000000 us e Indirect settin
156. 5 Special Relays Special register SD These are internal registers whose specifications inside the Motion CPU are fixed and as with standard internal registers they cannot be used at the program However data can be written to control the Motion CPU if required Refer to special registers for details on special registers Page 300 Special Registers 3 4 CPU Buffer Memory Access Device These devices access memory used to read and write data between CPU modules in a Multiple CPU system Specification method Specify with U CPU module installation position Communication area First address in buffer memory U3EOYO O gt First address in buffer memory gt Communication area G CPU buffer memory e HG Fixed scan communication area gt CPU module installation position CPU No 1 3E0 CPU No 2 3E1 CPU No 3 3E2 CPU No 4 3E3 CPU No 2 CPU buffer memory address 4095 e U3E1 G4095 CPU No 3 CPU buffer memory fixed scan communication area address 1024 e U3E2 HG1024 3 DEVICES 3 3 System Device 71 3 5 Module Access Device These devices are used to directly access the buffer memory in intelligent function modules or I O modules installed on the main base unit or expansion base unit from the Motion CPU Specification method Specify with U Intelligent function module or I O module I O No Buffer memory address 1 2 high order digits if first I O No is expressed with 3 digits F
157. 60AD16 G Analog output module R60DA4 R60DAI8 R60DAV8 R60DA8 G R60DA16 G High speed counter module RD62D2 RD62P2 RD62P2E Temperature input module RD60TD8 G RD60RD8 G MMELSEC Q series modules MELSEC Q series modules cannot be controlled with the Motion CPU If the Motion CPU is specified as the MELSEC Q series module control CPU a moderate error error code 2020H is detected when turning ON the Multiple CPU system power supply and the module cannot be accessed 2 1 MULTIPLE CPU SYSTEM 0 1 1 Multiple CPU System Module access range from non controlling CPU e Access to MELSEC Q series modules controlled by other CPU is not possible from Motion CPU I O reading from outside the group is also not performed Module access devices UD G can be read An error error code differs for each function is output when attempting to write e X Y devices for modules controlled by another CPU can be refreshed to a Motion X Y with the I O settings for outside the group However I O reading from outside the group is not performed for modules controlled by other CPUs that apply to inter module synchronization 1 MULTIPLE CPU SYSTEM 21 1 1 Multiple CPU System 22 Module control with Motion CPUs The settings required to control modules with Motion CPUs are as follows System configuration settings The system configuration for Multiple CPU systems and common parameters is set in the GX Wor
158. 64 bit floating point type Automatic conversion O storage device Floating point value Read value Telnet Slow Integer value 32 bit integer type Automatic conversion x storage device MVIN instruction Telnet Integer value 32 bit integer type Automatic conversion x Floating point value 64 bit floating point type Automatic conversion 5 Motion control is executed using the data acquired from the vision system 6 Reset the status storage device using the MVFIN instruction to issue the next trigger 7 Ifthe job is not changed repeat steps 3 to 6 8 if necessary log off the control target vision system using the MVCLOSE instruction Point P 204 e If a different vision system dedicated function is executed for a vision system that is processing a vision system dedicated function moderate error error code 38EDH will occur Apply the interlock conditions with the vision system s status storage device value to prevent double startup e Depending on the status of the vision system and details of the job process it may take some time to process the vision system dedicated function Set the timeout time according to the state e When logged onto the vision system the vision system or Multiple CPU system s power supply can be turned OFF without logging off using the MVCLOSE instruction 6 COMMUNICATION FUNCTIONS 6 5 Vision System Connection Function Sample program The following section gives an example of a program that executes posi
159. 90 file SD memory card to built in memory HA000 to HB400 Cam file read write command H OOOO gt Target cam No 1 to 1024 000 to 400 000 applies to all cam files gt Read write target file A File standard ROM to built in memory B file SD memory card to built in memory HFFFE Execution command SD860 Sampling settings storage target Sampling settings storage target Set the storage target drive for sampling settings data subject to sampling Read when the Sampling settings RUN request SM860 is ON 0 Standard ROM 1 SD memory card 1 Do not execute the automatic refresh 2 This can be set only in VCI series APPENDICES APPENDIX Appendix 4 Special Registers 316 MEMO APPENDICES APPENDIX 4 Appendix 4 Special Registers 3 7 REVISIONS The manual number is given on the bottom left of the back cover July 2014 IB NA 0300237 A First edition March 2015 IB NA 0300237 B Added functions Label access from external devices File transmission at boot function Event history function Optional data monitor function transient command Optical hub unit MR MV200 connection Expansion of the number of connections for vision system Add on function Servo amplifier MR J40 B LL compatible MAdded or modified parts SAFETY PRECAUTIONS RELEVANT MANUALS TERMS Section 1 3 2 1 2 2 2 3 2 4 3 1 3 9 4 5 4 6 4 7 4 8
160. A2DH Central point setting The address that does not generate an arc is set at the Correct the address of servo program error central point specified central point specified helical interpolation Start point Central point 1A2EH Central point setting The address that does not generate an arc is set at the Correct the address of servo program error central point specified central point specified helical interpolation End point Central point 1A2FH Central point setting The central point address is outside the setting range at Set the central point address within the range of 0 to error the positioning start for absolute method 35999999 for the axis unit degree The central point is set to 2147483648 H80000000 at Set the central point address within the range of 0 the positioning start for incremental method to 214748364748 1 e The start point address central point address is Set the start point address central point address within outside the range of 2147483648 to 2147483647 at the the range of 2147483648 to 2147483647 positioning start for incremental method 1A30H Address outside range The movement amount is set to 2147483648 The setting of movement amount is within the range of 0 to H80000000 at the positioning start for incremental data 2147483648 1 method 1A31H Address outside range The address is outside the setting range at the positioning Set the address within the range of 0 to 35999999
161. Aad A hb neare bk a Heady behead os Internal relay M o acchecce ede rn eee de A a Rees pe se eee RE PE Linkrelay B niren dados a ida Annunciator E sis raina e das rea AE a ae ao E 11 Link register W si circo A e Ad a Rd a ea a 70 Motion register ceci aia ds deat A A A a O A 70 3 3 System Device iii a A A o 71 special relay SM iiciin i i er a A Pea dei dla Wares 71 Special register SD au ser ii A aed She A ed A A la a wale 71 3 4 CPU Buffer Memory Access Device ooooocococccoccc eee e eee enee 71 3 5 Module Access Device a a a a a aias aie 72 3 6 Constants oi A A A lee ae ee tee Ree eee a eee ae 72 3 7 Device Setting io ion ads a Odes Cha com esenees ce ndet ene secede 73 3 8 Latch FUNCION ii 75 3 9 LADOS cai ee 77 Labels registered in the Motion CPU 0 0 cece eens 77 O AN 77 Data types ich icende de ceed ahd cd A ai dean ene a ba 77 SIUCIUTES Seria a fea e e aps tata ate pee nai e 78 CHAPTER 4 AUXILIARY AND APPLIED FUNCTIONS 79 4 1 Limit Switch Output Function 0000 ccc eee eee eee 79 Operations s esi asus dia ir a Eee arene made a dani ek a ARE ae E e daa a e ica Pee eee eat 79 Limit output data Setting wo ccc cee ee ee rara rie ena ee eee eee eee oe a ee Se eae eee 81 4 2 External Input Signal c 23660 0c dceesetes4 id ei 85 Extemal signal cs a ii EAE OEE EOE eked nae 85 High speed Input Request Signal 0 0 ene tees 86 4 3 Mark Detection Functi N 0
162. Axis D 1 AMP Axis D Sequence program SM400 oH TO MOV K1 D541 H MOV K 2 D104 Set 2 Execute command in D104 M100 M10 M102 X0 5 jH ai Y tit MOV K5 D102 Set 5 Disconnect command of SSCNET communication Disconnect after Axis 5 Lt cet oo na X1 fi MOV K 10 D102 Set 10 Connect command of SSCNET communication in D102 SET M100 M100 M10 18 H DP DDRD H3E1 D50 SD508 D100 M10 H Read the data of SD508 for Multiple CPU oe Wiii system CPU No 2 by turning M100 ON and E D100 KO T RST M1001 store them to data area D100 of self CPU SET M101 M101 M12 39 H DP DDWR H3E1 D50 D102 SD803 M12 H Write D102 to the data of SD803 for Multiple Niz iiia CPU system CPU No 2 by turning M101 ON E RST M101H Disconnect Connect command SET M102 M102 M10 5H H Y DP DDRD H3E1 D50 SD508 D100 M10 Read the data of SD508 for Multiple CPU bo re system CPU No 2 by turning M102 ON and e D100 KA E RSTM102H store them to data area D100 of self CPU SET M103 M103 M12 78H Y DP DDWR H3E1 D50 D104 SD803 M12 Write D104 to the data of SD803 for Multiple br Mia CPU system CPU No 2 by turning M103 ON I RST M103 H Disconnect connect execute command SET M104 M104 M10 96 H Y DP DDRD H3E1 D50 SD508 D100 M10 Read the data of SD508 for Multiple CPU bo Mii system CPU No 2 by turning M104 ON and 3
163. B MR J3 W B MR J3 B S Fully closed MR J3 W B Linear MR J3 W B DD motor MR MT1200 FR A700 FR A700 NA FR A700 EC FR A700 CHT VCI Nikki Denso Amplifier operation mode lt Communication type SSCNETII H use gt Standard Standard Fully closed Linear DD motor Axis Axis No R32MTCPU Up to 2 lines 32 axes No setting information R16MTCPU Up to 1 line 16 axes RIO axis No 2 lt Communication type SSCNETII H use gt No setting R32MTCPU Up to 2 lines 8 axes R16MTCPU Up to 1 line 4 axes Station No d lt Communication type SSCNETII H use gt No setting 1 to 64 Axis label RIO axis label Up to 32 characters No setting External synchronous encoder input Invalid ABS INC Invalid Input filter setting Nothing 0 8ms 1 7ms 2 6ms 3 5ms 3 5ms Allowable travel during Power Off lt Communication type SSCNETII use gt 10 0 to 8191 revolution 1 This can only be set when MR J4 W B RJ is selected for the amplifier model 2 This is the RIO axis when LJ72MS1 2 COMMON PARAMETERS 2 3 Motion CPU Common Parameter 5 is selected for the amplifier model Amplifier information Set the amplifier model and amplifier operation mode e Amplifier model When SSCNETII H is set MR J4 W B RJ MR J4 B LL VCI Nikki Denso LJ72MS5 When SSCNETII is set MR J3 W B MR J3 B S fully closed MR J3 W B linear MR J3 W B DD motor MR MT1200 FR A700 FR A700 NA FR A700 EC FR A700 CHT VCI Nikki
164. CPU Setting the vision system Set the vision system network and create a job vision program using In Sight Explorer Setting the Motion CPU parameters Set the Ethernet communication line setting and the vision program operation setting using MT Developer2 Page 195 Vision system parameter setting Controlling the vision system with vision system dedicated functions of Motion SFC 1 2 3 4 Log onto the control target vision system using the MVOPEN instruction Load the job vision program to be used using the MVLOAD instruction Issue a trigger to the vision system using the MVTRG instruction or vision system s image acquire trigger input When the MVPST instruction is used the job can be loaded and the trigger issued simultaneously When the vision system finishes executing the job the job execution results are stored into the device set with the parameters image data storage device and read value storage device of Motion CPU In addition to the above procedure data can be acquired from the vision system using the MVIN instruction or MC protocol Select the method that suits the required data acquisition time or data type O Enable X Disable Data Communication Data Output data type of Storage data type to the device Batch acquisition protocol acquisition vision system acquisition of method time multiple data Image data TCP IP protocol Fast Integer value
165. CPU The SD memory card can be removed from the Motion CPU and used with peripheral equipment such as personal computers facilitating flexible data management Furthermore by saving the system operating system software in a predetermined folder beforehand it can be installed in the Motion CPU 8 1 Memory and Files Standard ROM SD memory card specifications The Motion CPU standard ROM and SD memory card specifications are as follows Item Standard ROM SD memory card Memory capacity 12288kbytes SD memory card capacity Up to 32Gbytes Formatting prior to initial use Not required Required Formatting method MT Developer2 Motion CPU memory format MT Developer2 Motion CPU memory format Initialization with rotary switch 1 Total capacity including file management area The capacity excluding the file management area is smaller Free memory space can be checked with MT Developer2 2 Formatting is completed prior to shipping 3 Format SD memory cards with MT Developer2 If formatted with the Windows formatting function or with a device other than a Motion CPU module PLC etc it will not be possible to use SD memory cards by inserting them into the Motion CPU module Available operations The following operations can be performed for standard ROM and SD memory cards Operation Standard ROM SD memory card Motion CPU initialization with rotary switch O MT De
166. CPU internal memory and when sampling is complete sampling results are saved to the standard ROM or to an SD memory card Buffer capacity Standard ROM SD memory card Setting data____________ Saved file lt Settings gt N Sampling CHISH O a Sampling results output 1st sampling point target 2nd sampling point Results are saved from the buffer to the standard ROM or a SD memory card n sampling point If saving to the standard ROM only one stored file is saved Sampling results save destination The sampling results save destination is specified from the following Standard ROM cannot be specified if the save destination for the sampling settings file is SD memory card nplin J J Standard ROM Standard ROM trigger sampling only SD memory card SD memory card SD memory card Save destination folder and file name Sampling results are stored to a sampling results output folder in the specified save destination standard ROM or SD memory card and the system time hexadecimal notation is output as the file name in 8 digits when outputting sampling results data oscout PR OSV 1 Elapsed time seconds up to the current time using Greenwich Mean Time 00 00 January 1st 1970 as the reference 7 DIGITAL OSCILLOSCOPE 224 7 6 Sampling Functions 7 7 Digital Oscilloscope Status The digital oscilloscope status can be chec
167. Change D or n so that the block transfer range is e n is outside the range of 0 to 1000000000 within the device range e D is the CPU buffer memory other than self CPU or the Correct the program so that n is within the range of 0 to module access device of the module other than self 1000000000 CPU management Correct the program so that D is the CPU buffer memory of self CPU or the module access device of the module of self CPU management 3908H CHGV execution error The specified axis number of S1 is outside the range Correct the specified axis number of S1 to be within the range 390AH CHGP execution error e The specified axis number of S1 is outside the range Correct the specified axis number of S1 to be within S2 is outside the range of 0 to 1 the range The device number of S3 is an odd number Correct the program so that the S2 is within the range e S3 to S3 7 is outside the range of device of 0 to 1 Correct the program so that the S3 is an even number device Correct the program so that S3 to S3 7 is within the range of device 390BH CHGT execution error The specified axis number of S1 is outside the range Correct the specified axis number of S1 to be within the range 390CH CHGVS execution error The specified axis number of S1 is outside the range Correct the specified axis number of S1 to be within the range 3910H Assign execution e The S data is outsid
168. Click the Communication button under Application Steps to display the Communications screen Click the Add Device button to display the screen of Device Setup Select Other for Device 1 2 3 4 5 Select TCP IP for Protocol and click the OK button In Sight Explorer admin MEIE1D3A Standard EasyBuilder View lt Q Eile Edit View Image Sensor System Window Help c al ABI 0 BA 42 AO A10 01828 ZA mr TE S ks iIn Sight Network X Application Steps i Palette amp Sf In Sieht Sensors T Help Results 1 0 4 EM cognex o ca Ed MEIE1D3A a 122150 Name Result Get Connected zl Set Up Image 2 Set Up Tools I Jo Locate Part 30 Inspect Part 3 Configure Results mi r Inputs ca d Save Job gt Run Job aaa Rate 100 0 3 3 Offline Time 0 1ms Communications Directions OPC EasyView FIP Add Device Select a communication type to either configure OPC tags to the In Sight OPC Server or an Easy View for the VisionView Operator Interface Panel Or click the Add Device button to configure communications to an external device lt Screen In Sight Explorer gt Communications Device Setup Sp Device Other 4 Protocol 5 6 COMMUNICATION FUNCTIONS 2 4 6 5 Vision System Connection Functi
169. D100 KO I RST M104 H store them to data area D100 of self CPU 4 32 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 3 SSCNET Control Function Amplifier less operation function This function is used to confirm for the operation without connecting the servo amplifiers at the starting or debugging The start release request of amplifier less operation is set in SSCNET control command SD803 and status of the command accepting waiting or execute waiting is stored in SSCNET control status SD508 Confirm the amplifier less operation status by the Amplifier less operation status flag SM508 Point f e The SSCNET control status SD508 only changes into the execute waiting status 1 even if the start command of amplifier less operation 20 or release command of amplifier less operation 25 in SSCNET control command SD803 The actual processing is not executed Set the execute command 2 in SSCNET control command SD803 to executed Only the release command of amplifier less operation can be accepted during amplifier less operation The start command for the other amplifier less operation cannot be accepted e The operation of servo motor or the timing of operation cycle etc at the amplifier less operation is different from the case where the servo amplifiers are connected Confirm the operation finally with a real machine e The amplifier less operation becomes invalid immediately after the Multiple CPU syst
170. Display format When the error setting data units are 01 Axis units 10 Control units address data radius circular interpolation allowable error range error 11 Control unit speed data the control unit is set 00 mm 01 inch 10 degree 11 pulse When the error setting data units are 00 None the MT Developer2 display format is set 00 Signed decimal display 01 Unsigned decimal display 10 Hexadecimal Lower bit 4 digit display 11 Hexadecimal 8 digit display b14 b13 Error setting data units 00 None 01 Axis units 10 Control units address data radius circular interpolation allowable error range error 11 Control units speed data b15 Error setting data 0 No error setting data 1 Error setting data 143 Motion SFC program b15 543210 With or without SD81 specification Motion SFC program No SD82 Monon SS Program type SD83 Program type GSUB K G F program No SD84 GSUBIKIGIF Motion SFC list line No rogram No Error block No SD85 Mo Eror block No 2 Detailed code SD86 Detailed code Program type 20 F FS 21 G 22 K or other F FS other than G 23 Motion SFC chart D112 Detailed information 2 Detailed information 2 Detailed information 2 information category code is stored information category information category code b15 to b8 b7 to bO Not used fixed to 0 Information block code The following codes are stored into t
171. E7H Main shaft clutch A value outside the range of 0 to 5000 was set in Set within the range of 0 to 5000 smoothing time constant synchronous parameter Pr 412 Main shaft clutch outside range smoothing time constant 1BE8H Composite main shaft The composite value is overflowed sign reverse because Lower the input values of main input axis and sub input gear operation overflow the input values of main input axis and sub input axis are axis large 1BFOH Auxiliary shaft number The setting value of synchronous parameter Pr 418 e Set within the range outside range Auxiliary shaft number is outside the setting range Do not set the same servo input axis number with output The same servo input axis number as the output axis is axis set in the synchronous parameter Pr 418 Auxiliary shaft number 1BF2H Auxiliary shaft gear Set the value of synchronous parameter Pr 421 Auxiliary Set within the range of 1 to 2147483647 denominator outside shaft number denominator less than 0 range 1BF3H Auxiliary shaft gear The input value is overflowed sign reverse because of e Reduce the absolute value of synchronous parameter operation overflow the gear ratio of auxiliary shaft gear is large Pr 420 Main shaft gear numerator Increase the synchronous parameter Pr 421 Main shaft gear denominator Slow down the input axis speed 1BF4H Auxiliary shaft clutch The value of synchronous parameter Pr 422 Auxiliary Set within
172. ELSEC iQ R Motion Controller Programming Manual Positioning Control 2 COMMON PARAMETERS 4 2 3 Motion CPU Common Parameter 6 2 4 Motion CPU Operating Status This section describes the Motion CPU operating status and details of all processes The operation for when the Motion CPU is started with the rotary switch set to 0 Normal mode are shown below Refer to each function for details on operation when started with rotary switch set to other than 0 Normal mode Initial processing Initial processing the pre processing used to start Motion CPU control Initial processing is performed once only when the CPU module status is one of those shown in the table below When initial processing is complete the Motion CPU transitions to the operating status based on Rq 1120 PLC ready flag M2000 Details of initial process are shown in the table below O Execute X Don t execute Executing file transmission at boot O O x R series common System parameter O O x parameters reading and CPU parameter check Module parameter Motion CPU common Motion basic setting O O x 0 8 Parameter reading Servo network setting Limit switch output setting O High speed input request signal setting x Mark detection setting Manual pulse generator connection setting Vision system parameter x x O Head module setting O O x Refresh END I45 executing setting
173. F 64 bit floating point type K 1 79E 308 to K 2 23E 308 KO K2 23E 308 to K1 79E 308 Mark detection mode setting Mark detection mode setting Continuous detection mode Specified No of detection mode Ring buffer mode Word device Number of detections 1 to 8192 Specified number of detection mode Ring buffer mode Device Number of mark detections counter Word device 4 Continuous detection mode Word device Mark detection current value monitor device 4 Word device 1 The mark detection signal compensation time cannot be set if Invalid is selected in the estimate calculation O us is set 2 When Motion control data selected 3 When word device data selected 4 This setting can be omitted 4 AUXILIARY AND APPLIED FUNCTIONS 4 4 3 Mark Detection Function 9 Set the high speed input request signal used for mark detection Use the high speed input request signal settings to specify the input signal detection direction and compensation time Mark detection accuracy is determined by the high speed input request signal accuracy setting Mark detection process compensation time The mark detection process delay time can be compensated Set this time if wishing to compensate delays and so on inherent to mark detection process separately from the high speed input request signal compensation time If compensating the delay set a positive value However when Invalid
174. FUNCTIONS 4 5 Absolute Position System Synchronous control absolute position system The status current value reference position etc of each module when performing advanced synchronous control is stored in the Motion CPU internal backup memory A backup is always taken regardless of the servo amplifier used or the valid invalid status of the servo motor absolute position system Resuming synchronous control is easy using an absolute position compatible servo motor and servo amplifier Refer to the following for details on how to resume synchronous control LUIMELSEC iQ R Motion Controller Programming Manual Advanced Synchronous Control Synchronous control backup data stored in the Motion CPU is erased for all axes when the built in memory is cleared with the rotary switch Set the synchronous positional relationship for each axis if necessary Saving and recovering backup data Absolute position data stored inside the Motion CPU and synchronous control backup data can be saved or recovered with the MT Developer2 backup function By saving recovering not only programs and parameters but also absolute position data and synchronous control backup data when replacing the Motion CPU module the time take to restart can be shortened 4 AUXILIARY AND APPLIED FUNCTIONS 4 4 4 5 Absolute Position System 0 4 6 Clock Function The CPU No 1 PLC CPU clock data is the standard clock information added to event history and all kinds of monitor in
175. H E PTC PTC thermistor operation 49H E PE2 Parameter storage device fault 50H E CDO Output current detection value exceeded 51H E IOH Inrush current limit circuit fault 52H E SER Communication fault inverter 53H E AIE Analog input fault 54H E USB USB communication fault 56H E 1 Option fault 57H E 2 58H E 3 61H E 6 CPU fault 62H E 7 70H E EP Encoder phase fault 90H E OP3 Communication option fault 91H E OP3 92H E OP3 FOH OL Stall prevention overcurrent F1H oL Stall prevention overvoltage 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 1 66 5 6 Compatible Devices with SSCNETIII H F2H PS PU stop F3H RB Regenerative brake pre alarm F4H TH Electronic thermal relay function pre alarm F5H MT Maintenance signal output F6H CP Parameter copy F7H SL Speed limit indication Output during speed limit F8H Fn Fan alarm E4H Parameter write error E6H Output stop E7H Emergency stop 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 6 Compatible Devices with SSCNETIII H 167 Optical hub unit The SSCNETII H Compatible Optical Hub Unit MR MV200 is a unit that enables the branching of SSCNETII H communication on 1 line 3 branches for 1 input SSCNETITI H communication can be branched by installing an optical hub unit in a SSCNETII H system The optical hub unit is compatible with all slave equipment servo amplifiers etc that supports SSCNETII H communicati
176. Hn Kn can be used as the lower limit value and upper limit value of the data range The data type of device constant to be set is the same as the type of watch data Refer to device list for the range of word devices that can be set Page 66 Device List Set the forced OFF bit when forced OFF of the output device is desired during operation The following control is exercised Invalid Output device is turned ON OFF based on the ON section setting Valid OFF ON Output device is turned OFF e Bit devices are used for forced OFF bits Refer to device list for the range of bit devices that can be set Page 66 Device List Set the forced ON bit when forced ON of the output device is desired during operation The following control is exercised Invalid Output device is turned ON OFF based on the ON section setting Valid OFF ON Output device is turned ON e Bit devices are used for forced ON bits Refer to device list for the range of bit devices that can be set 137 Page 66 Device List 4 AUXILIARY AND APPLIED FUNCTIONS 4 1 Limit Switch Output Function 4 2 External Input Signal External input signals are managed as external signals or high speed input request signals External signals are used with control functions such as home position return speed position switching control hardware limits and stop processing High speed input request signals are used with contr
177. ID switching command Valid Valid Control loop changing command Invalid Valid when using servo amplifier for fully closed loop control Amplifier less operation function Usable Usable External input signals of servo Unusable Usable amplifier Servo parameter read change Usable Usable Driver communication Unusable Usable Servo error Motion error history Error codes detected by VCI series Error codes detected by servo amplifier are stored are stored Programming tool MR Configurator2 is not available MR Configurator2 is available Use VCI data editing software 1 Confirm the specifications of VCI series for details 2 The direct drive tDISC series manufactured by Nikki Denso Co Ltd can restore the absolute position in the range from 2147483648 to 2147483647 Confirm the specifications of VCI series for restrictions by the version of VCI series 3 The specification of torque limit direction differs by the version of VCI series Confirm the specifications of VCI series for details 4 During amplifier less operation function the following are spuriously connected MR J3 10B HF KP053 Servo amplifier MR J4 10B Servo motor HG KR053 5 Refer to the following for the servo amplifiers that can be used LAsServo amplifier Instruction Manual 1g control Home position return e Home position return operation types The home position return methods that can be used in VCI series are shown below O Poss
178. II H head module 0 No communication 1 STOP status 2 RUN status 3 ERROR status 1 Error code Stores the error code when an error is detected in the SSCNETII H head module Continue error and stop error If error is reset by turning ON the error reset command or the SSCNETII H head module power supply is turned ON again this device is also cleared 2 Accumulative count for At a communication retry Holds the accumulative count for communication retry with the communication retry SSCNETII H head module 3 Maximum continuous times for Counts each time a communication retry with the SSCNETIT H head communication retry module occurs When communication is successful the count is 0 4 Unusable 5 6 7 8 9 mCommand device Set the device for issuing commands to the SSCNETII H head module with a bit device or word device e Refer to device list for the range of bit devices and word devices that can be set 5 Page 66 Device List e The device uses 16 points 1 point if a word device from the specified device number The details stored in the command device are shown below 0 Unusable 1 2 3 4 5 6 7 Error reset command Main cycle Clears the error code storage device and resets the error code detection signal of the SSCNETII H head module At an error reset command turn this signal OFF after confirming the error detection signal of the SSCNETII H head module is turned OFF However depe
179. List ction mode setting Set the data storage method of mark detection Direct setting Continuous detection Always The data is updated in the mark detection mode data storage device Specified number of 1 to 8192 Number of detections If the number of mark detections counter is the The data is stored in the following device detection mode number of detections or more the mark detection is not executed area Ring buffer mode 1 to 8192 Always The mark detection data storage device is used as a ring Mark detection data storage device buffer for the number of detections Number of mark detections counter x Mark detection data size 4 AUXILIARY AND APPLIED FUNCTIONS 4 3 Mark Detection Function 95 96 indirect setting Word devices are set for the mark detection mode setting Refer to device list for the range of word devices that can be set 5 Page 66 Device List e Used as a 1 word device e The mark detection mode is specified with the following setting values 0 Continuous detection mode 1 to 8192 Specified number of detection mode Set the number of detections 8192 to 1 Ring Buffer mode Set a negative value for the buffer count Other than the above Mark detection invalid e Setting values are read each operation cycle aber of mark detections counter The counter value is incremented by 1 at mark detection Preset the initial value 0 etc in the user program t
180. Memory card access error Set whether to Stop or Continue Motion CPU processing if a memory card access error is detected Module verify error Set whether to Stop or Continue Motion CPU processing if a module comparison error is detected e Over execute time of Motion CPU fixed scan process e Over execute time operation cycle over Set whether to Stop or Continue Motion CPU processing if a Motion CPU fixed cycle processing operation cycle over condition is detected e Over fixed scan data send section Set whether to Stop or Continue Motion CPU processing if a Motion CPU fixed cycle processing fixed scan data communication section over condition is detected e Synchronous interrupt execution interval error CPU module Set whether to Stop or Continue Motion CPU processing if the Motion CPU detects a synchronous signal error Event history setting Save destination Set the storage destination for event history files SD memory card e Standard ROM e Set save volume of per file Set the saving volume per event history file Setting range 1 to 2048 k bytes 2 COMMON PARAMETERS 2 2 R Series Common Parameter I O assignment setting MCPU module operation setting at error detected Set the CPU module operation mode during error for slot O to slot 63 e Major Stop Moderate Stop e Major Stop Moderate Continue e Major Continue Moderate Continue 2 COMMON PARAMETERS 2 2 R Series Common
181. Motion CPU Operation example of Multiple CPU refresh setting Q compatibility high speed refresh setting The operation example of Multiple CPU refresh setting Q compatibility high speed refresh setting is shown below CPU No 1 CPU No 2 CPU buffer memory CPU buffer memory Read by main cycle or operation cycle of Refresh area CPU No 2 Refresh area Write by main Write by END process cycle or operation of CPU No 1 cycle of CPU No 2 Device Device BO to B1F CPU No 1 BO to B1F CPU No 1 B20 to B3F CPU No 2 Read by END process B20 to B3F CPU No 2 of CPU No 1 1 MULTIPLE CPU SYSTEM 31 1 3 Data Communication Between CPU Modules in the Multiple CPU System Fixed scan data transmission section over check A check is performed to verify whether Motion CPU fixed cycle processing Motion SFC event tasks motion operations etc is completed by the data transmission section of the CPU fixed scan communication A check can be carried out to detect whether fixed scan transmission data separation has occurred Detect Not detected and Stop Continue can be selected in the RAS settings refer to L5 Page 48 CPU parameter 1 Fixed scan communication cycle i Fixed scan communication cycle i 4 gt lt gt i Motion operation time 1 Motion operation time i j i gt lt gt ee Receipt JO tion T un Fixed Outpu
182. Multiple CPU system can be edited 5 Page 102 Clock Function 1 MULTIPLE CPU SYSTEM 1 2 Setting Operation for Multiple CPU System 1 3 Data Communication Between CPU Modules in the Multiple CPU System Data transfer is performed between CPU modules in the Multiple CPU system Data can be written and read between CPUs through communication by refreshing or by direct access Data communication methods are shown below Refer to the following for details on data communication between CPU modules data communication via CPU buffer memory fixed scan communication area LCIMELSEC iQ R CPU Module User s Manual Application Data communication via Use to transfer data based on the timing CPU modules transmitting data write to the self CPU buffer memory CPU modules CPU buffer memory of the respective CPU modules receiving data read from the self CPU buffer memory of the CPU module other CPU from which the data was transmitted Data communication via Use to transfer data based on the timing CPU modules transmitting data write to the self CPU fixed scan communication fixed scan communication between CPU modules area transmission area CPU modules receiving data read from the self CPU fixed area scan communication area receipt area of the CPU module to which the data was transmitted Used memory Data communication between CPU modules uses the CPU buffer memory CPU buffer memory configuration The CPU buffer memory co
183. Name setting Title setting Up to 32 characters No setting Comment setting Up to 256 characters No setting Operation RUN contact XO to X2FFF No setting related setting Output mode setting of STOP to RUN Output the output Y status before STOP Clear the output Output the output Y output is 1 scan later Y status before STOP Module synchronous setting Synchronize Do not synchronize Synchronize Device related Device points Bit device M B F Word device D W lt Page 73 setting Device Setting Latch setting Up to 32 settings No setting 48 2 COMMON PARAMETERS 2 2 R Series Common Parameter Item Setting range Default value RAS setting Error detections Module verify error Detect Not detected Detect setting Over execute Over execute Detect Not detected Not detected time of Motion time operation CPU fixed scan cycle over process Over fixedscan Detect Not detected Not detected data send section CPU module Instruction execution error module Stop Continue Stop operation I O No specification incorrect setting at error Memory card access error Stop Continue Stop detected Module verify error Stop Continue Stop Over execute Over execute Stop Continue Stop time of Motion time operation CPU fixed scan cycle over process Over fixed scan Stop Continue Stop data send section Synchronous interrupt execution Stop Continue Stop interval error CPU module Event history S
184. Parameter gt Limit Output Data Item El Limit Output Data Output Device Output Device 16 Point Unit Batch Output Setting O Invalid Limit Output Compensation Time ols E Watch Data Set the data to be performed the limit switc Watch Data Setting 0 Motion Control Data 0 Motion Control Data Axis Axis1 Axis1 Name 0 Feed Current Value 0 Feed Current Value Device E E j Data Type E NES Ring Counter Value As on E ON Section Setting Set the data range which turns output devic E ON Section 1 Set the ON section of the first section Upper Limit Value KOL PLS KOL PLS Lower Limit Value KOL PLS KOL PLS ON Section 2 Set the ON section of the second section Upper Limit Value KOL PLS KOL PLS Lower Limit Value KOL PLS KOL PLS E Forced OFF Bit Set the forced OFF bit when you want to turn Forced OFF Bit O Invalid O Invalid Forced OFF Bit Device E E Forced ON Bit Set the forced ON bit when you want to turn Forced ON Bit O Invalid O Invalid Forced ON Bit Device E Set the data which outputs the ON OFF signal to the device corresponding to the data range of preset watch data EE Displayed CC E M2000 keep the output device when turns OFF Invalid default valid Output Output device Bit device Operation cycle device 16 point unit batch output Invalid default valid setting Limit output compensation time 5000000 to 5000000 us Word devic
185. Pr 440 Cam No in synchronous controlling 0C12H Cam axis length per Set the value of synchronous parameter Pr 439 Cam Set within the range of 1 to 2147483647 cycle outside range axis length per cycle less than 0 0C14H Cam axis phase The phase compensation of cam axis was below the Shorten the cam axis phase compensation advance compensation over minimum value 2147483648 or above the maximum time value 2147483647 Decrease the cam axis input speed 0C15H Cam axis length per Pr 439 Cam axis length per cycle will be changed when Use the cam data which the cam data starting position is 0 cycle change invalid the cam data which is stroke ratio data format and the cam data starting point is other than 0 is used in synchronous controlling 0C16H Control mode switching Synchronous parameter Pr 440 Cam No switches Set the output axis to linear cam cam No 0 when request error the control mode to speed torque continuous control executing the speed torque control during advanced mode for the output axis except 0 in synchronous synchronous control controlling Execute the request switching to the control mode to Switch the control mode to speed torque continuous speed torque continuous operation to torque control operation to torque control for the output axis that is after executed synchronous control switching function executing the synchronous control switching function 0C17H Cam No outside range A value other t
186. R Module Configuration Manual For Ethernet cables to be used in the system select the ones that meet the specifications in the user s manual for the module used If not normal data transmission is not guaranteed Startup and Maintenance Precautions A WARNING O Do not touch any terminal while power is on Doing so will cause electric shock or malfunction O Correctly connect the battery connector Do not charge disassemble heat short circuit solder or throw the battery into the fire Also do not expose it to liquid or strong shock Doing so may cause the battery to generate heat explode ignite or leak resulting in injury or fire O Shut off the external power supply all phases used in the system before cleaning the module or retightening the terminal screws connector screws or module fixing screws Failure to do so may result in electric shock or cause the module to fail or malfunction Startup and Maintenance Precautions AN CAUTION When connecting an external device with a CPU module or intelligent function module to modify data of a running programmable controller configure an interlock circuit in the program to ensure that the entire system will always operate safely For other forms of control such as program modification parameter change forced output or operating status change of a running programmable controller read the relevant manuals carefully and ensure that the operation is safe befor
187. SM605 Memory card remove OFF Allowed to remove This relay can be switched to on when prohibiting the SD memory card S U attach prohibit flag attach from being removed attached When this relay is on if is set to on the ON Not allowed to system switches it to off remove attach SM606 SD memory card OFF Cancel instruction This relay can be switched to on to issue the instruction that forces U forced disable ON Forced disable the SD memory card to be disabled However whenever any function instruction instruction accesses the SD memory card the disabling process does not start until the access is completed This relay can be switched to off to cancel the instruction that forces the SD memory card to be disabled SM607 SD memory card OFF Not disabled by the This relay switches to on when the SD memory card is disabled by S Change forced disable state SD memory card switching SM606 to on status flag forced disable e This relay switches to off when the forcibly disabled SD memory card instruction is enabled by switching SM606 to off ON Disabled by the SD memory card forced disable instruction SM634 Number of rewriting OFF The number of This relay switches to on when the number of data memory rewriting S Written operations error to rewriting operations operations reaches 100000 CPU module must be replaced data memory flag reaches100000 ON The number of rewriting operations is lower than 100000 SM752 El flag OFF During
188. Setting of STOP to RUN Output the Output Y Status before STOP Module Synchronous Setting Synchronize Device Related Setting Device Points Latch Setting lt Detailed Setting gt RAS Setting E Error Detections Setting Set when change the error detect setting according to self diagnostic function Module Verify Error Detect Over Execute Time of Motion CPU Fixed Scan Process Set error detection about execute time of motion CPU fixed scan process Over Execute Time Operation Cyde Over Not Detected Over Fixed Scan Data Send Section Not Detected E CPU Module Operation Setting at Error Detected Set the CPU module operation when error was detected from self diagnostic E Instruction Execution Error Set execution error when instruction was executed Module I O No Specification Incorrect stop Memory Card Access Error Stop Module Verify Error Stop Over Execute Time of Motion CPU Fixed Scan Set CPU module operation when execute time of motion CPU fixed scan process Process over error was detected Over Execute Time Operation Cyde Over Stop Over Fixed Scan Data Send Section Stop Synchronous Interrupt Execution Interval Error CPU lt Module Set the event history Standard ROM Set Save Volume of Per File 128 k byte E 1 0 Allocation Setting CPU Module Operation Setting at Error Detected Set CPU module operation when major error and moderate error is detected in t
189. Start speed position switching control when the status of Set the Pr 300 Servo input axis type as the servo position switching control Rq 1152 Feed current value update request command command value or the feedback value start impossible is OFF or when the input axis parameter Pr 300 Servo Start the speed position switching control after setting input axis type is the feed real current value the Rq 1152 current feed value update command to ON 1BA8H Serial ABS synchronous Encoder hardware error Check module change the encoder encoder communication Encoder cable is open Check the encoder cable error The synchronous encoder specified in system setting Set the synchronous encoder actually connected in the differs from the synchronous encoder actually system setting connected 1BA9H Serial ABS synchronous No battery in the servo amplifier which connected the Replace the battery and check the servo amplifier module encoder battery error synchronous encoder or the battery cable is replace disconnected 1BAAH Synchronous encoder The axis set in synchronous encoder via servo amplifier Connect the servo amplifier which supports the via servo amplifier invalid does not support the synchronous encoder via servo synchronous encoder via servo amplifier error amplifier 1BABH Serial ABS synchronous Encoder hardware is failure when the multiple CPU Check module change the encoder encoder initial system powe
190. Take measures to reduce noise Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the CPU module Please consult your local Mitsubishi representative 3C01H Hardware failure A hardware failure has been detected Take measures to reduce noise Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the CPU module Please consult your local Mitsubishi representative 3C02H Hardware failure A hardware failure has been detected Take measures to reduce noise Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the CPU module Please consult your local Mitsubishi representative 3C03H Hardware failure A hardware failure has been detected Take measures to reduce noise Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the CPU module Please consult your local Mitsubishi representative 3COFH 3C10H 3C11H 3C12H Hardware failure Hardware failure Hardware failure Hardware failure A hardware failure has been detected A hardware failure has been detected A hardware failure has been detected The waveform of the voltage out of the specified range has been detected in the po
191. The response data includes valid data and invalid data 0 and is always stored as 4 words When SSCNETII H is disconnected data is cleared to 0 10 11 4 4 8 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 2 Optional Data Monitor Function ESend and receive timing The send and receive timing of transient send and receive data is shown below e Normal timing Command send request Start device 0 Send and receive l of all items Response data Start device 8 to 11 p 1 Data valid bit bF i Transient request Send start M start b1 i Transient Transient status lt receiving b2 Start device 6 Transient reception completed normally b3 Transient command processing completion wait b0 Abnormal timing Command send request Start device 0 Send and receive of all items Response data Start device 8 to 11 i 4 1 I 1 1 i Data valid bit rr bF i Transient request Send start i i start b1 l Transient Transient status 3 receiving b2 Start device 6 Transient reception completed normally __1 _ b3 1 I i i Transient command i processing completion wait b0 When disconnected during continuous send 4 Clear to 0 Command send request Start device 0 Response data Start device 8 to 11 Data valid bit bF
192. UIMELSEC Q R Motion Controller Programming Manual Positioning Control Link relay B These are devices intended for use as auxiliary relays inside the Motion CPU Link relays perform the same role as internal relays M Annunciator F These are devices intended for use as auxiliary relays inside the Motion CPU Annunciators perform the same role as internal relays M Data register D These devices are able to store numerical data Some data registers D are used for positioning control Refer to the following for details LUIMELSEC Q R Motion Controller Programming Manual Positioning Control Link register W These devices are able to store numerical data Link registers W perform the same role as data registers D Motion register These devices are able to store numerical data Some Motion registers are used as monitoring devices Refer to the following for details LUIMELSEC Q R Motion Controller Programming Manual Positioning Control 3 DEVICES 3 2 User Device 3 3 System Device System devices are devices for the system Allocation and capacity are fixed and cannot be changed arbitrarily Special relay SM These are internal relays whose specifications inside the Motion CPU are fixed and as with standard internal relays they cannot be used at the program However they can be turned ON and OFF to control the Motion CPU if required Refer to special relays for details on special relays 3 Page 29
193. ___ The operating system software can be displayed installed normally by dialog display v Turn OFF the Multiple CPU system power supply y Set the rotary switch of Motion CPU CENAR Set to normal mode module to 0 END 1 Install the operating system software by screen of MT Developer2 Refer to the following for details LAHelp of MT Developer2 Point Files installed in the Motion CPU module can be compared with files on the personal computer with MT Developer2 8 MOTION CPU MEMORY STRUCTURE 2 8 4 Installing the Operating System Software 35 Installation procedure using SD memory card The procedure used to install the operating system software using a SD memory card is as follows Start Installation Using a personal computer store the operating system file in the SD memory card Insert the SD memory card in the Motion CPU module SD memory card slot Y7 Set the rotary switch of Motion CPU module to A y Turn ON the Multiple CPU system power supply rv The files inside the SD memory card are automaitcally read and installation is performed Y The dot matrix LED displays FIN Y Turn OFF the Multiple CPU system power supply Y Set the rotary switch of Motion CPU module to 0 END Point Create a instnew folder in the SD memory card root and store the files inside this folder Set to i
194. aS uodai J value 7 F Mark detection data storage device Number of mark detection 7 Y counter A 0 1 2 O clear by user program Detected real current value Detected real current value Specified Number of Detection mode Number of detections 2 Mark detection is not executed because the counter for number of mark detections is already 2 More than the number of detections a x Confirmation of mark detection data range Upper lower value setting Valid High speed input request signal Rising detection setting Mark detection data current value Real current value Continuous update Mark detection data storage device Detection real current value 1st Mark detection data storage device 2nd area Detection real current value 2nd Number of mark detection counter 0 clear by user program 4 AUXILIARY AND APPLIED FUNCTIONS 4 3 Mark Detection Function Mark detection setting This section describes the mark detection setting items Up to 32 mark detections setting can be registered XZ Motion CPU Common Parameter gt Mark Detection Mark Detection Process Compensation Time E Mark Detection Data Mark Detection Data Axis No Set Data Device Data Type Estimate Calculation Ring Counter Value Mark Data Storage Device Mark Data Range Upper Value Mark Data Range Lower Value E Mark D
195. ack 3 Position commands are in the command unit set at Motion Control Parameter gt Axis Setting Parameter gt Fixed Parameter gt Unit setting 4 The servo amplifier command value is a command value for the servo amplifier Coordinates differ from those for the Motion CPU and therefore the result will not be 0 even if the home position is set 5 The torque command value is a command value for the servo amplifier Torque command values are only valid in speed torque control torque control mode and continuous operation torque control mode The previous value will remain for the torque command value when restoring to position control from torque control etc however it is not actually used Transient command Encoder resolution pulse 2 0 0305h Servo amplifier recognition characters 4 0 0310h information First 8 characters Servo amplifier recognition characters 4 0 0311h information Last 8 characters Servo amplifier software number characters 4 0 0312h First 8 characters Servo amplifier software number characters 4 0 0313h Last 8 characters Read alarm history number items 4 0 0323h Alarm history Detail 1 2 4 0 0324h 8 Alarm history 1 9 Alarm detail 1 10 Alarm history 2 11 Alarm detail 2 Alarm history Detail 3 4 4 0 0325h 8 Alarm history 3 9 Alarm detail 3 10 Alarm history 4 11 Alarm detail 4 Alarm history Detail 5 6 4 0 0326h 8 A
196. ail Occurrence time Alarm occurrence time 1 2 Alarm occurrence time 3 4 Alarm occurrence time 5 6 Alarm history Detail Occurrence time Home position command unit Main circuit bus voltage Regenerative load ratio Effective load ratio Peak load ratio Estimate inertia moment ratio Model loop gain LED display Load side encoder information 1 Load side encoder information 2 Speed feedback Servo motor thermistor temperature Z phase counter Module power consumption Module integral power consumption Disturbance torque Instantaneous torque Overload alarm margin Error excessive alarm margin Settling time Overshoot amount Servo motor side load side position deviation Servo motor side load side speed deviation Machine diagnostic status Friction estimation data Vibration estimation data Optional transient command Servo motor ID SSCNETII Encoder ID Encoder resolution Servo amplifier recognition information First 8 characters e Servo amplifier recognition information Last 8 characters Servo amplifier software number First 8 characters Servo amplifier software number Last 8 characters Power ON cumulative time Inrush relay ON OFF number Read alarm history number Alarm history Detail 1 2 Alarm history Detail 3 4 Alarm history Detail 5 6 Alarm history Detail Occurrence
197. ainst this Personal computer theft prevention measures use of wire locks etc Personal computer user management deletion of redundant user accounts strict control of login information adoption of fingerprint authentication etc Furthermore if a personal computer at which security keys are registered malfunctions locked project data cannot be viewed or edited Mitsubishi Electric accepts no responsibility for losses to customers other individuals or organizations as a result of this Customers must therefore take the following countermeasures to protect against this Import registered security keys to another personal computer Store exported files containing registered security keys in a safe location 6 COMMUNICATION FUNCTIONS 1 76 6 2 Security Function Creating deleting copying the software security key The operation of software security key function is executed on the security key management screen of MT Developer2 Refer to the following for details of the operation procedures Help of MT Developer2 O Project gt Security gt Security Key Management Created Date Expiration Date Protect Target Selection Register Key to CPU 7 11 2014 4 17 29PM 7 11 2014 4 18 23PM 8 11 2014 Enable Disable Security key creation Create a new security key and register it at the personal computer Security keys are created for each personal computer login user and up to 128 keys can b
198. al computer and Motion CPU to write the parameters using the Ethernet cable Page 183 Direct connection 4 86 6 COMMUNICATION FUNCTIONS 6 4 Communication Function via PERIPHERAL I F Communication setting in MT Developer2 side Set the items on the Transfer Setup screen in MT Developer2 as shown below O Online gt Transfer Setup Transfer Setup J m ot 1 Serial CCIECont CC Link Ethernet CCIEField iQ R Series USB NET 10 H Board Board Board Bus 2 Board Network No StationNo Protocol TCP g 2 E E E Bl PLC CCTECont CCiink Ethernet C24 GOT CCIE Field Module NET 10 H Module Module Master Local Module Module PLC Mode RCPU IP Address Host Name 0 0 0 0 3 ir 5 a A EA No Specification Other Station Other Station z 3 Single Network Co existence Network CPU Direct Coupled Setting Time Out Sec 45 Retry Times 3 CCIECont CCIEField Ethernet CC4ink C24 c24 Connection Test PLC Type Detail NET 10 H System Image 3 CCIECont CCIEField Ethernet CC tink NET 10 H Accessing Host Station PLCNo 2 Multiple CPU Setting EAS a ES C 3 4 L _ 42 CBU side 1 F Detailed Setting of PLC Modul Ex nom s fou Coa C Ethemet Port Direct Connection Select Connection Cancel via HUB Please select Connection via HUB when you use HUB ever if the equipments to be communicated is one The load han
199. alue and feed current value are different and therefore it is not abnormal for a different value to appear 6 COMMUNICATION FUNCTIONS 21 6 7 Positioning Control Monitor Function 3 Speed monitor By selecting Target speed for the display item at the MT Developer2 axis monitor screen the command speed displayed in axis control units specified with the program currently being used for positioning control can be monitored Successive command speed pulse s can be monitored with Md 28 Command speed 8004 20n 8005 20n The following table shows whether the monitor speed can be displayed for each type of control O Display possible x Display not possible or not possible to update the display PTP point to point control a O Fixed pitch feed Speed control 1 Speed control I Speed position switching control N Continuous trajectory control Fixed pitch feed control Speed control with fixed position stop JOG operation Manual pulse generator operation Home position return High speed oscillation Synchronous control output axis Ox x O x O O O OJO OJOJOJO Speed change CHGV command M P CHGV command D P CHGV command Speed torque control x oly 1 The speed vector speed reference axis speed long axis speed specified in the program is displayed while executing interpolation instructions The same value displays for each axis 2 The speed specified at a mi
200. am code is corrupted Turn error executing Rq 1120 PLC ready flag OFF and write the Motion SFC program again 3919H MVPST execution error Internal processing error occurred when MVPST is The Motion SFC program code is corrupted Turn executing Rq 1120 PLC ready flag OFF and write the Motion SFC program again 391AH MVLOAD execution error Internal processing error occurred when MVLOAD is The Motion SFC program code is corrupted Turn executing Rq 1120 PLC ready flag OFF and write the Motion SFC program again 391BH MVTRG execution error Internal processing error occurred when MVTRG is The Motion SFC program code is corrupted Turn executing Rq 1120 PLC ready flag OFF and write the Motion SFC program again 391CH MVIN execution error Internal processing error occurred when MVIN is The Motion SFC program code is corrupted Turn executing Rq 1120 PLC ready flag OFF and write the Motion SFC program again 391DH MVFIN execution error Internal processing error occurred when MVFIN is The Motion SFC program code is corrupted Turn executing Rq 1120 PLC ready flag OFF and write the Motion SFC program again 391EH MVCLOSE execution Internal processing error occurred when MVCLOSE is The Motion SFC program code is corrupted Turn program again error executing Rq 1120 PLC ready flag OFF and write the Motion SFC APPENDICES APPENDIX Appendix 1 Error Codes 271 A 391FH MVCOM execution
201. am does not exist Do not set all the simultaneous start program number to All the specified program No is 1 1 1A50H Point setting error No point specification exists in the instruction during the Specify a point between the CPSTART and CPEND continuous trajectory control 1A51H Reference axis speed The axis except for interpolation axis is set as the Set the reference in the interpolation axis setting error reference axis at the linear interpolation of the reference axis speed specification method 1A52H High speed oscillation Unable to start because the amplitude commanded in the Start after setting the command amplitude within the range command amplitude high speed oscillation function is outside the range of 1to of 1 to 2147483647 error 2147483647 1A53H High speed oscillation Unable to start because the starting angle commanded in Start after setting the starting angle within the range of 0 to start angle error the high speed oscillation function is outside the range of O 3599 x 0 1 degree to 3599 x 0 1 degree 1A54H_ High speed oscillation Unable to start because the frequency commanded in the Start after setting the frequency within the range of 1 to frequency error high speed oscillation function is outside the range of 1 to 5000 CPM 5000 CPM APPENDICES APPENDIX Appendix 1 Error Codes 261 Error Error name Error details and
202. am or parameter Please consult your local Mitsubishi representative 286 APPENDICES APPENDIX Appendix 1 Error Codes 2820H Device label or buffer memory specification error The device or label area used in the program or parameter exceeded the specified range Set the label or devices specified in the program or parameter within the usable range 2823H Device label or buffer e The buffer memory area of the module specified in the Set the buffer memory within the valid range memory specification program or parameter exceeded the specified range Set the unit has a buffer memory error The module specified in the program or parameter does not have buffer memory 3070H Boot operation file error Content of boot operation file is strange Confirm boot log file bootlog txt and check the boot operation file 3071H Boot function read write Detected the file writing in CPU which set standard ROM Check the file transmission setting during booting Motion protection error write disable CPU common parameter Detected the file reading from CPU which set standard ROM read disable 3072H Boot function security Detected the unmatched verification of file password Confirm the bootlog file bootlog txt and check password error Detected the read to SD memory card etc of security and security key key set files 3073H Boot function execution Failed to copy delete a file
203. among drivers and PD21 to amplifier corresponding to communication among drives PD23 of servo parameter in slave axis 30F5H Multiple CPU advanced Neither fixed scan communication function nor inter Set fixed scan communication function or inter module synchronous control module synchronous function is set synchronous function setting error Do not Synchronize is set in inter module Set Synchronize in inter module synchronization target synchronization target selection selection The same operation cycle is not set in master CPU and Set the same operation cycle in master CPU and slave slave CPU CPU 30F6H Multiple CPU advanced Multiple master CPUs are set Set only one master CPU synchronous control Master CPU is not set Set master CPU detection error e Rising timing in each CPU is different and cannot detect Set Synchronize in all CPUs for synchronous rising master CPU slave CPU setting in Multiple CPU advanced synchronous control system configuration 30F7H Pressure control setting The number of valid pressure control axes exceeds 8 Please check the setting error Pressure control is set valid in degree axis Pressure control is set valid in SSCNETIT line 288 APPENDICES APPENDIX Appendix 1 Error Codes Major error 3C00H to 3FFFH Major error details and causes and corrective action are shown below 3C00H Hardware failure A hardware failure has been detected
204. and is ON when starting Turn OFF the Rq 1140 Stop command and then start Rq 1140 Stop command is ON at the timing of home it position return Rq 1140 Stop command and then perform the home Rq 341 Command generation axis stop command is position return ON when starting Turn OFF the Rq 341 Command generation axis stop command and then start it 1909H External stop signal ON e External stopping signal is ON when starting Start as the external stop signal is OFF e External stopping signal is ON at the timing of the home Execute the home position return as the external stop position return signal is OFF 1927H Servo error detection The St 1068 Servo error detection is ON when starting Eliminate the servo error reset the St 1068 Servo error signal ON at start detection by the Rq 1148 Servo error reset command then start operation 192AH Start acceptance flag ON The St 1040 Start acceptance flag is ON when Start when the St 1040 Start acceptance flag is OFF at start starting Start when the St 345 Command generation axis start The St 345 Command generation axis starting acceptance flag is OFF acceptance flag is ON when starting 192DH Rapid stop signal ON Rq 1141 Rapid stop command is ON when starting Turn OFF the Rq 1141 Rapid stop command and Rq 1141 Rapid stop command is ON at the timing of home position return Rq 342 Command gener
205. and create a folder Check the bootlog file bootlog txt and store the error specified file in boot operation files Delete the unnecessary file of SD memory card in standard ROM Check free space Release the write protect of SD memory card 3080H Add on function Moderate error occurs in add on function Check the detail information and refer to technology moderate error manual of add on library that supported file name 308FH Add on function load Error occurs in add on function loading Check the error content in detailed code and process error accordingly Refer to the programming manual common for detailed code Or refer to each add on library technology manual for detailed add on library 30C0H Label setting error e Write label structure setting only to Motion controller Write label structure setting and label allocation after label setting changed information to Motion controller Write label allocation information only to Motion Delete label structure setting if label is no use controller after access setting from label setting external Please initialize the memory which label allocation machine changed information has been written and then write label structure setting to Motion controller 30DOH Servo parameter setting Axis type and parameter type do not match in servo Set the axis type and parameter type of the servo network error network setting setting to be the same type 30D1H Synchronous encoder e Sp
206. ange of 1 0 to 1 0 Correct the program so that S is within the range of 1 0 to 1 0 3966H SQRT execution error S is a negative number Correct the program so that S is O or a positive number 3967H BIN execution error Any digit of S has a value other than 0 to 9 Correct the program so that any digit of S is in O to 9 3968H BCD execution error The S value is outside the range of BCD data conversion Correct the program so that the S value is within the range of BCD data conversion 3969H LN execution error S is O or a negative number Correct the program so that S is a positive number 396BH ABS execution error The S value is outside the range of the absolute value Correct the program so that the S value is within the conversion range of absolute value conversion 3970H SCL execution error e S1 is outside the range of 0 to 3 Correct the program so that the S1 is within the range e The S3 device number is an odd number of 0 to 3 e S3 to S3 2N 1 is outside the range of device Correct the program so that S3 is an even number Point number is outside the range of 2 to 4000 device In the sequential search S1 is O or 1 the points Correct the program so that S3 to S3 2N 1 into the corresponding to the input values for positive range of device conversion X0 to XN 1 for inverse conversion YO to Correct the program so that the point number is within YN 1 are not in ascending order
207. ansition to test mode all servo ON axes will change to servo OFF Test mode cancellation To cancel test mode request cancellation after stopping all axes If there is an axis in operation test mode cannot be cancelled When test mode is cancelled the servo ON OFF status of all axes Rq 1123 All axes servo ON command M2042 Rq 1155 Servo OFF command M3215 20n does not change from that of before cancellation To servo ON the servo OFF axes after test mode is cancelled turn Rq 1155 Servo OFF command M3215 20n from ON to OFF Stop processing of axes operating in test mode When the following stop factors occur in an axis in test mode operation stop processing is performed for all axes performing test operation When performing test operation for multiple axes and a stop command or stop factor applies to one of the axes in test operation stop processing is also performed for the axes in test mode operation that the stop command or stop factor does not apply to Stop factor Stop processing Stop signal input STOP external signal turned ON Deceleration stop Software stroke limit is reached Hardware stroke limit is reached 1 3 Rq 1140 Stop command M3200 20n turned ON Rq 1141 Rapid stop command M3201 20n turned ON St 1068 Servo error detection M2408 20n turned ON 1 5 Rapid stop Stop from MT Developer2 Deceleration stop 210 Rapid stop from MT Developer2 Commun
208. ar 2 is large Pr 492 Speed change ratio 2 numerator Increase the synchronous parameter Pr 493 Speed change ratio 2 denominator Slow down the input axis speed 1C08H Speed change gear The setting value of synchronous parameter Pr 434 Set the different arrangement for the synchronous overlapping arrangement Speed change gear 1 arrangement and Pr 490 Speed parameter Pr 434 Speed change gear 1 arrangement disable change gear 2 arrangement are overlapping and Pr 490 Speed change gear 2 arrangement 1C10H Cam No outside range A value outside the range of 0 to 1024 was set in Set within the range of 0 to 1024 synchronous parameter Pr 440 Cam No 1C11H Cam not registered Cam data which the No is specified by synchronous Specify a cam No in which cam data exists parameter Pr 440 Cam No does not exist in cam open area 1C12H Cam axis length per Set the value of synchronous parameter Pr 439 Cam Set within the range of 1 to 2147483647 cycle outside range axis length per cycle less than 0 1C13H Output axis smoothing A value outside the range of 0 to 5000 was set in Set within the range of 0 to 5000 time constant outside synchronous parameter Pr 447 Output axis smoothing range time constant 1C1FH Synchronous control A value outside the range of 0 to 64 was set in Set within the range of 1 to 64 parameter block No synchronous parameter Pr 448 Synchronous control outside range parameter block No
209. arameter write read request Servo parameter No The servo parameter No to be written read is stored in hexadecimal H OOOO gt Parameter No Parameter group No 0 PA 5 PF 1 PB 9 Po 2 PC A PS 3 PD B PL MR J4 W OB only 4 PE C PT MR J4 W OB only gt Fixed to 0 VCI series use H OOOO gt Parameter No gt Parameter group No 0 Group 0 5 Group 5 e 1 Group 1 6 Group 6 2 Group 2 7 Group 7 3 Group 3 8 Group 8 4 Group 4 9 Group 9 SD807 Servo parameter value SD808 SD809 Servo parameter setting value 2 word The setting value of servo parameter to be written is stored when 1 Write request is set in SD804 The setting value of servo parameter to be written is stored when 3 2 word write request is set in SD804 SD820 File transmission request command Read write target data specification Synchronizes the data in the file and the built in memory and requests file transfer The type of data to be synchronized is set in hexadecimal notation H0000 No request H1000 to H9020 Servo parameter read write command H OOOO Target axis No 1 to 32 00 to 20 00 applies to all axes gt Read write target file 10 built in memory to file standard ROM 20 built in memory to file SD memory card e 80 file standard ROM to built in memory
210. arning B1H F C Thermal warning BEH E 5 Encoder and IPU communication error BEH E 6 Encoder and IPU cable disconnection COH E 7 Encoder backup error C1H E 8 IPU backup error C2H F b Encoder position sensing part deterioration warning E6H F 7 Driver emergency stop E7H F 8 Controller emergency stop 1C82H Internal circuit fault 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 1 58 5 6 Compatible Devices with SSCNETIII H Inverter FR A700 series FR A700 series can be connected via SSCNETII by using built in option FR A7AP and FR A7NS System configuration The system configuration using FR A700 series is shown below Motion CPU module ROMTCPU Inverter Servo amplifier FR A700 series MR J3 W OB RRR O SSCNETMcable MR J3BUSOM A B SSCNETII CN1 Inverter FR A700 series Servo amplifier MR J3 W OB O O SSCNETII CN2 R32MTCPU 2 lines Up to 32 axes Up to 16 axes line R16MTCPU 1 line Up to 16 axes Parameter setting To connect FR A700 series set the following in the servo network setting 37 Page 56 Servo network setting Set SSCNETII for communication type in SSCNET setting e Set the amplifier model in amplifier setting to FR A700 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 4 5 6 Compatible Devices with SSCNETIII H 59
211. art point Auxiliary point 1428H Auxiliary point setting The address that does not generate an arc is set at the Correct the address of servo program error auxiliary point specified auxiliary point specified helical interpolation End point Auxiliary point 260 APPENDICES APPENDIX Appendix 1 Error Codes 1429H Auxiliary point setting The address that does not generate an arc is set at the Correct the address of servo program error auxiliary point specified auxiliary point specified helical interpolation Three points are on one linear 1A2AH Auxiliary point setting e The auxiliary point address is outside the setting range Set the auxiliary point address within the range of 0 to error at the positioning start for absolute method 35999999 for the axis unit degree e The auxiliary point address is set to 2147483648 Set the auxiliary point address within the range of 0 H80000000 at the positioning start for incremental to 214748364748 1 method Set the start point address auxiliary point address e The start point address auxiliary point address is within the range of 2147483648 to 2147483647 outside the range of 2147483648 to 2147483647 at the positioning start for incremental method 1A2BH End point setting error The circular interpolation helical interpolation is not to be Correct the address of servo program circular Start point End point 1
212. at the device No which indirectly specifies is proper 3A1CH SD n L read error The indirectly specified device No an odd number is outside the range or Correct the program so that the device No which indirectly specifies is proper 3A1DH SD n F read error The indirectly specified device No an odd number is outside the range or Correct the program so that the device No which indirectly specifies is proper 3A1EH D n read error The indirectly specified device No is outside the range Correct the program so that the device No which indirectly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A1FH D n L read error The indirectly specified device No an odd number is outside the range or Correct the program so that the device No which indirectly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A20H D n F read error The indirectly specified device No an odd number is outside the range or Correct the program so that the device No which indirectly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A21H W n read error The indirectly specified dev
213. ation area If synchronizing output between CPUs adjust the number of Motion SFC fixed cycle event task consecutive transitions for the Motion CPU and program taking into account the difference in output timing one cycle between the PLC CPU control module and Motion CPU control module MModule access from other CPU Even if the following settings are set in GX Works3 inputs X and outputs Y cannot be read from modules subject to the inter module synchronization function Reading from the buffer memory is possible by direct access with a module access device UD G FROM instruction etc When set to import at the System Parameter gt Multiple CPU Setting gt Other PLC Control Module Setting gt I O Setting Outside Group MAligning the inter module synchronization function start timing at all CPUs all stations Specify the following settings in GX Works3 e Set each module in System Parameter gt Synchronization Setting within the Modules gt Select Synchronous Target Unit between Unit to Synchronize Set all CPUs in System Parameter gt Multiple CPU Setting gt Operation Mode Setting gt Synchronous Startup Setting to Synchronize 1 MULTIPLE CPU SYSTEM 1 3 Data Communication Between CPU Modules in the Multiple CPU System 37 38 Link between inter module synchronization function and CPU fixed scan communication When the following are set in GX Works3 CPU fixed scan communication operates
214. ation axis rapid stop command is ON when starting then start it Rq 1141 Rapid stop command and then perform the home position return Turn OFF the Rq 342 Command generation axis rapid stop command and then start it APPENDICES APPENDIX Appendix 1 Error Codes 257 192EH PLC ready ON during Rq 1120 PLC ready flag turned from OFF to ON again When all axes stopped turn Rq 1120 PLC ready flag deceleration during deceleration ON 192FH Servo error detection St 1068 Servo error detection is ON when controlling Start after disposal at the servo error signal ON during controlling 1940H Start at home position Start scale home position signal detection method home Perform the home position return after moving to the position return when St 1070 Home position return proximity dog ON by the JOG operation etc complete and St 1074 External signals DOG CHANGE is ON 1977H Encoder absolute Home position return is started on using direct drive motor Turn the power supply of the system or servo amplifier position data not when the absolute position data of the encoder has not from OFF to ON after passing the zero point of the motor established been established by the JOG operation etc 1978H Z phase pass parameter When using the scale home position signal detection Set Pass Z phase After AC ON to the servo parameter incorrect method home position return or the dogl
215. ation stop error Clear occurrence Precautions when using SSCNETIII H head module Disconnect reconnect function cannot be used for SSCNETII H head module If executed it is ignored 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 5 Connection of SSCNETIII H Head Module 1 47 9 6 Compatible Devices with SSCNETIII H Servo driver VCII series manufactured by Nikki Denso Co Ltd The direct drive tDISC tiD roll 1Servo compass tLinear stage etc manufactured by Nikki Denso Co Ltd can be controlled by connecting with the servo driver VCI series manufactured by the same company using the Motion CPU and SSCNETII H Contact to Nikki Denso overseas sales office for details of VCI series System configuration The system configuration using VCI series is shown below Motion CPU module ROMTCPU IAN SSCNETII cable MR J3BUSOM A B SSCNETII H CN1 SSCNETII H CN2 Se Parameter setting Servo driver VCIseries Servo amplifier MR J4 W O1B MR J3 W O1B Servo driver VCIseries Servo amplifier MR J4 W O1B MR J3 W O1B y R32MTCPU 2 lines Up to 32 axes Up to 16axes line R16MTCPU 1 line Up to 16 axes To connect VCI series set the f
216. ave destination SD memory card Standard ROM Standard ROM setting Set save volume of per file 1 to 2048 k bytes 128 k bytes I O assignment CPU module Slot Major Stop Moderate Stop Major Stop Moderate Major Stop setting operation 0 to 63 Continue Major Continue Moderate Continue Moderate setting at error Continue detected Name setting Title setting Set the Motion CPU title name application Up to 32 characters can be set Comment setting Set a comment for the title Up to 256 characters can be set Operation related setting ERUN contact Set contacts used to control Motion CPU RUN signals Only inputs X can be set Setting range XO to X2FFF Refer to remote RUN STOP for details on operation with RUN contacts 5 Page 181 Remote RUN STOP Output mode setting of STOP to RUN Set the output Y operation when switching from the STOP status to RUN status Output the output Y status before STOP If outputting the output Y status before STOP e Clear the output Y output 1 scan later If clearing the output Y status and outputting 1 scan later Module synchronous setting Set whether or not to synchronize Motion CPU and intelligent function module startup e Synchronize Synchronizes startup Do not synchronize Does not synchronize startup 2 COMMON PARAMETERS 2 2 R Series Common Parameter 49 50 Device related setting MDevice points Set the range
217. axes and axes set to driver communication are connected the SSCNETII searching flag Line 1 SM532 SSCNETII searching flag Line 2 SM533 turn OFF SM532 SSCNETII searching flag Line 1 SM533 SSCNETII searching flag Line 2 Turns ON when searching axes that have been set by system setting in line 1 or line 2 Turns OFF when all axes that have been set by system setting in line 1 or line 2 have been searched OFF Search complete ON Searching S Change status 138 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 4 Driver Communication Function Positioning dedicated device used for positioning control of slave axis In the slave axis only the following positioning dedicated devices are valid Do not use devices other than the following MAxis status St 1066 Zero pass M2406 20n e St 1068 Servo error detection M2408 20n e St 1075 Servo ready M2415 20n 1 Because the slave axis cannot execute home position return it does not use this in control MAxis command signal e Rq 1148 Servo error reset command M3208 20n Rq 1155 Servo OFF command M3215 20n MAxis monitor device Md 1005 Servo error code D8 20n Md 35 Torque limit value D14 20n BJOG speed setting register Cd 1110 JOG speed setting D640 20n D641 20n that apply to the slave axis become invalid Common device The following common devices that apply to the slave axis cannot be used Do
218. axes which exceeded the Correct the stroke limit range or movement amount stroke limit range are stored in case of the circular setting so that positioning control is within the range of interpolation helical interpolation All of the interpolations the stroke limit are stored in case of the linear interpolation 1995H Software stroke limit The feed current value is lower than the stroke lower Set within the stroke range by the JOG operation Or set limit value at start within the stroke range by the home position return or The feed current value is lower than the stroke lower current value change limit value when controlling Only the axes which Correct the stroke limit range or movement amount exceeded the stroke limit range are stored in case of the setting so that positioning control is within the range of circular interpolation helical interpolation All of the the stroke limit interpolations are stored in case of the linear interpolation 1997H Current value change The current value was changed outside the range of 0 to Operate within the range of 0 to 35999999 x10 degree outside range 35999999 105 degree for the degree axis 19A1H PLC ready OFF start The Rq 1120 PLC ready flag or the PCPU preparation Set the Motion CPU to RUN completion flag is OFF Turn the Rq 1120 PLC ready flag on 19A4H ABS direction setting When software stroke limit is invalid the value outside the Set the ABS direction setting device
219. ay occur depending on the machine When using the absolute position system function on starting up and when the module or absolute position motor has been replaced always perform a home position return Before starting the operation confirm the brake function Do not perform a megger test insulation resistance measurement during inspection After maintenance and inspections are completed confirm that the position detection of the absolute position detection function is correct Lock the control panel and prevent access to those who are not certified to handle or install electric equipment Operating Precautions AN CAUTION When changing data and operating status and modifying program of the running programmable controller from an external device such as a personal computer connected to an intelligent function module read relevant manuals carefully and ensure the safety before operation Incorrect change or modification may cause system malfunction damage to the machines or accidents Do not power off the programmable controller or reset the CPU module while the setting values in the buffer memory are being written to the flash ROM in the module Doing so will make the data in the flash ROM undefined The values need to be set in the buffer memory and written to the flash ROM again Doing so also can cause malfunction or failure of the module Note that when the reference axis speed is specified for interpolation
220. be processed by the boot operation file boot01 csv and it takes time to transmit all files a moderate error error code 2460H may occur after turning the Multiple CPU system power supply ON Revise the files to be transferred e Copying and moving is not performed for programs that are locked by Motion CPU security Copying and moving the boot operation file boot01 csv and boot log file bootlog txt by file transmission at boot is not possible The copy and move commands are ignored e When an error occurred during file transmission or security authentication a moderate error error code 3070H to 3073H is detected and an error message is output to the boot log file bootlog txt When an error is detected in the boot log file bootlog txt a warning error code OEDOH OED1H occurs 4 AUXILIARY AND APPLIED FUNCTIONS 4 8 File Transmission at Boot Function File types that can be specified The files that can be specified to control data are shown below The maximum number of files that can be specified in control data set pathset is 512 However when using wildcard or specifying a folder numerous files are selected with one specification When there is cam data in the folder specified for control data the folder of the cam data files is switched A message for the change of the folder of the cam data is output to the boot log Specification of files individually MR series common parameter sys System parameter f
221. be recovered when synchronous control cam pattern stroke starting Occurred in the cam pattern of oscillate 1C29H Cam axis current feed If the synchronous parameter Pr 462 Cam axis position Start the synchronous control after set a current value value cannot be restored recovery target is 2 Cam axis feed current value that the recovery cam axis feed current value is recovery the difference pulse command unit between calculated in cam position calculation function the restored cam axis feed current value and the feed Set the setting value of servo parameter In position value during synchronous control start exceeds the servo range to a large value when it is very small like 0 parameter in position width and cannot be restored 1C80H Servo error Error occurred in servo amplifier Check and correct the error details in Md 1019 Servo amplifier display servo error No and Md 107 Parameter error No Refer to the servo amplifier technology manual for the details of servo alarm 1C81H Communication retry The communication retry count error between motion Check the SSCNETIT cable Connection error damage times error controller and servo amplifier was detected check Replace the servo amplifier of the alarm communication error occurred Replace the module 1C82H Watchdog counter The communication retry count error between motion Replace the servo amplifier of the watchdog error occurred receive error contro
222. be the value when the power supply was previously turned OFF All latch ranges are cleared if the number of devices setting differs from the setting at the previous operation when turning ON the Multiple CPU system or when resetting 3 DEVICES 3 8 Latch Function 3 9 Labels A label is a variable consisting of a specified character string used in I O data or internal processing Using labels in programming enables creation of programs without being aware of devices and buffer memory sizes For this reason a program using labels can be reused easily even in a system having a different module configuration Labels registered in the Motion CPU The labels registered in the Motion CPU are labels that provide the same data within a single project It can be used in all programs in the project The settings of a label include a label name and data type By opening labels they can be referenced from GOT and other stations and can be used for monitoring and accessing data Label settings are performed in MT Developer2 Refer to the following for the setting method of labels O Help of MT Developer2 Classes The label class indicates which program the label is from and how a label can be used VAR_GLOBAL A common label that can be used in programs Data types The data types of a label are classified according to the bit length processing method and value range The following table lists the data types Bit Represen
223. ber name gt Structure label name 3 DEVICES 3 9 Labels 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 Page 81 Limit output data setting A maximum output device for 64 points can be set regardless of the number of axes Operations Limit switch output function ON output to an output device is made while the watch data value is in the ON region set with lower limit value and upper limit value in the limit switch output function Up to two ON regions can be set for each limit output setting data Lower limit value upper limit 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 lower limit value and upper limit value as indicated below Lower limit value lt Upper limit value Lower limit value gt Upper limit value Lower limit value lt watch data value lt Upper limit value ON Output device OFF yOFF Upper limit value ON section setting Lower limit value Watch data value lt gt Lower limit value lt Watch data value lt Upper limit value Lower limit value lt watch data value Watch data value lt Upp
224. bove the maximum Decrease the input axis speed value OBD1H Input axis rotation The rotation direction restriction amount of input axis was Check the enabled direction in the rotation direction direction restriction below the minimum value 2147483648 or above the restriction setting The setting may be opposite amount over maximum value 2147483647 Check if there is an execution that the input axis moves by a wide margin oppositely to the enabled direction OBD2H Input axis speed display The monitor speed display of input axis was below the If the number of decimal places is set in the input axis over minimum value 2147483648 or above the maximum setting reduce the setting value value 2147483647 If the speed time unit is set in the input axis setting Set min gt sec Slow down the input axis OBD3H Serial ABS synchronous The battery voltage dropped in the servo amplifier which Replace the battery encoder battery warning connected the synchronous encoder OBD4H Synchronous encoder A value outside the range of 0 to 2 was set in Cd 321 Set within the range of 0 to 2 axis control method Synchronous encoder axis control method at outside range error synchronous encoder axis control request OBE4H Main shaft clutch control The value of synchronous parameter Pr 405 Main Set within the range setting outside range shaft clutch control setting is set outside the range in Do not change the setting t
225. case Error checking methods This section describes the check methods when errors occur Checking by LED display Check the following LED displays on the Motion CPU Refer to the following for LED display details LCIMELSEC iQ R Motion Controller User s Manual ERROR LED The ERROR LED is ON or flickers EDot matrix LED The dot matrix LED displays AL flickers 3 times gt Error code 4 digits shown 2 at a time Checking by special relay special register e The following special relays and special registers store the error content Refer to the following for details on special relays and special registers Special relays Page 295 Special Relays Special registers S Page 300 Special Registers Device name Special relays Latest self diagnostics error SMO e Latest self diagnostics error SM1 e Warning detection SM4 Detailed information 1 flag in use SM80 Detailed information 2 flag in use SM112 Special registers e Latest self diagnostics error code SDO Clock time for latest self diagnostic error occurrence SD1 to SD7 Self diagnostic error code SD10 to SD25 Detailed information 1 information category SD80 Detailed information 1 SD81 to SD111 Detailed information 2 information category SD112 Detailed information 2 SD113 to SD143 Checking by GX Works3 The error information list is checked by GX Works3 module diagnostics Refer to t
226. ce set in the transient command 1 of transient send data MSetting example An example for using optional transient commands is shown below Ex When switching to effective load ratio and storing after storing main circuit bus voltage Optional data monitor setting Setting 1 Data type Optional transient command Address Transient ID H040A Storage device No wo e Motion SFC program Transient G10 Confirm transient communication received normally Data enabled bit bF amp normal receive complete bit b3 ON W6 H8008 m F10 Read main circuit bus voltage ID 040Ah W50 W8 Store main circuit bus voltage data V to W50 F11 Stop optional transient communication temporarily WO 0 2 Continuous send 0 Stop q E EQE E O Oo uu i G11 Wait 1s until transient stops TIME 1000 eS F12 From ID 040Ah to ID 040Ch W1 H040C Switch to effective load ratio eee F13 Restart optional transient communication WO 2 0 Stop 2 Continuous send SS G12 Confirm transient communication received normally Data enabled bit bF amp normal receive complete bit b3 ON W6 H8008 eS F14 Read effective load ratio W60 W8 Store effective load ratio to W60 4 28 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 2 Optional Data Monitor Function 5 3 SSCNET Control Function The following controls are possible in the SSCNET con
227. cedure to servo parameter write read Procedure to write 1 Set the axis No servo parameter No and servo parameter setting value in SD805 to SD807 2 Set 1 Write request in SD804 3 Check that 0 is set in SD804 Completion of write Procedure to read 1 Set the axis No and servo parameter No in SD805 and SD806 2 3 4 Point 116 Set 2 Read request in SD804 Stores the read value in SD552 Check that 0 is set in SD804 Completion of read e New servo parameter is reflected to Motion CPU therefore the servo parameter of Motion CPU side does not need to change e When the axis No servo parameter No or servo parameter setting value is outside the setting range 1 write read error is stored in the servo parameter write read request flag The setting value of servo parameter is reflected to Motion CPU even when the write error occurred Be sure to set within the setting range 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 1 Servo Parameter Management 5 2 Optional Data Monitor Function The optional data monitor function is used to store data in the servo amplifier to a specified word device and monitor the data In the optional data monitor there is registered monitor and transient command Refer to the following for details of the data types set by registered monitor and transient command LA Servo amplifier Instruction Manual Registered monitor The registered monitor data
228. cess including inter module synchronization process is not completed within the motion operation cycle It is equivalent to St 1046 Operation cycle over flag S Change status ON Motion operation cycle M2054 This flag is valid even when inter module synchronization over occurrence is not used Remains ON even if operating within the inter module synchronization cycle thereafter Clear with power supply OFF to ON or reset SM484 Fixed scan data OFF No fixed scan data Turn ON when the motion operation process is not completed by the transmission section transmission section fixed scan data transmission set in the Multiple CPU synchronous over over occurrence cycle Normal e Remains ON even if the motion operation cycle is completed by the ON Fixed scan data fixed scan data transmission set in the Multiple CPU synchronous transmission section cycle thereafter Clear with power supply OFF to ON or reset over SM488 Inter module OFF No inter module Turn ON when the inter module synchronization signal cannot be synchronization signal synchronization signal confirmed in the inter module synchronization cycle set by the error detection error detection parameters or when inter module synchronization signal is occurrence Normal confirmed multiple times in the inter module synchronization cycle ON Inter module e Remains ON even if the inter module synchronization signal is synchronization
229. cess is prohibited by the IP address setting accepted filer setting was accepted information 10400 File password Registration change or deletion of File password registration change a file password was performed and information deletion successful completed successfully 10401 File password Registration change or deletion of registration change a file password was performed and deletion failed was not completed successfully 10402 File password clear Clear of a file password was successful performed and completed successfully 10403 File password clear Clear of a file password was failed performed and was not completed successfully 10500 Forced disable applied Forced disable was enabled 10501 Forced disable clear Forced disable was disabled APPENDICES APPENDIX Appendix 2 Event List 293 20100 Operation Information Error clear Error clear was performed Operation Operation target initiator information 20200 Event history clear The event history was cleared information 20300 SD memory card The SD memory card was enabled enabled 20301 SD memory card The SD memory card forced disable forced disabled function was performed and the SD memory card is ready for removal 27FFC Parameter change Switch the parameter file according Parameter Drive and file to parameter switching function change information information 27FFD Write transient Transient command transmission Transient
230. ch Yn read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A63H 3A64H 32 bit batch Yn read error 16 bit batch Mn read error The directly specified device No is outside the range The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A65H 3A66H 32 bit batch Mn read error 16 bit batch Bn read error The directly specified device No is outside the range The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number la
231. cle Can be used to judge whether there is an error or not by the signal turning ON when a stop error is detected in the SSCNETII H head module The applicable error code is stored in the error code signal of the monitor device set in Monitor device 37 Page 145 Monitor device If error is reset by turning ON the error reset command or turning ON the SSCNETII H head module power supply again the signal turns OFF 8 Unusable 9 10 11 12 13 14 15 During continue error Operation cycle Can be used to judge whether there is an error or not by the signal turning ON when a continue error is detected in the SSCNETII H head module The applicable error code is stored in the error code signal of the monitor device set in Monitor device 337 Page 145 Monitor device If error is reset by turning ON the error reset command or turning ON the SSCNETII H head module power supply again the signal turns OFF 444 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 5 Connection of SSCNETIII H Head Module MM onitor device Set the devices for monitoring the status of SSCNETII H head module with a word device e Refer to device list for the range of word devices that can be set 1337 Page 66 Device List e The device uses 10 points per word from the specified device number The details stored in the status device are shown below 0 Module operating status Operation cycle Stores the operating status of SSCNET
232. communication setting Set the axis No d1 to d16 of master axis at slave 0 to 16 0 to 32 Master axis No selection 1 for slave axis setting PD30 Master slave operation Set the coefficient to reflect the internal torque 0000h to 01FFh 0 to 500 Torque command coefficient on slave command with the torque command value from the master axis PD31 Master slave operation Set the coefficient to reflect the internal speed limit 0000h to 01FFh 0 to 500 Speed limit coefficient on slave command with the speed limit command value from the master axis PD32 Master slave operation Set the lowest value of the internal speed limit 0000h to 7FFFh 0 to 32767 Speed limit adjusted value on slave Point 140 After writing the servo parameters to the Motion CPU turn ON again or reset the Multiple CPU system power supply so that the parameters become valid 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 4 Driver Communication Function 5 5 Connection of SSCNETIII H Head Module The MELSEC L series SSCNETIM H head module LJ72MS15 can be connected to R32MTCPU R16MTCPU System configuration A system configuration that uses SSCNETII H head modules is shown below Motion CPU module ROMTCPU I O module intelligent function SSCNETII H module head module LJ72MS15 Servo amplifier MR J4 W OB SSCNETIL H
233. cted on the system bus Take measures to reduce noise Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the base unit extension cable or module I O module or intelligent function module connected Please consult your local Mitsubishi representative 24C5H System bus error An error was detected on the system bus Take measures to reduce noise Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the base unit extension cable or module I O module or intelligent function module connected Please consult your local Mitsubishi representative 24C6H System bus error An error was detected on the system bus Take measures to reduce noise Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the CPU module or extension cable Please consult your local Mitsubishi representative 24C8H System bus error An error was detected on the system bus Take measures to reduce noise Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the extension cable or module I O module or intelligent function module connected Please consult your local Mitsubishi representative 24D0H System bus error An
234. currently being executed stops at the position where only the set number of consecutive transitions has been executed 3 All Y devices are turned OFF If the Output mode setting of STOP to RUN Refer to 5 Page 48 CPU parameter is output the output Y status before STOP the status prior to clearing is saved However the high speed counter module Y device set for the synchronous encoder or manual pulse generator input does not turn OFF even if the status is STOP 4 The PCPU READY complete flag SM500 is turned OFF SS i e Refer to the following for details on the processing time when the Rq 1120 PLC ready flag M2000 turns from ON to OFF LCIMELSEC iQ R Motion Controller Programming Manual Positioning Control e Axis stoppage processing when transitioning from the RUN status to STOP status may differ depending on the cause of the stoppage Refer to the following for details LUIMELSEC iQ R Motion Controller Programming Manual Positioning Control 2 COMMON PARAMETERS 2 4 Motion CPU Operating Status 65 66 3 DEVICES This section describes the devices used with the Motion CPU 3 1 Device List The following is a list of devices that can be used with the Motion CPU O Setting possible X Setting not possible User device Bit device Input X 12288 points 12k 8 X0 to X2FFF Hexadecimal x Output Y 12288 points 12k YO to Y2FFF Hexadecimal
235. d 2 Refer to each function for details on the timing of steps 3 to 5 2 COMMON PARAMETERS 2 4 Motion CPU Operating Status 63 64 RUN STOP status control test mode When initial processing is complete the Motion CPU status will be STOP status RUN status or Test mode status depending on the Rq 1120 PLC ready flag M2000 and existence of a test mode request from MT Developer2 and the respective control will be performed Motion CPU processing will be as follows for each operating status O Possible A Possible restrictions apply X Not possible Multiple CPU module control Input X module refresh processing x x O O O Output Y module refresh processing x x A O O Self diagnosis processing x A O O O Multiple CPU auto refresh x x O O A Multiple CPU clock synchronization x A O O O Error reset x x O O O Program execution positioning Positioning control home position return JOG x x x O A control operation manual pulse generator operation speed torque control Motion SFC program execution x x x O x Motion dedicated command accept x x AS O AS Synchronous control Synchronous control operation x x O O x Synchronous encoder monitor x A O O O Communication with peripheral Program parameter reading x A O O O devices Program parameter writing x A O x x Online change x A O O O Device monitor device test x A O O O Transition t
236. d acceleration time of the speed Set the command speed acceleration time of the speed acceleration deceleration torque control data is outside the range 0 to torque control data within the range 0 to 8388608 ms time outside range 8388608 ms Set the command speed deceleration time of the speed The command speed deceleration time of the speed torque control data within the range O to 8388608 ms torque control data is outside the range 0 to 8388608 ms 19E3H Command torque time e The command torque time constant positive direction Set the command torque time constant positive constant outside range of the speed torque control data is outside the range of 0 direction of the speed torque control data within the to 8388608 ms range of 0 to 8388608 ms The command torque time constant negative direction Set the command torque time constant negative of the speed torque control data is outside the range of 0 direction of the speed torque control data within the to 8388608 ms range of 0 to 8388608 ms 19E6H Target position change The target position change request CHGP is executed to Do not execute the target position change to the request prohibited the program where the following acceleration deceleration program where the FIN acceleration deceleration or the acceleration deceleration system is set advanced S curve acceleration deceleration is set method e FIN acceleration deceleration Set the acceleration
237. d will not be stored in the event history Point For a system where file writes occur frequently or the communication conditions are unstable and frequently change the event history file size should be made large enough to accommodate a greater number of events If this is the case the SD memory card is highly recommended as the storage memory MFile size The size for event history files can be changed in event history setting 37 Page 48 CPU parameter If the specified size is exceeded the records are deleted from the oldest one and the latest one is stored An event history file size is obtained from the following calculation formula Event history file size File header size Event history management information size Number of records x Size per event history record Element Size File header size 20 bytes Event history management information size 12 bytes Size per event history record At least 40 bytes 1 Because the contents of detailed information may differ depending on the event to be saved or the detailed information may include a variable length file name the size per event history record is variable The number of events to be saved in the event history file differs depending on the event type to be saved An example for when the event history file size is 128K bytes default is shown below Ex Minor error error code 1901H Because one record is 64 bytes approximately 2040 events can be reg
238. dard ROM of the Motion CPU or SD memory card However if initializing the standard ROM all password data and data are cleared Re write the data to the Motion CPU 57 Page 233 Memory Initialization e When setting a file password for both the standard ROM and the SD memory card data set a password for the standard ROM and another password for the SD memory card data 6 COMMUNICATION FUNCTIONS 6 2 Security Function Software security key authentication This function is used to protect the user data by setting a common security key to the project and Motion CPU to limit the personal computer which operates the project and Motion CPU which runs the project The security key is created in MT Developer2 and registered to the personal computer or Motion CPU Security keys are set for the following Program file Security keys can be registered for each program file however the same security key is used for all program files in a project Restricts the viewing of program files inside the project Restricts the execution of programs with Motion CPUs Personal computer Multiple security keys can be registered for a single personal computer Protected program files can be viewed with a security key Motion CPU Only one security key can be written per CPU module Restricted programs can be executed by security keys Operations that can be restricted with security key authentication function Program
239. detailed information system configuration information of modules actually mounted information and check the module corresponding to the e The I O module or intelligent function module is not displayed slot number mounted properly or was removed during operation 2401H Module verification error A CPU module I O module or intelligent function module Check the detailed information system configuration was mounted on the base unit during operation information and check the module corresponding to the displayed slot number Do not mount a CPU module I O module nor intelligent function module during operation APPENDICES APPENDIX Appendix 1 Error Codes 283 2440H Module major error An error has been detected in the I O module or intelligent function module during the initial processing The possible cause is a hardware failure of the error module Please consult your local Mitsubishi representative 2441H Module major error An error has been detected in the I O module or intelligent The possible cause is a hardware failure of the error function module when the instruction was executed module Please consult your local Mitsubishi representative 2442H Module major error An error has been detected in the I O module or intelligent The possible cause is a hardware failure of the error function module during the END processing module Please consult your local Mitsubishi r
240. device is X Y M B D W The unit of points is word The points are set by 2 point Settings should be set as same when using multiple CPU Q Compatbity High speed Refresh Setting le o R Refresh timing Select Detailed setting based on the timing at which data communication by refresh is executed Refresh END setting Refresh 145 executing Fixed cycle refresh cannot be set if fixed scan communication is invalid CPU selection Select the CPU module for editing of the CPU specific send range setting CPU No 1 to No 4 CPU No which exceeds the number of CPU modules cannot be selected Setting No The setting No for transmission of each 1 to 32 NN 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 Points Set the number of points for data Range Refer to device list for Setting which exceeds the number of Provided communication usable ranges points of the self CPU send area Page 66 Device allocated to each CPU module CPU List specific send range cannot be set Unit 2 points Bit device can be specified in units of 32 points 2 words only Start Specifies the device which performs the data Usable device X Y M B D Bit device can be specified in units of None communication refresh Specifies the device sent by the self CPU when the Send source CPU selection
241. dicate the error contents in the detail code For the detail code refer to LLIMELSEC Q R Motion Controller Programming Manual Program Design 3973H CAMWR execution error Error occurred when CAMWR is executing Confirm and dedicate the error contents in the detail code For the detail code refer to LLIMELSEC Q R Motion Controller Programming Manual Program Design 3975H CAMMK execution error Error occurred when CAMMK is executing Confirm and dedicate the error contents in the detail code For the detail code refer to LLIMELSEC Q R Motion Controller Programming Manual Program Design 3976H CAMPSCL execution Error occurred when CAMPSCL is executing Confirm and dedicate the error contents in the detail code error For the detail code refer to LLIMELSEC Q R Motion Controller Programming Manual Program Design APPENDICES APPENDIX Appendix 1 Error Codes 273 Error Error name Error details and cause Corrective action code 397AH TO execution error e The number of words n to be written is outside the Correct the program so that number of words n to be range written is within the range Unable to communicate with the target module when Replace if there is an error in the target module executing the instruction or errors are detected Correct the program so that the address specified in Correct the program so that the address specified in D2 is within the buffer me
242. duct specifications The specifications given in the catalogs manuals or technical documents are subject to change without prior notice 319 TRADEMARKS Microsoft Windows Windows Vista Windows NT Windows XP Windows Server Visio Excel PowerPoint Visual Basic Visual C and Access are either registered trademarks or trademarks of Microsoft Corporation in the United States Japan and other countries Intel Pentium and Celeron are trademarks of Intel Corporation in the United States and other countries Ethernet is a registered trademark of Xerox Corp The SD and SDHC logos are either registered trademarks or trademarks of SD 3C LLC All other company names and product names used in this manual are either trademarks or registered trademarks of their respective companies DD 320 IB NA 0300237 C 1506 MEE MODEL RMT P COM E MODEL CODE 1XB004 MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN 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
243. dware failure of the CPU module Please consult your local Mitsubishi representative APPENDICES APPENDIX Appendix 1 Error Codes 285 2520H Invalid interrupt Even though an interrupt was requested there is no Take measures to reduce noise interrupt factor Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the CPU module base unit or module I O module or intelligent function module connected Please consult your local Mitsubishi representative 2522H Invalid interrupt An interrupt was requested from the module with no Check and correct the interrupt pointer setting in the interrupt pointer setting module parameters Take measures so that no interrupt is requested from the module with no interrupt pointer setting Check and correct the interrupt setting in the buffer memory of the intelligent function module 2600H Motion operation cycle The Motion CPU fixed cycle process did not complete Please take measures below time over within the set Motion operation cycle Change the operation cycle into a large value Reduce the number of command execution of the event task or NMI task in the system setting If you see the same error again there or data memory the CPU module the risk of hardware failure of the memory card Please consult your local Mitsubishi representative 2610H Inter module An inter module synchroniza
244. dway point in continuous trajectory control is updated as the monitor screen command speed when analysing point data Point data analysis is carried out prior to point switching and therefore the monitor screen command speed is updated prior to point switching 3 If the speed specified at speed change exceeds the speed limit value the actual command speed limited by the speed limit value is displayed 4 The speed limit value is stored during torque control i O o The Md 28 Command speed 8004 20n 8005 20n is calculated based on the amount of change in the position command pulse units sent to the servo amplifier each operation cycle Consequently there are times when the displayed speed for each operation cycle varies due to speed conversion fraction processing 21 4 6 COMMUNICATION FUNCTIONS 6 7 Positioning Control Monitor Function 6 8 Label Access from External Devices Communication from an external device such as a graphic operation terminal GOT to the Motion CPU is possible by specifying label names The external device accesses labels by specifying label names in the label allocation information stored in the Motion CPU Label allocation information defines the label names and data types as well as where each label is allocated This makes it possible for external devices to communicate with the Motion CPU by specifying label names without having to remember the addresses allocated to each label GOT Freq
245. e Maximum scan time SD521 and Maximum scan time SD564 SD565 3 The processing time when an operation cycle over occurs latches to the following special registers e Fixed cycle system processing time SD581 gt Fixed cycle system processing time within operation cycle SD595 e CPU refresh 145 executing processing time SD583 gt CPU refresh 145 executing time within operation cycle SD597 Motion SFC event task 0 222ms to 14 222ms task individually processing time SD570 to SD580 gt Motion SFC event task 0 222ms to 14 222ms task individually operation cycle SD584 to SD594 e Motion operation task processing time SD582 gt Motion operation task time within operation cycle SD596 4 The El DI status can be monitored as an El flag SM752 as the Motion SFC event task monitor 9 RAS FUNCTIONS 9 2 Safety Functions 243 The Motion CPU uses the self diagnostic function to check the processing time for all processing Details of the processing time check and the action taken when an error occurs are shown below Operation cycle check If the total time Motion operation cycle SD522 taken for fixed cycle system processing Motion SFC fixed cycle tasks and Motion operation exceeds the Operation cycle of the Motion CPU setting SD523 the St 1046 Operation cycle over flag M2054 turns ON Depending on the control conditions the amount of time taken for Motion operation may exceed the operat
246. e bit devices are used Refer to device list for the range of bit devices that can be set Page 66 Device List e When the 16 point unit batch output setting is valid the batch output of the sequential 16 point unit devices has less effect on the operation cycle as compared with the output of each output device point by point When the 16 point unit batch output setting is valid it is recommended to set multiple output devices as sequential 16 point unit output devices The sequential devices to be output in a 16 point unit batch is counted as one set and up to 4 sets can be set When the 16 point unit batch output setting is valid among the 16 point unit devices the devices that are not used as the output devices are always OFF 16 point unit batch output setting Control description Invalid The output device is output point by point Valid The sequential 16 point output devices are output in a batch Limit output compensation time Compensate the output timing of the output device Set it to compensate for output signal delays Set a positive value to compensate for a delay In indirect setting the timing is compensated as 5000000 when the compensation time is set to less than 5000000 and it is compensated as 5000000 when it is set to more than 500000 Direct setting Setting range 5000000 to 5000000 us Mindirect setting Word devices are used for the limit output compensation time Set
247. e No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A6CH 16 bit batch X n read error The indirectly specified device No is not a multiple of 16 is outside the range or Correct the program so that the device No which indirectly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A6DH 32 bit batch X n read error The indirectly specified device No is not a multiple of 16 is outside the range or Correct the program so that the device No which indirectly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A6EH 16 bit batch Y n read error The indirectly specified device No is not a multiple of 16 is outside the range or Correct the program so that the device No which indirectly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A6FH 32 bit batch Y n read error The indirectly specified device No is not a multiple of 16 is outside the range or Correct the program so that the device
248. e Operation Watch data Watch data setting Motion control data Word device data Word device data ring counter cycle Axis 1 to 32 Name Page 83 Motion control data Device Word device Data type 2 16 bit integer type 32 bit integer type Ring counter value 16 bit integer type K1 to K32767 H0001 to H7FFF 32 bit integer type K1 to K2147483647 HO0000001 to H7FFFFFFF ON section ON section Upper limit value Word device constant K H Operation setting setting 1 cycle Lower limit value ON section Upper limit value setting 2 Lower limit value Forced OFF Forced OFF bit Invalid default valid or Forced OFF bit device Bit device Forced ON Forced ON bit Invalid default valid pit Forced ON bit device Bit device 4 When Motion control data selected 2 When word device data selected 3 When word device data ring counter selected 4 AUXILIARY AND APPLIED FUNCTIONS 4 4 1 Limit Switch Output Function 8 82 M2000 keep the output device when turns OFF With this setting valid for output devices other than Y devices the output devices do not turn OFF even when the Rq 1120 PLC ready flag M2000 turns from ON to OFF The setting is valid for all the output devices Y devices always turn OFF when the Rq 1120 PLC ready flag M2000 turns from ON to OFF Output device e Set the bit device which outputs the ON OFF signal toward the preset watch data As the output devic
249. e accessed Please consult your local Mitsubishi representative 2020H Module configuration An unsupported module is mounted Remove the unsupported module If all the modules are error supported the possible cause is a hardware failure of the CPU module base unit or module I O module or intelligent function module connected Please consult your local Mitsubishi representative 2021H Module configuration In the multiple CPU system the control CPU of the Q e Replace the Q series intelligent function module with the error series intelligent function module incompatible with the one function version B compatible with the multiple multiple CPU system is set to other than CPU No 1 CPU system Set the control CPU of the Q series intelligent function module incompatible with the multiple CPU system to CPU No 1 2040H CPU module The number of CPU modules set in the system Correctly set the number of CPU modules including the configuration error parameters I O assignment setting differs from the empty setting in the system parameters in accordance number of CPU modules actually mounted with the number of CPU modules actually mounted The CPU module is mounted on the slot different from Correctly set the system parameters so that the setting the one specified in the system parameters I O and actual CPU module mounting status will be the assignment setting same 2041H CPU module The CPU module is not mounted on the slot that is set
250. e built in memory for all axes is cleared with the rotary switch Always perform home position return after clearing absolute position data Furthermore take a data backup if necessary Please note that absolute position data will not be lost when installing the operating system software CAUTION After removing or replacing the battery unit of the servo amplifier check that the absolute position is established After a servo amplifier 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 Point The address setting range of absolute position system is 2147483648 to 2147483647 It is not possible to restore position 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 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 00 4 AUXILIARY AND APPLIED
251. e cancelled If the SD memory card is removed after forced stop with the SD memory card access control switch and then the SD memory card forced disable instruction SM606 is turned ON the SD memory card forced disable instruction request SM606 operation will be ignored If the SD memory card is forcibly stopped while writing a file to the SD memory card from an external device file writing may fail Write the file again after cancelling the SD memory card use stop status 232 8 MOTION CPU MEMORY STRUCTURE 8 2 SD Memory Card 8 3 Memory Initialization The following methods can be used to delete initialization data on Motion CPU standard ROM backup RAM and SD memory cards MT Developer2 Motion CPU Latch 1 zero clear O 4 memory clear Zero clear for other than O latch 1 latch 2 Motion CPU Standard ROM formatting O memory 4 SD memory card O formatting formatting Motion CPU initialization with rotary Standard ROM and O O O O O switch backup RAM Backup RAM O O O O Standard ROM O 1 Executed during STOP Cannot be performed in installation mode 2 Executed with built in memory clear rotary switch set to C Refer to the following for details CCIMELSEC iQ R Motion Controller User s Manual e Backup data includes the servo parameter open area absolute position data current value history data
252. e connected between two optical hub units and between a Motion CPU and an optical hub unit e When turning OFF the control circuit power supply of SSCNETII H compatible equipment connected to an optical hub unit use the connect disconnect function of SSCNET communication Refer to connect disconnect function of SSCNET communication for details of connect disconnect function of SSCNET communication 15 Page 130 Connect disconnect function of SSCNET communication Checking the status of the optical hub unit The connection status of the optical hub unit can be checked with the special registers below Device No Name Meaning Details Set by SD504 SSCNETIO H SSCNETII H Checks the connection status Installed 1 Not installed 0 of the optical hub System compatible optical compatible optical unit and stores as bit data Operation hub unit loading hub unit loading SD504 b0 to b15 Optical hub unit No 1 to No 16 on the first line cycle information line 1 information line 1 SD506 b0 to b15 Optical hub unit No 1 to No 16 on the second line No 1 to No 16 is the connection order from the Motion CPU e 1 is stored to the installation status of an optical hub unit with a servo amplifier connected 0 is stored to the installation status when an optical hub unit is not connected SD506 SSCNETIL H SSCNETIL H after an optical hub unit that is not connected to a servo amplifier or when the compatible optica
253. e created including newly created keys and imported keys Security key deletion Delete security keys registered in the personal computer By deleting a security key used to lock a project it will no longer be possible to view or edit locked data in the project Furthermore even if a security key with the same name is created after deleting the security key will not be the same Exercise sufficient caution when deleting security keys Copying security keys Export Export security keys registered at the personal computer to an importable file ity An expiry date and operating restrictions can be added to security keys to be exported e Import Import exported security key files to the personal computer and registers the security keys Point e Exercise strict control over exported security key files If the expiry date for a security key registered at the personal computer expires it will no longer be possible to view programs export the security key again set a security key for program files or write a security key to the Motion CPU If continuing to use the same security key after it has expired first export the security key again from the personal computer from which it was exported and then import it to the personal computer 6 COMMUNICATION FUNCTIONS 4 6 2 Security Function 77 Registering a software security key to a project file Create a security key atthe Security key management screen beforehand Security k
254. e currently being written is accessed read written to from another MT Developer2 e The file currently being accessed read written to is written to from another MT Developer2 Simultaneous access to different files from multiple MT Developer2 applications Up to 16 different files for the same CPU module can be simultaneously accessed from another MT Developer2 8 MOTION CPU MEMORY STRUCTURE 228 8 1 Memory and Files Stored files Programs and parameters used for Motion CPU control are stored inside a MMTPRJ folder created in a root folder in the standard ROM or SD memory card The MMTPRJS folder is automatically created at the following times e When the MMTPRJ folder does not exist when turning ON the Multiple CPU system power supply When the SD memory card is formatted The following files are stored in the 5MMTPRJ folder Stored files Standard ROM SD memory card SYSTEM PRM System parameter file CPU PRM_ CPU parameter file R series common parameter H UNIT PRM Module parameter file l mot_sys csv Basic settings file motnet01 csv motnet02 csv Servo network settings file High speed input request signal settings fsinput csv e file markdt csv Mark detection setting file limitout csv Limit switch output settings file
255. e device number latch setting of relation setting of CPU parameter within the valid range 3A74H 16 bit batch F n read error The indirectly specified device No is not a multiple of 16 is outside the range or Correct the program so that the device No which indirectly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A75H 32 bit batch F n read error The indirectly specified device No is not a multiple of 16 is outside the range or Correct the program so that the device No which indirectly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A76H 16 bit batch SM n read error The indirectly specified device No is not a multiple of 16 is outside the range or Correct the program so that the device No which indirectly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A77H 32 bit batch SM n read error The indirectly specified device No is not a multiple of 16 is outside the range or Correct the program so that the device No which indirectly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parame
256. e is outside the setting range Set the speed limit value within the valid range outside range 0A43H Acceleration time setting The acceleration time is outside the range of 1 to Set the acceleration time within the range of 1 to outside range 8388608 ms 8388608 ms 0A44H FIN acceleration The FIN acceleration deceleration time is outside the Set the FIN acceleration deceleration time within the range deceleration setting outside range range of 1 to 5000 ms of 1 to 5000 ms APPENDICES APPENDIX Appendix 1 Error Codes 253 0A45H Fixed position stop acceleration deceleration time setting outside range The fixed position stop acceleration deceleration time is outside the range of 1 to 8388608 ms Set the setting of fixed position stop acceleration deceleration time within the range of 1 to 8388608 ms 0A46H Deceleration time setting The deceleration time is outside the range of 1to Set the deceleration time within the range of 1 to outside range 8388608 ms 8388608 ms 0A47H Rapid stop deceleration The rapid stop deceleration time is outside the range of 1 Set the rapid stop deceleration time within the range of 1 to time setting outside to 8388608 ms 8388608 ms range 0A48H P torque limit value The P torque limit value is outside the range of 1 to Set the P torque limit value within the range of 1 to setting outside ra
257. e of 1 to outside range 0 2147483647 1BA3H Input axis length per The value of input axis parameter Pr 324 Synchronous Set the Pr 324 Synchronous encoder axis length per cycle outside range encoder axis length per cycle is set less than 0 cycle within the range of 1 to 2147483647 1BA4H Input axis smoothing The value of input axis parameter Pr 301 Servo input Set the Pr 301 Servo input axis type smoothing time time constant outside axis smoothing time constant and Pr 325 Synchronous constant Pr 325 Synchronous encoder axis smoothing range encoder axis smoothing time constant were set outside time constant within the range of 0 to 5000 the range of 0 to 5000 1BA5H Input axis rotation The value of Pr 304 Servo input axis rotation direction Set the Pr 304 Servo input axis rotation direction direction restriction restriction and Pr 328 Synchronous encoder axis restriction Pr 328 Synchronous encoder axis rotation setting outside range rotation direction restriction were set outside the range of direction restriction within the range of 0 to 2 0 to 2 1BA6H Input axis module The overflow of internal operation unit conversion e Reduce the unit conversion ratio of input axis unit change overflow numerator unit conversion denominator occurred conversion numerator unit conversion denominator because the unit conversion ratio of input axis is large Slow down the input axis 1BA7H Servo input axis speed
258. e over counter No Inter module synchronization function in Multiple CPU configuration Operating specifications Refer to relationship between fixed scan communication and inter module synchronization for the motion operation cycle relationship when fixed scan communication and inter module synchronization are combined 37 Page 41 Relationship between fixed scan communication and inter module synchronization The data flow when fixed scan communication and the inter module synchronization function are combined and communicating with the PLC CPU is as follows e When the Multiple CPU synchronous interrupt function and inter module synchronization function are combined PLC CPU gt Motion CPU Two inter module synchronization cycles are required for data acquired by the PLC CPU by the time it reaches the Motion CPU via the CPU buffer memory fixed scan communication area When synchronizing output between CPUs use a function block for the inter module synchronization function with a PLC CPU and program taking into account the difference in output timing two cycles between the PLC CPU control module and Motion CPU control module e When the Multiple CPU synchronous interrupt function and inter module synchronization function are combined Motion CPU gt PLC CPU One inter module synchronization cycle is required for data acquired by the Motion CPU by the time it reaches the PLC CPU via the CPU buffer memory fixed scan communic
259. e proceeding Improper operation may damage machines or cause accidents O Especially when a remote programmable controller is controlled by an external device immediate action cannot be taken if a problem occurs in the programmable controller due to a communication failure To prevent this configure an interlock circuit in the program and determine corrective actions to be taken between the external device and CPU module in case of a communication failure O Do not disassemble or modify the modules Doing so may cause failure malfunction injury or a fire Use any radio communication device such as a cellular phone or PHS Personal Handyphone System more than 25 cm away in all directions from the programmable controller Failure to do so may cause malfunction Shut off the external power supply all phases used in the system before mounting or removing the module Failure to do so may cause the module to fail or malfunction O Tighten the screws within the specified torque range Undertightening can cause drop of the component or wire short circuit or malfunction Overtightening can damage the screw and or module resulting in drop short circuit or malfunction O After the first use of the product do not mount remove the module to from the base unit and the terminal block to from the module and do not insert remove the extended SRAM cassette to from the CPU module more than 50 times IEC 61131 2 compliant respectively Exceeding the
260. e same error error code is displayed again the possible cause is a hardware failure of the CPU module or base unit Please consult your local Mitsubishi representative 2631H Multiple CPU A multiple CPU synchronization error has been detected Take measures to reduce noise synchronization signal Reset the CPU module and run it again If the same error error code is displayed again the possible cause is a hardware failure of the CPU module or base unit Please consult your local Mitsubishi representative 2800H 1 0 number or network The specified I O number in the program or parameter is Set the I O number within the valid range number specification out of range other than OOOH to FFFH 3E0H to 3E3H error 2801H 1 0 number or network The I O number of the module that does not exist was Set the input and output number exists the target module number specification specified in the program or parameter error 2803H 1 0 number or network The I O number of the module that cannot be specified in Set the input and output number of the unit that can be number specification the program or parameter was specified specified in the program or parameter error 2810H 1 0 number or network The I O module or intelligent function module specified in The possible cause is a hardware failure of the I O module number specification error the program or parameter cannot execute the instruction or intelligent function module specified in the progr
261. e that the safety standards are satisfied O Construct a safety circuit externally of the module or servo amplifier if the abnormal operation of the module or servo amplifier differs from the safety directive operation in the system O Do not remove the SSCNETIL cable while turning on the control circuit power supply of modules and servo amplifier Do not see directly the light generated from SSCNETII connector of the module or servo amplifier and the end of SSCNETIT cable When the light gets into eyes you may feel something wrong with eyes The light source of SSCNETII complies with class1 defined in JISC6802 or IEC60825 1 Design Precautions NCAUTION O Do not install the control lines or communication cables together with the main circuit lines or power cables Keep a distance of 100 mm or more between them Failure to do so may result in malfunction due to noise O During control of an inductive load such as a lamp heater or solenoid valve a large current approximately ten times greater than normal may flow when the output is turned from off to on Therefore use a module that has a sufficient current rating O After the CPU module is powered on or is reset the time taken to enter the RUN status varies depending on the system configuration parameter settings and or program size Design circuits so that the entire system will always operate safely regardless of the time O Do not power off the programmable controller or
262. e the range of the data type of D Correct the program so that the data of S is within the error The device number which indirectly specifies D is range of the data D type illegal Correct the program so that to the device number which indirectly specifies D is proper 3911H Addition execution Internal processing error occurred when addition is The Motion SFC program code is corrupted Turn error executing Rq 1120 PLC ready flag OFF and write the Motion SFC program again 3912H Subtraction execution Internal processing error occurred when subtraction is The Motion SFC program code is corrupted Turn error executing Rq 1120 PLC ready flag OFF and write the Motion SFC program again 3913H Multiplication Internal processing error occurred when multiplication The Motion SFC program code is corrupted Turn execution error is executing Rq 1120 PLC ready flag OFF and write the Motion SFC program again 3914H Division execution The divisor is 0 Correct the program so that the divisor is not 0 error 3915H Remainder The divisor is 0 Correct the program so that the divisor is not 0 execution error 3917H MVOUT execution error Internal processing error occurred when MVOUT is The Motion SFC program code is corrupted Turn executing Rq 1120 PLC ready flag OFF and write the Motion SFC program again 3918H MVOPEN execution Internal processing error occurred when MVOPEN is The Motion SFC progr
263. e time 7 8 h 4 0 032Ch 8 Alarm occurrence time 7 2 words 10 Alarm occurrence time 8 2 words Alarm history clear command 1 0 0382h Main circuit bus voltage V 1 0 040Ah Effective load ratio 1 0 040Ch Estimate inertia moment ratio x 0 1 1 0 040Eh Model loop gain rad s 1 0 040Fh LED display characters 2 0 0410h 8 Lower 2 digits 9 Higher 2 digits Optional transient command NN 4 0 im 4 Number of words for response data 8 to 11 When FR A700 series is used each data is delayed for update delay time communication cycle because of the update cycle of the inverter The update delay time for each data is shown in the table below Motor load factor 12 5ms Position feedback 222us Encoder single revolution position 222ps Absolute position encoder multiple revolution counter 222ps Load inertia moment ratio 56ms or more up to 2500ms Position loop gain 56ms or more up to 2500ms Converter output voltage 9 888ms li fetch the external input signal FLS RLS DOG via FR A700 series Setting in MT Developer2 Set Amplifier input for every axis with signal type in the external signal parameter of axis setting parameter Set as the following to Parameter settings on the inverter side Set the parameters of the inverter as follows Otherwise each signal remains OFF STF terminal function selection Pr 178
264. ean eae a Dae Gok a eae don pa ans Po deaa 173 Software security key authentication 0 0 0 eee 175 IP Tiller FUNCION ooo a a ode ame a oped ae een eae ee ey 180 6 3 Remote Operation dc lei 181 Remote RUN STOP serra ob ean a D a oe dd dan 181 6 4 Communication Function via PERIPHERAL I F o oococcoccconr eee eee 183 Direct CONNECTION decicion a bmg de bh ce cda adi 183 Connection Via HUB cora er tate a iae A a da ee a eae odas lid 186 6 5 Vision System Connection FuUNCti0N ooooocccccoccnon eee eee eens 191 Vision system parameter setting 0 0 0 ee 195 Flow of vision system control 2 0 2 eee eee eae 204 Sample Program iio Groner d hes de tae cole ated Ton ogee tad we AR ia 205 6 6 Test Mod w io A eae hee dees ee he amano ee 208 Test mode Specifications cicatrices BORE Ee ee Oa ake Pore ee E oe aes Wend oe 208 Differences between normal operation and test operation 000 cece 209 Parameters used during test mode 1 ee 209 Test mode transition cancellation 0 0 0 0 0 ete eee 210 Stop processing of axes operating in test mode 1 2 2 0 2 ett eee 210 6 7 Positioning Control Monitor Function 0 000 cece eee eee eee eee 212 SCLOlMMONITON gesaan eyed deeds a a waded sage a eae Sneed S 212 Current value history monitor 2 2 nee eee 213 Speed MONO accio ic Shs eka a end bead A erga nao ee 214 6 8 Label Access from External Devices 00 0 cece eee teen e
265. ecified the amplifier which does not support the Specify the amplifier which supports the synchronous axis setting error synchronous encoder via servo amplifier encoder via servo amplifier e Specified the axis No which is not in servo network Specify the axis No of servo network setting setting Specify the high speed counter module e Specified other than the high speed counter module Correct the Pr 320 Synchronous encoder axis type Set the Pr 320 Synchronous encoder axis type which cannot use in master CPU independent CPU 30D2H External signal The corresponding module does not exist Set the input module parameter setting error The input module is not the synchronous setting among Set the input module in the synchronous setting among the modules the modules 30D3H High speedinputrequest The corresponding module does not exist Set the input module signal parameter setting e The input module is not the synchronous setting among Set the input module in the synchronous setting among error the modules the modules 30D4H Manual pulse generator e Specified other than the high speed counter module Specify the high speed count module parameter setting error e The control CPU is not set to self CPU Set the control CPU to self CPU The counter type is not set to Ring Counter Set the counter type to Ring Counter The counter action mode is not set to Pulses counter Set the counter ac
266. ected When event loss occurs HST LOSS appears in the Event Code field of MT Developer2 Viewing the event history The Motion CPU event history can be viewed using MT Developer2 For operating procedures and how to interpret the displayed information refer to the following Help of MT Developer2 Clearing the event history The event history can be cleared using the event history window in MT Developer2 Once the event history is cleared all the event history information stored in the specified storage memory is deleted For operating procedures and other details refer to the following LO Help of MT Developer2 9 RAS FUNCTIONS 248 9 3 Event History Function APPENDICES Appendix 1 Error Codes When the Motion CPU detects an error with the self diagnostic function the error is displayed on the Motion CPU LED display and the error code is stored in the relevant device Use the relevant device in which the error code is stored in the program to enable a machine control interlock By checking the error code the error details and cause can be determined Refer to error checking methods for how to check the error details and error code Page 239 Error checking methods Error codes system Error codes for all modules are expressed with 4 hexadecimal digits integer without 16 bit sign There are errors detected with each module s self diagnostic function and common errors detected when communicating between mod
267. ection function This section explains the features of the Cognex vision system connection function Method of connection with vision system The Motion CPU and vision system are connected with the Motion CPU s PERIPHERAL IF Ethernet A dedicated communication module etc is not needed Point e The Motion CPU and vision system are connected via Ethernet The response of vision system dedicated functions may slow down if several devices MT Developer2 personal computer for In Sight Explorer or GOT etc are connected via an Ethernet HUB e When simultaneously controlling two or more vision systems the execution of commands to other vision systems may be delayed during the log on process MVOPEN with a specific vision system e When simultaneously controlling two or more vision systems if the offline online state for a specific vision system is switched from an external source the execution of commands to other vision systems may be delayed e Execution of the vision system dedicated functions may be delayed if the vision system is in the offline state e When the vision system is logged onto communication is established between the Motion CPU and vision system to check the connection state even if the vision system dedicated functions are not used The following two communication methods can be used simultaneously with Ethernet Ethernet Telnet TCP IP protocol Na Cog
268. ection via HUB when you use HUB even if the equipments to be communicated is one The load hangs to the line when Ethernet Port Direct Connection is selected with other equipment connected with HUB and it communicates and there is thing that influences the communication of other equipment Connection via HUB IP address CPU Type Title Comment 6 COMMUNICATION FUNCTIONS 6 4 Communication Function via PERIPHERAL I F Select Ethernet Board for PC side I F Select PLC Module for CPU side I F Select the Ethernet Port Direct Connection on the CPU side I F Detailed Setting of PLC Module screen Make the setting for Other Station Setting Select it according to the operating environment Precautions Precautions for direct connection are shown below Connection to LAN line When the Motion CPU is connected to LAN line do not perform communication using direct connection If performed the communication may put a load to LAN line and adversely affect communications of other devices Connection not connected directly The system configuration that connects a Motion CPU with an external device using a hub as shown below is not regarded as direct connection MT Developer2 When two or more
269. ed Check the detailed information parameter information and write the displayed parameter setting to the CPU module If the same error code is displayed again the possible cause is a hardware failure of the data memory in the CPU module the memory card or the module I O module or intelligent function module connected Please consult your local Mitsubishi representative 2221H Parameter error The set value is out of range Check the detailed information parameter information and correct the parameter setting If the same error code is displayed again the possible cause is a hardware failure of the data memory in the CPU module the memory card or the module I O module or intelligent function module connected Please consult your local Mitsubishi representative 2222H Parameter error Use of the function that is not supported by the module is enabled in parameter Check the detailed information parameter information and correct the parameter setting If the same error code is displayed again the possible cause is a hardware failure of the data memory in the CPU module the memory card or the module I O module or intelligent function module connected Please consult your local Mitsubishi representative 282 APPENDICES APPENDIX Appendix 1 Error Codes 2225H Parameter error The CPU module model set to the project using the Correct the CPU module model
270. ed 30 Executing Status in which vision system dedicated functions are being executed Other vision system dedicated functions cannot be executed in this status 40 Image data reception Status in which the vision system job executed by the vision system dedicated function has been completed completed and batch send of the image data has been completed The image data storage device value can be used by the Motion SFC 50 Value cell reception Status in which the Motion CPU has received the data acquired by the job in the vision system completed The read data storage device value can be used by the Motion SFC C 0 Not connected gt Communication discontinuity or MVCLOSE instruction f MVOPEN instruction Vision system dedicated function execution completed MVFIN MVFIN C 10 Connecting Log on completed C 20 Reception enabled Vision system dedicated function execution 30 Executing Image data storage completed instruction o Image data reception completed Read value cell read completed instruction _ E Value cell reception completed 1 MVLOAD MVTRG MVPST MVIN MVOUT MVCLOSE and MVCOM instruction 2 When the vision system job is started by the MVTRG instruction or MVPST instruction if the image data storage device or read value storage device is set the program will jump to line 40 or 50 at a normal completion If the pr
271. ed as BIN code S U Request SD211 Clock data Month The month is stored as BIN code D212 Clock data Day The day is stored as BIN code SD213 Clock data Hour The hour is stored as BIN code SD214 Clock data Minute The minute is stored as BIN code SD215 Clock data Second The second is stored as BIN code SD216 Clock data Day of week The day of the week is stored as BIN code APPENDICES APPENDIX Appendix 4 Special Registers 307 SD218 Time zone setting value Time zone in minutes The time zone setting value specified in the parameter is stored in increments of minutes Example when the setting value of the time zone is UTC 9 9 x 60 minutes 540 S Initial process SD218 540 SD228 Multiple CPU system Number of CPU modules The number of CPU modules which constitute a multiple CPU system is information stored one to four including those reserved SD229 CPU module number in The number of this CPU No is stored when a multiple CPU system is Multiple CPU system configured SD230 CPU No 1 operating status The operation information for each CPU No is stored the amount of S Main process D231 CPU No 2 operating status stored information depending on the number of CPU modules indicated Occur an error in SD228 is stored SD232 CPU No 3 operating status
272. ee eee eee eee 215 CHAPTER 7 DIGITAL OSCILLOSCOPE 217 7 1 FOIE iio iii ci A Era Era A e r esas fe 217 7 2 Function OVerview sss esseiden a a e taa ie 217 7 3 Digital Oscilloscope Specifications 0 cc ccc ee eee eee eee 218 7 4 Digital Oscilloscope Operating Procedure 0 00 c cece eee eens 219 7 5 Sampling Settings File s2icc20c6 02000555080 o chen Saas ee pee LES eee eee eee 219 7 6 Sampling FUNCtiONS 0 lt 000 ii A A eed SESS ERE e 220 Amplifier less operation function ooooococcco teeta 133 13 Sampling Start S6ttingS pr cios a ii A a Kee Rees 220 Sampling interval 02 cis cdi ir rd Pa Gua a ala A 221 Sampling targat taa Side A a EAR aa a E ia 221 Tigger Settings iiodarti ea Fah dea a eaea e Pa a a a Oped OT epee bad Sm cee 222 Saving sampling results ss dirasa ea a A Law badd beeen Mad aout ate ale 224 7 7 Digital Oscilloscope Status ooooococccnconcn eee n eee eee eens 225 7 8 Digital Oscilloscope Errors oca e bees Syed peel else ese 226 CHAPTER 8 MOTION CPU MEMORY STRUCTURE 227 8 1 Memory and Files xoxo ii A eke eae 227 Standard ROM SD memory card specifications 0ooooococcccococoncn erena 227 File handling pr cautions ess 220 cc0 bce eee cr a A ee 228 Stored fileSiiw sai ii rr it ed eines ea AE nk Bones Pa wa ia E A E Mabie a 229 8 2 SD Memory Card ccoo aoe ere dele Ree ae A ae Hee eee 231 SD memory card handling 0 0 00 c eee 231
273. eed limit value O9EDH Speed change prohibited The speed changed against the axis at the timing of the Do not change the speed at the timing of the home during home position home position return position return return O9EEH Speed change prohibited The speed is changed when the high speed oscillation Do not change the speed during the high speed during high speed starts moving oscillation oscillation O9EFH Stroke limit invalid axis Changing speed to negative speed is executed in the Do not change speed to negative speed in the invalid axis minus speed change invalid axis of stroke limit of stroke limit impossible 0A10H Command speed outside The specified command speed is outside the range of 1 Set the command speed within the range of 1 to Speed range to Speed limit value limit value The specified command speed is outside the setting range 0A39H Specify FIN acceleration Set the FIN acceleration deceleration in the status which Do not specify the mode selection device of vibration deceleration during specified mode selection device of vibration suppression suppression command filter 1 when use FIN acceleration vibration suppression command filter 1 deceleration command filter mode selecting OA3AH Vibration suppression The value of mode selection of vibration suppression Revise the mode selection value of vibration suppression command filter mode command filter 1 or 2 was set outside the range command filter ou
274. eed limit value 099BH Target position change The target position change request CHGP was executed Change the target position for the axes operated by the prohibited for the axis that executes the servo instruction which does following servo instructions not support the target position change Linear interpolation control Fixed pitch feed control Continuous trajectory control 09E1H High speed oscillation Frequency specified by high speed oscillation function x Set so that frequency specified by high speed oscillation frequency outside range override ratio exceeds 5000 CPM function x override ratio does not exceed 5000 CPM 09E2H Illegal override value The value set in override ratio setting device is outside Set the value of the override ratio within the valid range the setting range when starting The new value of the override ratio setting device is outside the setting range when controlling O9E3H Pressure control setting Necessary setting value for pressure controlling is outside Correct the setting value value outside range the range 09E4H Torque limit value over The absolute value of command torque is outside the Set the torque within the range of O to Torque limit value in 252 APPENDICES APPENDIX Appendix 1 Error Codes range of 0 to Torque limit value in speed torque control when the torque or stopper is controlling speed torque control after change A
275. eed value and other current position management cannot be guaranteed Servo program Do not set the slave axis to the start axis of the servo program When slave axis is started the position commands to the servo amplifier become invalid Advanced synchronous control The master axis can be set to the servo input axis or the output axis When the slave axis is set to the servo input axis set Pr 300 Servo input axis type to 2 Real current value or 4 Feedback value When set to anything else the slave axis does not operate as input axis Do not set the slave axis to output axis When the slave axis is set to output axis the position commands to the servo amplifier become invalid 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 4 5 4 Driver Communication Function 39 Motion dedicated PLC instruction Do not execute the following Motion dedicated PLC instructions for slave axis When executed they become invalid e M P SVST D P SVST Start request of the specified servo program e M P SVSTD D P SVSTD Direct positioning start request M P CHGV D P CHGV Speed change request of the specified axis Motion SFC program Do not execute the following instructions for slave axis When executed they become invalid e CHGV Speed change request e CHGP Target position change request Control mode of master axis The control mode of the master axis can switch between position control mode speed control
276. eee ici 129 Connect disconnect function of SSCNET communication 00 0 0 0 eee 130 Data register D indus doe eA oleae Gad Pee donee we oe AE Daa Ane and LeU A eet ee io 70 5 4 Driver Communication Function oococccconnnnnn eee eee eee 137 Control detallo eka oak Roe a bnew ad Paw Gav aa tee da aa tee od 137 Precautions during CONTO on a ce rr ace A pl ke TAREA E A a 138 SERVO Parameter iii ic ee aed etn eg ee aw hentai ds pea Nana wen lb dy ea Se 140 5 5 Connection of SSCNETIII H Head Module 2 000 cece een eee eee eee 141 System Configurations erer erine reret ran O dd ee EAL Aad eee og Be sale 141 SSCNETIII H head module parameters 0 nananana 142 Data operation of intelligent function module by Motion SFC program 0 0000 c eee eee eee 147 Data of refresh device serisi ne bk eka Ske ode eae be de ee eee Oa Sa eee ee be 147 Precautions when using SSCNETIII H head module 00 0 0 eee 147 5 6 Compatible Devices with SSCNETII H 2 2 2 0 cece eee eee eens 148 Servo driver VCII series manufactured by Nikki Denso Co Lid 0 2 2 00 00 ee 148 Inverter FR A700 series 2 159 Optical AUD URIE saou ir a nmi a oa a 168 CHAPTER 6 COMMUNICATION FUNCTIONS 172 6 1 Communication Function LiSt ooococcccccccnocn nee eee eee e eens 172 6 2 Security FUNCHION iconos ri A A oe led Eee Nene ane SAE AAA 173 File pPaSSWOrA irp eid 2 aie ect ot da a bre eee ee ek eee En Ol
277. em parameters in error assignment setting are overlapping between modules accordance with the intelligent function module or I O module actually mounted 2002H Module configuration The number of points assigned to the intelligent function Re set the number of points in the system parameters in error module in the system parameters I O assignment setting accordance with the intelligent function module actually is smaller than that of the module actually mounted mounted 2006H Module configuration A module is mounted on the 65th slot or later Remove the module mounted on the 65th slot or later error 2007H Module configuration A module is mounted on the slot whose number is later Remove the module mounted on the slot whose number is error than that specified in parameter I O assignment setting later than that specified in system parameter I O assignment setting 2008H Module configuration A module is mounted over or across the maximum number Remove the module mounted over or across the error of I O points 4096 maximum number of I O points 4096 Replace the module mounted on the last slot to the one that does not exceed the maximum number of I O points 4096 2009H Module configuration There is no response from the I O module or intelligent Check and correct the I O assignment setting in the error function module accessed system parameters The possible cause is a hardware failure of the I O module or intelligent function modul
278. em s power supply ON or reset Amplifier less operation status flag Device No Signal name Overview Set by SM508 Amplifier less operation status flag The amplifier less operation status is stored System OFF During normal operation ON During amplifier less operation 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 3 SSCNET Control Function 1 33 134 Control details Operation during amplifier less operation is shown below Item Operation Servo amplifier type All axes set in the system setting are connected with the following type regardless of the setting details of system setting For communication type SSCNETII H Servo amplifier MR J4 10B Servo motor HF KR053 For communication type SSCNETII Servo amplifier MR J3 10B e Servo motor HF KP053 Servo amplifier status Servo amplifier external signal At the setting valid Deviation counter value Always 0 Motor speed Motor speed for the command e Motor current value At the amplifier less operation start 0 The motor current value can be simulated during amplifier less operation by changing the Md 104 Motor current 8001 20n using the user program Servo ready signal This signal changes depending on the status of Rq 1123 All axes servo ON command M2042 or Rq 1155 Servo OFF command M3215 20n Torque limiting signal This signal turns ON by the following condition Motor current value gt
279. eplaced e The battery error of the servo amplifier occurs It is detected at the servo amplifier power on The machine system is disturbed by a shock The cable between servo amplifier and encoder is removed or the servo amplifier or encoder is replaced e If there is an abnormality with the counter of the absolute position encoder Monitoring the absolute position data Absolute position data can be monitored with the MT Developer2 current value history monitor 3 Page 213 Current value history monitor 4 AUXILIARY AND APPLIED FUNCTIONS 4 5 Absolute Position System 99 Erasing of absolute position data If a minor error error code 197EH occurs because of a communication error between the servo amplifier and encoder depending on the servo amplifier software version St 1069 Home position return request M2409 20n may turn ON and absolute position data is erased There is no restriction by the version MR J3 0B C3 or later St 1069 Home position return request M2409 20n OFF does not turn MR J3 OB RJ006 ON MR J3 OB Safety MR J3 O1B RJ004 C5 or later MR J3 O1B RJO8OW MR J3W OB B1 or later MR J4 OB MRJ4OBRJ COSY MR J4 O1B LL MR J4W OB Others St 1069 Home position return request M2409 20n ON turns ON absolute position data is lost Clearing absolute position data Absolute position data stored in the Motion CPU module is erased when th
280. epresentative 2443H Module major error An error has been detected in the I O module or intelligent The possible cause is a hardware failure of the error function module module Please consult your local Mitsubishi representative 2450H Module major error A major error has been notified from the intelligent Check the connection status of the extension cable function module connected Check the detailed information system configuration The I O module or intelligent function module is not information and check the module corresponding to the mounted properly or was removed during operation displayed slot number Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the error module Please consult your local Mitsubishi representative 2460H Another CPU module An error has been detected in another CPU module during Reset the CPU module and run it again If the same error major error the initial processing code is displayed again the possible cause is a hardware failure of the host CPU module or another CPU module where the error has been detected Please consult your local Mitsubishi representative 2463H Another CPU module An error has been detected in another CPU module Reset the CPU module and run it again If the same error major error code is displayed again the possible cause is a hardware failure of the host CPU module or another CPU module where the e
281. er limit value ON ON Output device OFF Lower limit value ON section setting Upper limit value Watch data value y q Watch data value lt Upper limit value Lower limit value lt Watch data value Lower limit value Upper limit value Output OFF in whole region Output device OFF in whole region ON section setting Lower limit value Upper limit value Watch data value 4 AUXILIARY AND APPLIED FUNCTIONS 4 1 Limit Switch Output Function 79 80 The limit switch outputs are controlled based on each watch data during the READY complete status SM500 ON by the Rq 1120 PLC ready flag M2000 from OFF to ON With the setting of M2000 keep the output device when turns OFF invalid when the PCPU READY complete flag SM500 turns OFF by turning the Rq 1120 PLC ready flag M2000 from ON to OFF all points turn OFF With the setting of M2000 keep the output device when turns OFF valid for output devices other than Y devices the output devices do not turn OFF even when the Rq 1120 PLC ready flag M2000 turns from ON to OFF The setting is valid for all the output devices Y devices always turn OFF when the Rq 1120 PLC ready flag M2000 turns from ON to OFF When lower limit value and upper limit value are specified with word devices the word device contents are input to the internal area when the Rq 1120 PLC ready flag M2000
282. er2 Panel computer Setting in Motion CPU side Set the items on the IP address setting as shown below XZ R Series Common Parameter gt Motion CPU Module gt Module Parameter gt IP Address Setting orocedure 1 Set the Motion CPU IP address Default IP E Module Parameter Ttem address 192 168 3 39 Change the IP address if Local Node Setting L snd eee ee Set IP address oflo al node subnet mask default gateway required No need to set Subnet Mask Pattern Subnet Mask Default Gateway and Default Router IP Address E Securit E Setting Set IP filter to identify IP address of access source and execute acces IP Filter Use or Not Not Used Disable Direct Connection to MELSOFT Set whether to disable enable direct connection with MELSOFT Disable Direct Connection to MELSOFT Enable Do Not Respond to Search for CPU Module on Network Set whether to respond to search for CPU module on network or not Do Not Respond to Search for CPU Module on Network Response Enabling the parameters of Motion CPU Using Ethernet direct connection or USB RS 232 connection write the settings in parameter to the Motion CPU by selecting Online Write to CPU in MT Developer2 After writing the parameter settings power the Multiple CPU system OFF to ON or reset using the RUN STOP RESET switch so that the parameters become valid Connect directly with an Ethernet cable between the person
283. eration of the event history for the SD memory which was removed and mounted in case that the save destination memory is the SD memory Operation Operation for the event history Removal of the SD memory card When this event occurs the event history is stored into the internal memory If the internal memory reaches the maximum number of event history records it can store all subsequent events are lost Installation of the SD memory card The event history that has been stored in the internal memory during absence of the SD memory card is stored to the SD memory card If the re inserted SD memory card contains an event history file of the same file size the CPU module continues to store the event history information If the file size is different the CPU module removes the existing event history file and creates a new event history file HTiming of parameters taking effect Any changed parameters take effect at the following times e The Multiple CPU system power supply is turned ON e The Multiple CPU system is reset Point P Any changed parameters written in the storage memory with the Motion CPU in the STOP state does not take effect when the Motion CPU operating state is changed from STOP to RUN In this case the changed parameters will take effect the next time when the Motion CPU is turned OFF and ON or reset Loss of event history information If many events are detected frequently some events may be lost without being coll
284. error 5H 3 0 Encoder related error 6H 1 4 Over speed error 7H 1 5 Overload error 8H F 0 Overload precaution 9H 1 8 AC off detection error AH 3 1 At power ON motor shaft error DH 4 0 Deviation over flow EH 4 1 Deviation error FH F 1 Deviation abnormal warning 11H 5 0 Forward over travel 12H 5 1 Reverse over travel 13H 5 2 Forward software over travel 14H 5 3 Reverse software over travel 19H E 0 Absolute encoder battery error 1AH F 4 Absolute encoder battery error warning 1BH 3 2 Serial encoder count error 1CH E 2 Absolute encoder over flow error 1DH E 3 Absolute encoder count error 1EH 3 3 Serial encoder IPU communication error 20H 2 0 Motor type none setup 21H 2 1 Motor type incompatible 22H A 1 EEPROM Nonvolatile memory writing error 23H A 2 Rated speed command Invalid 1 24H A 3 Rated speed command Invalid 2 25H 1 2 Main power supply shortage error 28H 1 6 IPM overload error 29H 1 7 Regenerative resistor overload error 2AH F 3 Zero return incomplete automatic startup warning 2BH 6 0 Address setting error 2CH 6 1 Positioning timeover 2DH 6 d Successive control command invalid 2EH E 1 Absolute encoder backup error 2FH 6 2 Positioning data over flow 30H 6 3 1 rotation data no setting 31H 1 A Servo control error 32H 6 4 Program end command non setup 33H 6 5 Sub routine call nesting over 34H 9 4 Receive error 1 35H 1 C Command frequency error 36H 9 5 Receive error 2 37H 6 9 Division invalid 38H 6 A Positio
285. ervice center dealer or branch and describe the situation S Occur an error SD520 Scan time Scan time unit ms Main cycle is stored in the unit 1 ms Setting range 0 to 65535 ms SD521 Maximum scan time Maximum scan time 1ms units The maximum value of the main cycle is stored in the unit 1 ms Setting range 0 to 65535 ms S Main processing SD522 Motion operation cycle Motion operation cycle The time required for motion operations for each motion operation cycle is stored in the us unit S Operation cycle SD523 SD524 Operation cycle of the Motion CPU setting Maximum Motion operation cycle Operation cycle of the Motion CPU setting Maximum Motion operation cycle The setting operation cycle is stored in the us unit Ifthe Default settings are specified in the Motion CPU common parameter basic settings operation cycles are stored based on the number of set axes If 0 222 ms 0 444 ms 0 888 ms 1 777 ms 3 555 ms 7 111 ms is set the operation cycle corresponding to each setting is stored If nine servo amplifiers or more are connected to 1 line on SSCNETII the 0 444 ms operation cycle is not supported Even if the operation cycle setting in the basic settings is 0 444 ms the actual set operation cycle will be 0 888 ms After turning the power ON the maximum amount of time taken for motion operations for each motion
286. ervo parameter settings are not performed in FR A700 the In position range is checked as 100 pulse fixed value 4 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 60 5 6 Compatible Devices with SSCNETIII H onitor setting Registered monitor The following table shows data types that can be set Set the data so that the total number of communication data points per axis is no more than 3 points Motor load factor 1 1 Position feedback pulse 2 0 Encoder single revolution position pulse 2 0 Encoder multiple revolution counter rev 1 1 Load inertia moment ratio x 0 1 times 1 1 Position loop gain rad s 1 1 Converter output voltage M 1 1 Cumulative current value Positioning command 2 2 0 Torque command value 19 0 1 1 0 Optional address of registered 1 1 monitor 1 The Cumulative current value Servo command value and Torque command are all command values for the servo amplifier All other data types are servo amplifier monitor values feedback 2 Position commands are in the command unit set in the servo data settings 3 The torque command value is a command value for the servo amplifier Torque command values are only valid in speed torque control torque control mode and continuous operation torque control mode The previous value will remain for the torque command value when restoring to position control from torque control etc however it is not actually
287. es For direct drive motor Nikki Denso Co Ltd make 4096 1000h VCI series Nikki Denso Co Ltd make 4 When connecting SSCNETTII H 2 When connecting SSCNETII Md 1027 Servo amplifier Vendor ID 8016 20n 8 Nikki Denso Co Ltd Operation cycle If SSCNETII is set as the SSCNET settings communication type the operation cycle of 0 222 ms cannot be used Furthermore even if the operation cycle is set to 0 222 ms in the setting for axes 1 to 4 for 1 system if the servo amplifier is mixed with the VCI series the servo amplifier operates with an operation cycle of 0 444 ms If SSCNETII H is set as the SSCNET settings communication type there are no restrictions 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 4 5 6 Compatible Devices with SSCNETIII H 55 VCIl series detection error When an error occurs on VCI series the St 1068 Servo error detection M2408 20n turns ON Eliminate the error cause reset the servo amplifier error by turning ON Rq 1148 Servo error reset command M3208 20n and perform re start However 0 is always stored in Md 107 Parameter error No 8009 20n The errors detected by VCI series are shown in the table below Refer to the instruction manual of VCI series for details of the errors HIVCII series 1H 1 0 IPM error 3H 1 3 Excessive voltage
288. ess home PC17 position reference method home position return Set Not Pass Motor Z phase After AC ON to the servo operation A the servo parameter PC17 is other than parameter PC17 Pass Z phase After AC ON When changing PC17 once the power supply of servo When using the dogless home position reference amplifier is turned OFF after changing parameter and method home position return operation B the servo then turned ON again parameter PC17 is other than Not Pass Z phase After AC ON 1979H Home position return Home position return is started with the home position Change to the home position return method which is method incorrect error return method which is not supported by the connected supported by the connected servo amplifier servo amplifier 197AH Home position return ZCT unset Perform the home position return when the St 1066 Zero zero not passed The St 1066 zero pass turned off at the re movement at pass is ON the home position return for ZCT unset proximity dog method count method limit switch combined method or start in the home position return for data set method 197BH Home position return The St 1070 Home position return complete turned on For proximity dog method dog cradle method stopper complete signal ON at the home position return of proximity dog method dog method Return to a point before the proximity dog cradle method stopper method or dogless home position signal ON by JOG operation or posit
289. et here lt Screen In Sight Explorer gt 11 Click OK button to close the FormatString dialog cognex FormatString y Use Delimiter Leading Text Standard O Other Trailing Text Terminators None Label Name Data Type Label Inputs Line_0 Floating Point Label Inputs Line_1 Floating Point Label Inputs Line_2 Floating Point Include Label Fixed Width Field Width 10 Floating Point Decimal Places sal Pad Output String Characters 26 0 000000 0 000000 0 000000 lt Screen In Sight Explorer gt 202 6 COMMUNICATION FUNCTIONS 6 5 Vision System Connection Function 12 Check the TCP IP Settings Leave the Server Host Name blank The vision system acts as the TCP IP server The port number must be the same as the port No for TCP IP communication set with the Ethernet communication line setting 357 Page 195 Ethernet Communication Line Setting 12 Communications OPC Easy View FTP Bort 30005 TCPAP Settings Server Host Name Format Output String ei TOP A rs Terminator String CR LF z Edit Device Remove Device lt Screen In Sight Explorer gt 6 COMMUNICATION FUNCTIONS 2 6 5 Vision System Connection Function 03 Flow of vision system control This section explains the basic procedures for controlling the vision system from the Motion
290. et in the refresh END setting is CPU No 1 to No 4 automatically displayed by setting devices Self CPU Refresh from the internal device of Motion CPU to CPU buffer memory Other CPU Refresh from the CPU buffer memory to internal device of Motion CPU User setting Device Set the device No of Motion CPU to execute the high Usable device The start device number must be a multiple of setting speed refreshes D W M X Y B 16 for the bit device Cannot set a device not set also in the refresh END setting No of start device number of points cannot exceed setting range of each setting No in refresh END setting Cannot overlap the device No between setting No Points Set the number of points to refresh data of each data Range 2 to 256 Sets the total of all CPUs to 256 points or lower in word unit points Refresh is not executed when not set Unit 2 points Refresh Operation cycle fixed cycle 1 Point in word unit 1 MULTIPLE CPU SYSTEM 30 1 3 Data Communication Between CPU Modules in the Multiple CPU System Point This refresh method is a setting for compatibility with the Q series Motion CPU with the purpose of making the data refresh timing equivalent to that of Multiple CPU high speed refresh of the Q series Motion CPU When configuring a new system we recommend using refresh 145 executing for communication of data that is synchronized with the control of the
291. et the interval condition for sampling with the digital oscilloscope Operation cycle Sampling is always performed in the operation cycle interval ampling rate specification 1 to 10000 Sampling target Sampling is performed in 0 222ms x sampling rate interval The probe item to be sampled with the digital oscilloscope is set in the probe settings 16 channels can be set for probe items in word data and 16 channels can be set for bit data for each sampling settings file The following data is set in the probe settings Word data Servo control data Motion dedicated device Advanced synchronous control device Optional device Selected from probe item list Word device Word data size 2 bytes with sign without sign 4 bytes with sign without sign Bit data Motion dedicated device Advanced synchronous control device Selected from probe item list Optional device Bit device 1 Refer to device list for the range of devices that can be set 37 Page 66 Device List 7 DIGITAL OSCILLOSCOPE 221 7 6 Sampling Functions Trigger settings settings Trigger conditions are set to turn ON the trigger The following items are set in the trigger condition settings Data conditions Trigger mode setting Select the conditions used to turn ON the trigger with trigger conditions set for each channel The establishment of trigger conditions se
292. etection Mode Setting 1 Motion Control Data 1 Motion Control Data 0 Feed Current Value 0 Feed Current Value Ko PLS Ko PLS Set the data storage method for mark Number of Detections Device Mark Detection Mode Setting Number of Mark Detections Counter Mark Detection Current Value Monitor Device 1 Continuous Detect 1 Continuous Detecti Mark Detection Both of motion control data and device data can be checked by the input timing of mark detection signal High speed input request signal 1 to 64 Mark detection process compensation time 5000000 to 5000000 us Word device Mark detection data Mark detection data Motion control data Word device data Axis No 1 to 32 Set data lt gt Page 92 Motion control data Device Word device Data type 16 bit integer type 32 bit integer type 64 bit floating point type Estimate calculation Ring counter value Valid Normal data Valid Ring counter Invalid 16 bit integer type K1 to K32767 H001 to H7FFF 32 bit integer type K1 to K2147483647 HO0000001 to H7FFFFFFF 64 bit floating point type K2 23E 308 to K1 79E 308 Mark detection data Mark detection data range storage device Upper value Lower value Word device Direct designation K H Word device 16 bit integer type K 32768 to K32767 H0000 to HFFFF 32 bit integer type K 2147483648 to K2147483647 HOO000000 to HEFFFFFF
293. etting Execute the operation cyde setting and forced stop input setting Operation cycle 0 222ms 0 444ms 0 888ms 1 777ms 3 555ms 7 111ms Default setting Default setting Forced stop input Instruction Not used Used Not used setting Device Bit device No setting File transmission setting during Standard ROM write permission read protection Standard ROM write booting Standard ROM write protection read protection permission read Standard ROM write protection read permission protection Standard ROM write permission read permission Boot operation file invalid e Set the of motion operation cycle cycles at which a position command is computed and sent to the servo amplifier The default value is Default Setting The operation cycle is set according to the table below based on the number of axes for servo amplifier set in the servo network setting 1 to 2 axes 0 222ms 3 to 8 axes 0 444ms 9 to 20 axes 0 888ms 21 to 32 axes 1 777ms e If the duration of motion operation has exceeded the operation cycle the St 1046 Operation cycle over flag M2054 turns ON Page 243 Processing time monitor and check The number of stations capable of connecting to the SSCNETII H 1 line is limited based on the motion operation cycle Refer to the following for details on restrictions based on the communication methods and operation cycles used LCIMELSEC iQ R Motion Controller User s Manual nput
294. eys can be registered for each program file however the same security key is used for all program files in the project Refer to following for details on operation Help of MT Developer2 O Project gt Security gt Security Key Setting Security Key Management fj Transfer Setup Select security key to use Name TE y Created Date 7 11 2014 4 17 29 PM Project cpu oy Select protect target data Security Key Set in Project Key Name Created Date Access Target a Project Motion SFC Program K Servo Program ACam Data No 0001 Register Delete Registration procedure 1 Select the security key to be registered for the program file from Name 2 Select the check box for the program file for which viewing is to be prohibited from the Project tab and then click the Register button The security key set for the program file becomes valid when the project is saved Deletion procedure 1 Select the security key same key as the security key registered for the program file to be deleted from Name 2 Select the check box for the program file for which the security key is to be deleted from the Project tab and then click the Delete button 4 78 6 COMMUNICATION FUNCTIONS 6 2 Security Function Writing deleting software security keys to and from the Motion CPU By writing a security key to the Motion CPU the execution of programs can be prohibited fo
295. f VCI series are not controlled by Motion CPU Therefore even though the parameter of VCI series is changed during the communication between Motion CPU and VCI series it does not process and is not reflected to the parameter 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 1 52 5 6 Compatible Devices with SSCNETIII H Servo parameter change function e Change function of servo parameter can be executed The following is the operation for the servo parameter change function Servo parameter write request The servo parameter of VCI series is controlled in a unit of 2 words so that it is necessary to set 3 2 words write request in Servo parameter write read request SD804 for executing the parameter write If 1 write request is executed to VCI series the parameter write fails and 1 is stored in Servo parameter write read request SD804 Servo parameter read request The servo parameter of VCI series is controlled in a unit of 2 words so that it is necessary to set 4 2 words read request in Servo parameter write read request SD804 for executing the parameter read If 2 read request is executed to VCI series the parameter read fails and 1 is stored in Servo parameter write read request SD804 When the servo parameter of VCI series is changed by the servo parameter change function the parameter value after changing the servo parameter cannot be confirmed using VCI data editing software When confirming
296. f the Motion CPU WDT error SM512 turns ON reset the Multiple CPU system If the Motion CPU WDT error SM512 turns ON even after resetting check the cause of the Motion CPU WDT error SM512 and if the cause is a Main cycle over condition take either of the following measures e Change the operation cycle to a larger value in the Motion CPU Common Parameter gt Basic Setting gt System Basic Setting gt Operation Cycle setting Reduce the number of normal task event task and NMI task command executions in the Motion SFC program 244 9 RAS FUNCTIONS 9 2 Safety Functions Devices relating to processing time The Motion CPU main cycle Motion operation cycle and Motion SFC program execution time is monitored with the following special registers Page 300 Special Registers SD520 Scan time SD521 Maximum scan time SD522 Motion operation cycle SD523 Operation cycle of the Motion CPU setting SD524 Maximum Motion operation cycle SD562 Scan time SD563 SD564 Maximum scan time SD565 SD566 Motion SFC normal task processing time SD567 SD568 Maximum Motion SFC normal task processing time SD569 SD570 Motion SFC event task 14 222ms processing time SD571 Motion SFC event task 7 111ms processing time SD572 Motion SFC event task 3 555ms processing time SD573 Motion SFC event task 1 777ms proces
297. f the Motion CPU fixed cycle processing time including output refresh processing does not end within the motion operation cycle an operation cycle over is detected Example 5 module Operating status and refresh operation The CPU module operating status when using the inter module synchronization function and the I O X Y refresh operation are shown below RUN including when continue error Refresh Motion operation cycle occurs STOP including when stop error Refresh OFF for Y 2 occurs due to moderate error Refresh is not performed at such times as when the module does not start up or refresh does not function due to a parameter error etc STOP when major error occurs Do nat refresh Test mode including when continue Refresh Motion operation cycle error occurs 1 Refresh is still performed if interrupt is prohibited with a Motion SFC DI instruction 2 The Y immediately before going into STOP status is saved and all devices are turned OFF Not all modules are turned OFF if there are modules with allocations as synchronous encoder manual pulse generator inputs odule synchronization processing time When using the inter module synchronization function with a Motion CPU I O refresh is performed when processing fixed cycles in the Motion CPU therefore processing time increases by the increased amount of motion operation time The following is a guideline for inter modu
298. f the motor travel distance when the servo amplifier control circuit power supply is OFF exceeds the permissible travel amount when power supply off a warning error code 093FH occurs Setting range 0 to 8191 60 2 COMMON PARAMETERS 2 3 Motion CPU Common Parameter Manual pulse generator connection setting This section describes the manual pulse generator connection setting items O Motion CPU Common Parameter gt Manual Pulse Generator Connection Setting Manual Pulse Generator Connection Setting Execute the connection setting of manual pulse Valid setting 0 Invalid 1 Valid O Invalid I O No H0000 to HOFFO No setting CH No 1to2 No setting Enable disable the manual pulse generator P1 to P3 0 Invalid Does not connect the manual pulse generator P1 to P3 1 Valid Connects the manual pulse generator P1 to P3 Set the start I O No for the high speed counter module used to connect the manual pulse generator Set the high speed counter module as the Motion CPU management module in the GX Works3 System Parameters gt I O Assignment Setting H0000 to HOFFO CHNo ee Set the channel number for the high speed counter module used to connect the manual pulse generator The same channel number for the same module can be set to overlap in manual pulse generator P1 to P3 1to2 Refer to the following for details on the manual pulse generator LUIM
299. file 1 file for SFC codes SFC text SFC diagrams data H oscout01 csv Digital oscilloscope sampling data file osc01 csv Digital oscilloscope settings file EZ LBLDB Database folder storage path of database for label communication 2 LDBSYS Database system folder storage path of database system setting file HE boot01 csv Boot operation file bootlog txt Boot log file bootlog bak Boot log file previous boot log EVENT LOG Event history file DEVCMNT DC2 Device comment file GL_LABEL IF2 Label structure file 1 Elapsed time seconds up to the current time using Greenwich Mean Time 00 00 January 1st 1970 as the reference hexadecimal notation 2 Created when Access from external device is set in label setting of MT Developer2 Do not change the files in the folder 3 For operating system software version 02 or earlier the file names are DEVCMNT IFG device comment file and GL_LABEL DCM label structure file 8 MOTION CPU MEMORY STRUCTURE 22 8 1 Memory and Files 9 Point If the files required by the Motion CPU do not exist in the folder a moderate error error code 2200H occurs and the Motion CPU does not RUN 230 8 MOTION CPU MEMORY STRUCTURE 8 1 Memory and Files 8 2 SD Memory Card This section describes functions using a SD memory card SD memory card
300. for the number of points for each device Refer to device setting for details on the number of devices setting Page 73 Device Setting Refer to device list for the range of devices that can be set 5 Page 66 Device List Settable devices M B F D W Latch setting Set the device M B F D W latch range Up to 32 devices can be set for the latch 1 and latch 2 latch range Refer to latch function for details on the latch range setting Page 75 Latch Function Refer to device list for the range of devices that can be set Page 66 Device List RAS setting Error detections setting e Module verify error Set whether to Detect or Not detect module comparison errors in cases such as when a different module is detected when the Multiple CPU system power supply is ON e Over execute time of Motion CPU fixed scan process e Over execute time operation cycle over Set whether to Detect or Not detect Motion CPU fixed cycle processing execution time over conditions e Over fixed scan data send section Set whether to Detect or Not detect errors if Motion CPU fixed cycle processing is not complete by the time fixed scan data communication to another CPU starts HMCPU module operation setting at error detected Instruction execution error module I O No specification incorrect Set whether to Stop or Continue Motion CPU processing if a module I O No specification incorrect error is detected
301. formation The following is an overview of the clock function Clock data settings Set the CPU No 1 clock data Refer to the following for details on the CPU No 1 clock data setting method LCIMELSEC iQ R CPU Module User s Manual Application The Motion CPU runs automatically based on the CPU No 1 clock data Clock data synchronization timing and precision When power supply in turned ON the clock is always synchronized with the clock data of CPU No 1 1ms precision However for information on errors that occurred when transmission with CPU No 1 is not established such as during initial processing the correct clock data may not be applied Clock data information The clock data transmitted by the CPU No 1 is in year 1980 to 2079 month day of the month day of the week hour minute and second 1 1000th units Clock data reading If using the clock data with the program clock data can be read with the following special relay and special registers Special relay e Clock data read request SM213 Refer to special relays for details on special relays 1 5 Page 295 Special Relays Special register e Clock data SD210 e Clock data SD211 e Clock data SD212 e Clock data SD213 e Clock data SD214 Minute e Clock data SD215 Second e Clock data SD216 Day of week Refer to special registers for details on special registers 7 Page 300 Special Registers Year Month Day Hour TT
302. g Word devices are used for the high speed input request signal compensation time Setting values are read each operation cycle Refer to device list for the range of word devices that can be set 37 Page 66 Device List HHigh speed input request signal valid flag The high speed input request signal is valid only when the flag is ON The high speed input request signal is invalid when the flag is OFF This setting can be omitted When the setting is omitted the high speed input request signal is valid at all times Bit devices are used for high speed input request signal valid flags ON OFF commands are read when high speed input request signals are detected Refer to device list for the range of bit devices that can be set 137 Page 66 Device List HHigh speed input request signal status The ON OFF status of high speed input request signal can be monitored ON OFF status can be monitored regardless of the status of the high speed input request signal valid flag This setting can be omitted Bit devices are used for high speed input request signal status The ON OFF status is output each operation cycle Refer to device list for the range of bit devices that can be set 5 Page 66 Device List Point P When signals are input in situations such as the following when the detection of high speed input request signals is unnecessary turn the high speed input request signal enable flag OFF and when detection becomes necessary turn it ON e When S
303. g counter Linear counter Counter operation mode Pulses counter mode Pulses measure mode PWM output mode Pulses counter mode Function input response time setting Response time Oms Response time 0 1ms Response time 1ms Response time 10ms Response time 0 1ms Preset input response time setting Response time Oms Response time 0 1ms Response time 1ms Response time 10ms Response time 0 1ms Error time output mode setting Clear Maintain Clear Analog input module Analog output module Input range setting Operation mode setting Output range setting 4 to 20mA 0 to 20mA 1 to 5V 0 to 5V 10V to 10V 0 to 10V 4 to 20mA Extend 1 to 5V Extend User range setting Normal mode A D conversion Offset gain setting mode 4 to 20mA 0 to 20mA 1 to 5V 0 to 5V 10V to 10V 12V to 12V 4 to 20mA Extend 1 to 5V Extend User range setting Voltage User range setting Current User range setting 3 User range setting 2 User range setting 1 2 Normal mode A D conversion 2 Operation mode setting Normal mode A D conversion Offset gain setting mode Normal mode A D conversion Analog output HOLD CLEAR setting CLEAR HOLD CLEAR Temperature input module Resistance temperature detector type setting Pt100 200 to 850 C Pt100 20 to 120 C JPt100 180 to 600 C JPt100 20 to 120 C Pt100 0 to 200 C JPt100 0 to 200 C Ni100 60 to 250 C Pt50 200 to 650 C Pt100
304. ge of 0 to 4095 Set the servo program No within the range of 0 to 4095 outside range 19FEH Command generation The operation disable instruction VPF VPR VPSTART Correct the servo program axis start error ZERO VVF VVR OSC was started in the command generation axis 19FFH Axis No setting error An unused axis is set in the servo program Set an axis No that is being used e The axis No set in servo program is outside the range Correct the axis No of servo program Or the axis No set in servo program is overlapping 1A17H_ Circular error excessive The difference between the end point address and ideal Correct the address of servo program end point is outside the allowable error range for circular interpolation 1A18H_ Software stroke limit Positioning is outside the range of stroke limit which has Execute positioning within the range of stroke limit exceeded by software upper stroke limit 1A1AH Software stroke limit Positioning is outside the range of stroke limit which has Execute positioning within the range of stroke limit exceeded by software lower stroke limit 1A23H Command speed setting The specified command speed is less than 0 Set the command speed within the range of 1 to Speed error limit value 1A27H_ Auxiliary point setting The address that does not generate an arc is set at the Correct the address of servo program error auxiliary point specified auxiliary point specified helical interpolation St
305. ges and Failure caused by force majeure such as earthquakes lightning wind and water damage 6 Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi 7 Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user Onerous repair term after discontinuation of production 1 Mitsubishi shall accept onerous product repairs for seven 7 years after production of the product is discontinued Discontinuation of production shall be notified with Mitsubishi Technical Bulletins etc 2 Product supply including repair parts is not available after production is discontinued Overseas service Overseas repairs shall be accepted by Mitsubishi s local overseas FA Center Note that the repair conditions at each FA Center may differ 4 Exclusion of loss in opportunity and secondary loss from warranty liability 5 Regardless of the gratis warranty term Mitsubishi shall not be liable for compensation of damages caused by any cause found not to be the responsibility of Mitsubishi loss in opportunity lost profits incurred to the user by Failures of Mitsubishi products special damages and secondary damages whether foreseeable or not compensation for accidents and compensation for damages to products other than Mitsubishi products replacement by the user maintenance of on site equipment start up test run and other tasks Changes in pro
306. gs to the line when Ethernet Port Direct Connection is selected with other equipment connected with HUB and it communicates and there is thing that influences Set the IP address of the Motion CPU the communication of other equipment Host Name IPaddress CPUType Title Comment a 41 b Response Wait Time 2 sec TT view or Find CPU Built in Ethernet port on Network Finds CPU Built in Ethernet port on the same network This cannot be performed when the following happens No response within a specific time period Connected via a router or subnet mask is different Do not respond to search for CPU Built in Ethernet port is checked in PLC parameter Select Ethernet Board for PC side I F Select PLC Module for CPU side I F Select the Connection via HUB on the CPU side I F Detailed Setting of PLC Module screen and set the Motion CPU IP address Make the setting for Other Station Setting Select it according to the operating environment 6 COMMUNICATION FUNCTIONS 4 6 4 Communication Function via PERIPHERAL I F 87 Point The Find CPU function can be used for specifying the IP address for Motion CPU side in the connection via HUB This function can be activated in Find CPU Built in Ethernet port on Network of CPU side I F Detailed Setting of PLC Module screen finds the Motion CPU connected to the same HUB as MT Developer2
307. gt Module Parameters gt Disable Direct Connection to MELSOFT to Disable in order to prohibit a direct connection to MELSOFT direct connections are prohibited enabling unauthorized connections to be prevented 6 COMMUNICATION FUNCTIONS 4 6 4 Communication Function via PERIPHERAL I F 83 Communication setting in MT Developer2 side Set the items on the Transfer Setup screen in MT Developer2 as shown below O Online gt Transfer Setup _ Operating procedure Transfer Setup CC IE Cont NET 10 H Board Board CCA ink Ethernet CCIEField Q R Series Board Board Bus Network No Station No Protocol TCP CCIE Cont NET 10 H Module CC ink Module Ethernet Module CC IE Field Master Local Module IP Address Host Name 0 0 0 0 3 5 No Specification Time Out Sec 45 al CCIE Cont NET 10 H CC IE Cont NET 10 H CC IE Field Ga A Other Station Other Station Single Network Co existence Network Retry Times 3 E E E Ethernet CC4ink CCIE Field Accessing Host Station Multiple CPU Setting Target j 3 3 Target PLC System a LA 3 4 PLC No 2 Select Ethernet port direct connection 184 PLC Mode RCPU Connection Channel List CPU Direct Coupled Setting Connection Test PLC Type Detail CPU side I F Detailed of PLC Modul A PLC Mode Please select Conn
308. gt RAS Setting Error Detections Setting is set to Detect Stop or Continue can be selected for Motion CPU operation processing When set to Detect a moderate error error code 2600H is output CPU Parameter beda Ex Setting a Ttem Device Points Latch Setting RAS Setting lt Detailed Setting gt E Error Detections Setting Module Verify Error Over Execute Time of Motion CPU Fixed Scan Process Over Execute Time Operation Cycle Over Over Fixed Scan Data Send Section E CPU Module Operation Setting at Error Detected Instruction Execution Error Module 1 0 No Specification Incorrect Memory Card Access Error Module Verify Error Over Execute Time of Motion CPU Fixed Scan Process Over Execute Time Operation Cycle Over Over Fixed Scan Data Send Section Synchronous Interrupt Execution Interval Error CPU Module Event History Setting Save Destination Set Save Volume of Per File 1 0 Allocation Setting CPU Module Operation Setting at Error Detected Detect Set when change the error detect setting according to self diagnostic function Detect Set error detection about execute time of motion CPU fixed scan process ea isl Not Detected Set the CPU module operation when error was detected from self diagnostic Set execution error when instruction was executed Stop Stop Stop Set CPU module operation when execute time of motion CPU fixed scan process over error
309. gt Motion CPU common parameter RE Manual pulse generator connection mpulser csv sasa P y settings file VS_SYS CSV VS_prg csv Vision system parameters files t rioref csv Head module settings file Multiple CPU refresh main cycle fastref csv Sees k y ee operation cycle settings file J motpara axpara01 csv to axpara32 csv Axis settings parameter file svpara01 csv to svpara32 csv Servo parameter file para_blk csv Parameter block file sync HI cam0001 csv to cam1024 csv Cam data file HL in_servo csv Servo input axis parameter file gt Motion control parameter in_enc csv Synchronous encoder axis parameter file in_cmgen csv Command generation axis parameter file out01 csv to out32 csv Synchronous parameter file Multiple CPU advanced synchronous control settings file cpu_sync csv runwt df_f0000 prg to df_f4095 prg Online change program file operation control program df_g0000 prg to df_g4095 prg Online change program file transition program df k0000 prg to df k4095 prg Online change program file servo program L df_sf000 prg to df sf255 prg Online change program file Motion SFC diagram H servo prg Servo program file motsfcpr bin Motion SFC parameter file motsfc prg Motion SFC program
310. h servo amplifier Not The servo amplifier is not installed installed The servo amplifier control power is OFF Unable to successfully communicate with the servo amplifier due to a connection cable abnormality The servo network settings and servo amplifier installation status are as follows 0 is stored Used axis No settings 1 is stored Not used 0 is stored O is stored optical hub unit and stores as bit data SD504 bO to b15 Optical hub unit No 1 to No 16 on the first line SD506 bO to b15 Optical hub unit No 1 to No 16 on the second line No 1 to No 16 is the connection order from the Motion CPU 1 is stored to the installation status of an optical hub unit with a servo amplifier connected e 0 is stored to the installation status when an optical hub unit is not connected after an optical hub unit that is not connected to a servo amplifier or when the optical hub unit connected after an optical hub unit is not connected to a servo amplifier either For optical hub units connected before an optical hub unit connected to a servo amplifier 1 is stored to the installation status regardless of whether there is a servo amplifier connection or not S Operation cycle SD508 SSCNET control Status Connect disconnect of SSCNET communication Start release of amplifier less operation SD508 stores the executing state for connect disconnect of SSCNET commu
311. h setting of relation setting of CPU parameter within the valid range 3A26H n F read error The indirectly specified device No an odd number is outside the range or Correct the program so that the device No which indirectly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 276 APPENDICES APPENDIX Appendix 1 Error Codes 3A40H SMn read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A41H Xn read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A42H Yn read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A43H Mn read error The directly specified device No is outside the range Correct the program so that the dev
312. han 0 was set in output axis synchronous Set the output axis to linear cam cam No 0 when in speed torque control parameter Pr 440 Cam No during speed torque control executing the speed torque control during advanced mode mode synchronous control 0C20H Synchronous control A value outside the range of 0 to 4 was set in Cd 407 Set within the range of 0 to 4 change instruction Synchronous control change instruction at control change outside range error request 0C48H Cam open area size over There is not enough free area in cam open area Delete the unnecessary cam 0C70H Cam data error Cam data is faulty Write the cam data again 0C80H Servo warning Warning occurred in servo amplifier Check and correct the error details in Md 1019 Servo amplifier display servo error code and Md 107 Parameter error No Refer to the servo amplifier technology manual for the details of servo alarm OEDOH Boot log create error Boot log file cannot be created Delete unnecessary file in standard ROM Confirm the free space QED1H Boot log copy error Failed to copy to SD memory card of boot log file Delete unnecessary file in SD memory card Confirm the free space OEFOH Add on function warning Warning has been occurred in add on function Check the detail information and refer to technology manual of add on library that supported file name 256 APPENDICES APPENDIX Appendix 1 Error Codes Minor error 1000H to
313. handling e Formatting is required for all SD memory cards used with the Motion CPU module Purchased SD memory cards will not have been formatted and should therefore be used after inserting them in the Motion CPU module and formatting with the MT Developer2 Online gt Motion CPU memory format gt SD memory card format Do not format SD memory cards at the personal computer Data contained in SD memory cards may be corrupted if the power supply is turned OFF the system is reset or the SD memory card is removed while the card is being accessed If the CARD ACCESS LED is ON always stop access to the SD memory card with the SD memory card access control switch before turning OFF the power supply resetting or removing the SD memory card Please note that batch stopping is possible for all SD memory cards being used and the use stop status can be checked with SD memory card forced disable instruction SM606 and SD memory card forced disable state flag SM607 SD memory card forced stop Even if the Motion CPU module is performing functions that use a SD memory card SD memory cards can easily be removed without turning OFF the Multiple CPU system power supply to stop use of the SD memory card SD memory card forced stop method Forced stop of SD memory cards is performed using the following procedure Operation with SD memory card access control switch 1 Press the Motion CPU module SD memory card access control switch for 1
314. he following for details of module diagnostics LAGX Works3 Operating Manual 9 RAS FUNCTIONS 9 1 Self Diagnostics Function 239 Checking by MT Developer2 Motion error history is checked at the MT Developer2 Motion CPU error batch monitor Refer to the following for details of the Motion CPU error batch monitor Help of MT Developer2 Checking by axis status signals and axis monitor devices Error details detected for each axis is stored for each axis status signal and each axis monitor device Refer to error codes stored using the Motion CPU for error details stored for each axis status signal and each axis monitor device 37 Page 250 Error codes stored using the Motion CPU Checking by event error history Check the operation and error details with the event history file saved in the Motion CPU standard ROM or SD memory card Refer to event history function for details of event history 637 Page 246 Event History Function 240 9 RAS FUNCTIONS 9 1 Self Diagnostics Function Operations at error detection If an error is detected by self diagnosis the Motion CPU operates in the following modes Modes at error detection Stop mode In this mode Motion CPU operation is stopped All programs are stopped the moment the error is detected and all external outputs are turned OFF for modules set to Stop in I O Assignment Setting gt CPU Module Operation Setting at Error Detection Page 48 CPU parameter However
315. he information category code N A Drive and file information Parameter information System configuration information SANS APPENDICES APPENDIX Appendix 4 Special Registers 305 SD113 Detailed information 2 to SD143 Detailed information 2 Detailed information 2 corresponding to the error code SDO is stored There are three types of information to be stored as shown in the following figures The type of the detailed information 2 can be obtained using SD112 the value of the Detailed information 2 information category code stored in SD112 corresponds to the following figures 2 4 5 SD113 can be used for determining whether there is detailed information stored in SD114 or after Detailed information 1 No detailed information 0 2 Drive and file information b15 210 SD113 With or without specification Drive name Drive name gt f 4st character File name 2nd character File name 3rd character Drive name first 8 characters 4th character 2 SD Memory card of Unicode 4 Standard ROM E 5th character character string 6th character 7th character SD122 8th character 4 Parameter information b15 9876543210 With or without sD113 specification E Parameter type sD114 same rene a L Parameter storage SD115 1 0 No 10h target SD116 Parameter No 1 ns ces a
316. he parameters By specifying the IP address of external devices to be allowed or blocked in the parameters access from external devices is restricted If used in an environment in which a LAN connection is established use of this function is recommended Refer to the following for details on IP filters LUIMELSEC iQ R Ethernet User s Manual Application IP filter settings IP filter settings are read to MT Developer2 when diverting parameters set at GX Works3 Module Parameter gt Application Setting gt Security Point If a proxy server exists on the LAN network block the proxy server IP address If allowed it will no longer be possible to prevent access from personal computers capable of accessing the proxy server 4 80 6 COMMUNICATION FUNCTIONS 6 2 Security Function 6 3 Remote Operation Remote operation is used to control operation of Motion CPU from external sources MT Developer2 RUN contacts etc Remote operations for which Motion CPU operations are controlled are as follows e Remote RUN STOP Relationship between Motion CPU status and remote operation The status after the execution of remote operations based on the Motion CPU status is as follows RUN RUN status STOP status STOP STOP status STOP status Remote RUN STOP The Motion CPU RUN STOP status can be changed from an external source with RUN STOP switch of Motion CPU module set to RUN Remote RUN STOP operations Remote
317. he standard ROM Standard ROM write protection read permission Standard ROM write permission read protection Moving or copying to the standard ROM is protected for files saved outside of the standard ROM Moving or copying out of the standard ROM is permitted for files saved in the standard ROM Moving or copying to the standard ROM is permitted for files saved outside of the standard ROM Moving or copying out of the standard ROM is permitted for files saved in the standard ROM Boot operation file invalid File transmission at boot function cannot be used Poi P The file transmission at boot settings at the time of when Multiple CPU system power supply is turned ON are stored in Boot file transfer information SD509 Refer to special registers for details on special registers Page 300 Special Registers 2 COMMON PARAMETERS 2 3 Motion CPU Common Parameter 55 Servo network setting The following explains each item to be set in servo network setting XZ Motion CPU Common Parameter gt Servo network setting E SSCNET Setting SSCNET III LINE 1 SSCNET III H J4 J4 J4 if rk K Page 57 SSCNET setting SSCNET setting C Page 58 Amplifier setting Amplifier setting 56 2 COMMON PARAMETERS 2 3 Motion CPU Common Parameter O Motion CPU Common Parameter gt Servo network setting gt SSCNET Setting r Communication Type es ee
318. he system parameters for each CPU in the Multiple CPU system must be matched There is no need to set system parameters because the parameters set in the GX Works3 Module Configuration or System Parameter are read by MT Developer2 However the Refresh END setting Refresh 145 executing setting and Q compatibility high speed refresh setting in the communication setting between CPU can be set based on the Motion CPU settings O R Series Common Parameter gt System Parameter gt Multiple CPU Setting gt Communication Setting between CPU System Parameter Diversion Ttem E Communication Setting between CPU PLC Unit Data Fixed Scan Communication Function E Fixed Scan Communication Area Setting Total K word PLCNo 1 Start XY U3EO PLCNo 2 Start XY U3E1 PLC No 3 Start XY U3E2 PLCNo 4 Start XY U3E3 Refresh END Setting Refresh 145 executing Setting E Fixed Scan Communication Setting 0 05ms Unit Setting Fixed Scan Interval Setting Not Set by 0 05ms Unit Fixed Scan Interval Setting Set by 0 05ms Unit E Operation Mode Setting E Stop Setting E Fixed Scan Interval Setting of Fixed Scan Communication Fixed Scan Communication Function and Inter module Synchronization Function Set the data send and receive within the CPU module lt Detaled Setting gt lt Detalled Setting gt Set operation of each PLC Set the data send and receive within the CPU
319. he user whose access level is Full access or Protect in the user list setting of In Sight Explorer Also for Protect Online Offline switching available needs to be valid 38ECH Vision system number The Ethernet communication line setting corresponding to Correct the program to use the vision system number error the specified vision system number is not set which has the Ethernet communication line setting 38EDH Double start error The vision system dedicated function is already being Correct the program to execute the following vision system executed for the same vision system dedicated function after confirming the status storage device of the vision system not in In execution 38EEH Vision program load Trigger is issued before the vision program is loaded Correct the program to issue a trigger after confirming the incomplete error status storage device of the vision program has become qu 38EFH Native mode command Send command string specified length in S2 of the Correct the program so that the send command string send error MVCOM instruction is outside the range of 1 to 191 bytes length specified by S2 is 1 to 191 bytes 38FOH Native command receive The data length received by the MVCOM instruction Do not use the native mode command where the data error exceeds 256 bytes Or the storage device space specified length of the result exceeds 256 bytes in D is insufficient When the data length of the result is within
320. her than ASCII characters are used in the file names in the SD memory card a moderate error error code 3070H occurs 4 4 0 4 AUXILIARY AND APPLIED FUNCTIONS 4 8 File Transmission at Boot Function File transmission at boot procedure The procedure for performing a file transmission at boot from the SD memory card to the standard ROM is shown below Create boot operation file Using a personal computer create the boot operation file boot01 csv and write the boot operation file boot01 csv to the SMMTPRJ folder in the SD memory card Set parameters of the Motion CPU Set the file transmission at boot parameters in Motion CPU Common Parameter gt Basic Setting gt File Transmission Setting during Booting 5 Page 54 Basic setting Write the parameters to the Motion CPU and turn Multiple CPU system power supply OFF to ON or reset Point P The status of file transmission at boot can be checked with Boot file transfer information SD509 Write data to SD memory card Install the SD memory card to the Motion CPU and write the files to be used in file transmission at boot to the SD memory card using MT Developer2 Execute file transmission at boot Execute the boot operation file boot01 csv in the SD memory card by turning Multiple CPU system power supply ON to OFF or reset The processing details of the file transmission at boot are stored in the standard ROM and SD memory card as a boot log file boo
321. history Detail 3 4 Alarm history Detail 5 6 Alarm history Detail Occurrence time Alarm occurrence time 1 2 Alarm occurrence time 3 4 Alarm occurrence time 5 6 e Alarm history clear command Home position command unit Main circuit bus voltage Regenerative load ratio Effective load ratio Peak load ratio Estimate inertia moment ratio Model loop gain LED display Load side encoder information 1 Load side encoder information 2 Speed feedback Servo motor thermistor temperature Optional transient command Absolute position detection system Unusable Usable Home position return method Proximity dog type 1 2 Count type 1 to 3 Data set type 1 Dog cradle type Limit switch combined type Scale home position signal detection type Proximity dog type 1 2 Count type 1 to 3 Data set type 1 2 Dog cradle type Stopper type 1 2 Limit switch combined type Scale home position signal detection type Dogless home position signal reference type Speed torque control Position control mode Speed control mode Torque control mode Position control mode Speed control mode Torque control mode Continuous operation to torque control mode Gain changing command Valid Valid PI PID switching command Valid Valid 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 163 5 6 Compatible Devices with SSCNETIII H
322. ible X Not possible Limit switch combined type Scale home position signal detection type Proximity dog type Proximity dog type 1 O Proximity dog type 2 O Count type Count type 1 O Count type 2 O Count type 3 O Data set type Data set type 1 O Data set type 2 x Dog cradle type O Stopper type Stopper type 1 x Stopper type 2 x O O O Dogless home position signal reference type 4 Minor error error code 1979H occurs and home position return is not performed 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 4 4 5 6 Compatible Devices with SSCNETIII H 5 Dogless home position signal reference type When performing dogless home position signal reference type in VCI series the home position home position return operation and home position return data home position return retry function dwell time at the home position return retry is the following Also set the VCI series parameter Select function for SSCNETID on communicate mode P612 Condition selection of home position set as follows VCI Linear Absolute position type Position where Operation C Invalid series stage address of absolute linear encoder becomes 0 Incremental type Reference mark Operation A Valid 0 Direct Absolute position type Home position signal Operation A Valid Invalid 0 1 drive zero point Operation B motor Incremental type Operation A Valid 0 1 Refer to
323. ication with MT Developer2 is disconnected CPU stop error Rapid stop Deceleration stop Reset of multiple CPU system 9 Motion CPU WDT error 5 Multiple CPU system power supply OFF 45 Motion CPU forced stop Servo amplifier forced stop 0 Servo amplifier control circuit power supply OFF 98 Immediate stop 1 During home position return stop processing is not performed for axes where the stop factor has not occurred 2 When software stroke limit is set to Disabled a check of the stroke limit range is not performed 3 When hardware stroke limit is set to Disabled a check of the stroke limit range is not performed 4 Test mode is cancelled when a stop factor occurs 5 The servo motor is stopped by dynamic brake 6 A deceleration stop is performed on axes where the stop factor does not occur 6 COMMUNICATION FUNCTIONS 6 6 Test Mode Point P When axes in test mode operation are servo OFF St 1075 Servo ready M2415 20n OFF by the operation axis servo OFF in the test screen or when a servo error occurs the Ready ON b0 of Md 108 Servo status 1 8010 20n turns ON and Servo ON b1 turns OFF 6 COMMUNICATION FUNCTIONS 6 6 Test Mode 21 1 6 7 Scroll monitor The scroll monitor is a function used to monitor up to 256 items of positioning start history such as servo programs JOG start and Motion dedicated PLC instructions This function applies to all control for which
324. ice Set this to store the vision system tag or numeric data of spreadsheet in the Motion CPU device This does not need to be set if the numeric data does not need to be referred to Point P e The vision system image data can be stored in the image data storage device by setting the format output string setting of TCP IP protocol When the data stored in the set tag or spreadsheet cell is not an integer value the value after truncation of decimal point is stored in the read value storage device If a spreadsheet cell is designated when using the vision system In Sight EZ series an error will occur when the job is executed The tag or spreadsheet cell is set in the Read Value Cell Setting with tag Write the symbolic tag name in the original state Example Tag Job Pass_count gt Set Job Pass_count Setting with cell Write the spreadsheet row A to Z and line 0 to 399 Example Cell A5 gt Set A5 The device storing the value set in the tag or spreadsheet cell is set in the read value storage word device Refer to device list for the range of word devices that can be set lt 3 Page 66 Device List Point Set the device No as an even number The cell or tag value is stored as a 32 bit integer value in two successive points of the set device 6 COMMUNICATION FUNCTIONS 4 6 5 Vision System Connection Function 99 Mimage Data Storage Device Set the word device for storing the image data obtained whe
325. ice No is outside the range Correct the program so that the device No which indirectly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A22H W n L read error The indirectly specified device No an odd number is outside the range or Correct the program so that the device No which indirectly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A23H W n F read error The indirectly specified device No an odd number is outside the range or Correct the program so that the device No which indirectly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A24H n read error The indirectly specified device No is outside the range Correct the program so that the device No which indirectly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A25H n L read error The indirectly specified device No an odd number is outside the range or Correct the program so that the device No which indirectly specifies is proper Set the device range according to the device number latc
326. ice No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A44H Bn read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A45H Fn read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A46H SDn m read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A47H Dn m read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A48H Wn m read error The directly specified device No is outside the range Correct the program so that the de
327. iers connected after the axis specified for SSCNET communication disconnect processing are also disconnected Confirm the LED display of the servo amplifier for AA after completion of SSCNET communication disconnect processing And then turn OFF the servo amplifier s power supply The SSCNET control status SD508 only changes into the execute waiting status 1 even if the disconnect command of SSCNET communication 1 to 32 or connect command of SSCNET communication 10 is set in SSCNET control command SD803 The actual processing is not executed Set the execute command 2 in SSCNET control command SD803 to execute e When the disconnect command of SSCNET communication 1 to 32 is set to axis not disconnect the SSCNET control status SD508 returns the command accept waiting status 0 without entering the execute waiting status 1 e Operation failure may occur in some axes if the servo amplifiers power supply is turned OFF without using the disconnect function Be sure to turn OFF the servo amplifier s power supply by the disconnect function e When the connect disconnect command is executed to the axis allocated to B axis and C axis of MR J4W OB or B axis of MR J3W DB it can be disconnected however it cannot be reconnected Execute the connect disconnect command to the A axis Only the release command of amplifier less operation can be accepted during amplifier less operation The connect disconnect command can
328. ified Specification of files by file type Motion control parameter sync Cam data file cam csv All cam data files cam0001 csv to cam1024 csv are specified by writing cam csv When cam data files are specified individually they are not processed When cam files are specified the cam data of the specified folder is read at the Multiple CPU system power supply turning ON Cannot be specified Motion control parameter Servo parameter file svpara01 csv to svpara32 csv Online change program file df_f0000 prg to df_f4095 prg df_g0000 prg to df_g4095 prg df_k0000 prg to df_k4095 prg df_sf000 prg to df_sf255 prg Digital oscilloscope sampling data file csv MDigital oscilloscope settings file osc01 csv Device comment file DEVCMNT DC2 When control data is specified it is not processed 4 AUXILIARY AND APPLIED FUNCTIONS 4 8 File Transmission at Boot Function 109 Description example e Write all of the data in the 5MMTPRJS folder of the standard ROM to the SD memory card from sdc copy e Overwrite the standard ROM with the data in the MMTPRJ motpara folder of the SD memory card motpara sdc rom move e Delete all of the cam data files cam0001 csv to cam1024 csv in the sync folder of the SD memory card sync cam csv sdc delete e Read the data of 5MMTPRJS motpara axpara01 csv on the SD memory card and startup the system I
329. ifier power OFF In initial processing when the servo amplifier power is ON Servo amplifier unimplemented e Servo error occurred Cable faulty Rq 1155 Servo OFF command is ON 1902H Servo ready OFF Servo amplifier power is OFF when controlling Servo not Turn on the power supply of the servo amplifier Or mounted status detection cable fault etc check the connect cable to the servo amplifier Execute gain adjustment 1904H Hardware stroke limit At a forward direction address increasing direction start Perform the home position return after moving to the the external signal FLS upper limit switch signal is OFF proximity dog ON by the JOG operation etc 1905H Hardware stroke limit At a forward direction address increasing direction Perform the home position return after moving to the control the external signal FLS upper limit switch signal proximity dog ON by the JOG operation etc is OFF 1906H Hardware stroke limit At a reverse direction Address decreasing direction start Perform the home position return after moving to the the RLS external signal Lower limit switch is OFF proximity dog ON by the JOG operation etc 1907H Hardware stroke limit At a reverse direction Address decreasing direction Perform the home position return after moving to the controlling the RLS external signal Lower limit switch is proximity dog ON by the JOG operation etc OFF 1908H Stop signal ON Rq 1140 Stop comm
330. ignal parameters Refer to following for details on external signal parameters LUIMELSEC Q R Motion Controller Programming Manual Positioning Control 4 AUXILIARY AND APPLIED FUNCTIONS 4 2 External Input Signal 85 High speed Input Request Signal Set the allocation of high speed input request signals The high speed input request signals are used for mark detection and to control clutch ON OFF operations synchronous control or the counter enable counter disable current value change operation of the synchronous encoder axis with high accuracy An example of current value change of the synchronous encoder axis using input module X0005 as the high speed input request signal is shown below Md 320 Synchronous encoder axis current value D13240 20n D13241 20n High speed input request signal 3 X0005 High speed input request signal valid flag High speed input request signal status Cd 320 Synchronous encoder axis control start condition D14822 10n 103 High speed input request signal 3 Cd 321 Synchronous encoder axis control method D14823 10n 0 Current value change 1 Set the high speed input request signal detection direction to Rising request signal setting This section describes the high speed input request signal setting items Up to 64 signals can be registered O Motion CPU Common Parameter gt High speed Input Request Signal 1 Bit Device High speed Input Req
331. ignals DI1 to DI3 of the servo amplifier are used for high speed input request signals Servo amplifier 1 to 32 1 to 16 DI1 to DI3 HHigh speed input request signal detection direction Set whether to perform the high speed input request signal detection operation in the input signal rising OFF to ON falling ON to OFF or both directions OFF to ON ON to OFF Rising Performs high speed input request detection with the input signal OFF to ON Falling Performs high speed input request detection with the input signal ON to OFF Both directions Performs high speed input request detection with the input signal OFF to ON or ON to OFF HHigh speed input request signal precision Set the precision of high speed input request signals General Bit device None 22211 Amplifier input D11 to DI3 None Operation cycle 1 777 ms or less Operation cycle Operation cycle 3 555 ms or more 3555 3 High precision Bit device Enable the inter module synchronization function 2 Set the input response time 4 When using an actual device with the inter module synchronization setting the inter module synchronization cycle is used 2 When not set a moderate error error code 30D3H occurs 3 Detection precision of the high precision setting of the bit device 0 10 4 9 7 0 20 9 9 12 0 40 19 8 22 0 60 25 0 27 1 00 39 5 41 5 00 158 160 10 00 316 318 20 00 630 632 70 00
332. ii A ee Output synchronization target y Output module Inter module Input synchronization target Output module Not inter module Hold Output synchronization target Clear i Output is resumed in accordance with the i transition to the RUN status Please note that if system parameters related to the inter module synchronization function are rewritten during STOP analysis is not performed at STOP to RUN and therefore the module operates based on parameters before rewriting The changed parameters will be valid the next time the Multiple CPU system power supply is turned ON or when reset 1 MULTIPLE CPU SYSTEM 1 3 Data Communication Between CPU Modules in the Multiple CPU System 39 40 Error detection The following error statuses are monitored at the Motion CPU MExecution time monitoring of the Motion CPU fixed cycle processing Regardless of whether the inter module synchronization function is used the Motion CPU fixed cycle processing inter module synchronization I O refresh Motion SFC fixed cycle event task motion operation processing etc execution time is monitored When Motion CPU fixed cycle processing is not completed within the motion operation cycle the number of times that a Motion CPU fixed cycle processing cycle error occurs is stored in Motion CPU operation cycle over counter No SD480 When Over Execute Time Operation Cycle Over in CPU Parameter
333. ile SYSTEM PRM CPU parameter file CPU PRM Module parameter file UNIT PRM Basic settings file mot_sys csv Motion CPU common parameter sys Servo network settings file motnet01 csv motnet02 csv High speed input request signal settings file fsinput csv Mark detection setting file markdt csv Limit switch output settings file limitout csv Manual pulse generator connection settings file mpulser csv e Vision system parameters files vs_sys csv vs_prg csv Head module settings file rioref csv Multiple CPU refresh main cycle operation cycle settings file fastref csv Motion control parameter motpara Axis settings parameter file axpara01 csv to axpara32 csv Parameter block file para_blk csv Servo input axis parameter file in_servo csv Synchronous encoder axis parameter file in_enc csv Command generation axis parameter file in_cmgen csv Synchronous parameter file out01 csv to out32 csv Multiple CPU advanced synchronous control settings file cpu_sync csv MServo program file prog servo prg MMotion SFC parameter file prog motsfcpr bin Motion SFC program file prog motsfc prg MLabel structure file GL_LABEL IF2 e Wildcard specification is possible Folder specification is possible Files in the folder are searched for and the folder of each file is set When there is cam data the folder is switched in the same way as when cam csv is spec
334. in this manual can cause the servo amplifier to perform an unpredictable operation Storage device No Specifies the word device for storing registered monitor data or transient send and receive data 5 Page 66 Device List e The updating cycle of registered monitor data is every operation cycle Set an even numbered device No when the data type of registered monitor data is two word data or transient send and receive data 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 4 2 5 2 Optional Data Monitor Function 5 Example of using transient commands The following explains the operating procedure for setting the transient command data types Friction estimation data Vibration estimation data and Optional transient command Friction estimation data vibration estimation data Setting Friction estimation data and Vibration estimation data to the optional monitor data settings does not enable the correct values to be stored With the procedure below perform machine diagnosis and store the values Operating procedure 1 in optional data monitor settings set the transient command data type machine diagnostic status friction estimation data and vibration estimation data 2 Operate the servo motor for approximately 20 minutes in the operation pattern of servo parameter Machine diagnosis function Friction judgement speed PF31 until the diagnosis function is complete 3 Check that the fo
335. ing including the ON CPU No 2 resetting case where the CPU module is removed from the base The other CPUs are also put in reset status SM242 No 3 CPU resetting OFF CPU No 3 reset Goes OFF when reset of the No 3 CPU module is cancelled cancel Comes ON when the No 3 CPU module is resetting including the ON CPU No 3 resetting case where the CPU module is removed from the base The other CPUs are also put in reset status SM243 No 4 CPU resetting OFF CPU No 4 reset Goes OFF when reset of the No 4 CPU module is cancelled cancel Comes ON when the No 4 CPU module is resetting including the ON CPU No 4 resetting case where the CPU module is removed from the base The other CPUs are also put in reset status SM360 Over heat warning OFF Normal Turn ON when the temperature of Motion CPU module becomes S Occur an latch ON Abnormal specified value or more Remains ON even if normal status is restored error SM361 Over heat warning OFF Normal Turn ON when the temperature of Motion CPU module becomes ON Abnormal specified value or more Turn OFF when the temperature of Motion CPU module returns to normal SM400 Always ON ON Normally is ON S Main OFF processing SM401 Always OFF ON Normally is OFF OFF APPENDICES APPENDIX Appendix 3 Special Relays 296 SM480 Motion CPU operation cycle over OFF No motion operation cycle over occurrence Normal Turn ON when the motion operation pro
336. ing an axis of servo amplifier selected as 101 Synchronous encoder via servo amplifier by Pr 320 Synchronous encoder axis type 4 20 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 2 Optional Data Monitor Function Registered monitor O Settable x Unsettable Effective load ratio 1 1 O O Regenerative load ratio 1 1 O O Peak load ratio 1 1 O O Position feedback pulse 2 0 O O Encoder position within one revolution pulse 2 0 O O Encoder multiple revolution counter rev 1 0 O O Load inertia moment ratio x0 1 1 1 O O Load mass ratio Linear servo motor use Model loop gain rad s 1 1 O O Main circuit bus voltage V 1 1 O O Cumulative current value Position command 2 0 O O Servo motor speed r min 1 1 O O Servo motor speed mm s Linear servo motor use Selected droop pulse pulse 2 2 O O Module power consumption W 1 1 x O Module power consumption 2 words W 2 2 x O Module integral power consumption Wh 2 2 x O Instantaneous torque 0 1 1 1 x O Instantaneous thrust Linear servo motor use Load side encoder information 1 pulse 2 2 O O Fully closed control or Load side encoder information 2 2 2 O g synchronous encoder via servo amplifier use Z phase counter pulse 2 2 x O Linear servo motor use Servo motor thermistor temperature C 1 1 O O Disturbance torque
337. ing from SD memory card to standard ROM No such combination Security key set Security key is written Matched Transmission permitted Not matched Transmission not permitted Security key is not written Transmission not permitted 1 A moderate error error code 3072H occurs Boot file transmission from standard ROM to SD memory card No such combination Security key set Security key is written Matched Transmission not permitted Not matched Transmission not permitted Security key is not written Transmission not permitted 1 A moderate error error code 3072H occurs 4 AUXILIARY AND APPLIED FUNCTIONS 4 4 4 8 File Transmission at Boot Function 3 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 1 Servo Parameter Management Transmission of servo parameters The Motion CPU stores servo parameters as a file extracts them to the internal servo parameter open area backup memory and then communicates with the servo amplifier The servo parameter storage area and transfer timing is shown below Motion CPU MR Configurator2 MT Developer2 i Making changes Built Write Read at the servo in backup memory amplfiier SOT P Motion monitor Write Read Servo amplifier Performing initial Servo parameter open area e communication y Device operation A Servo parameter write read request SD552 SD804 t
338. ion Rq 1120 PLC ready flag OFF and write the Motion SFC program again 33FAH GSUB setting error 1 The self program was called started by GSUB GSUB cannot call its own program Correct the Motion SFC program 33FBH GSUB setting error 2 The main program was called started by GSUB GSUB cannot call its main program Correct the Motion SFC program 33FCH Parallel branching Nesting of parallel branching exceeded 4 levels in the The maximum nesting of parallel branching is 4 levels nesting over parallel branching route Check the program to subroutine the branch destination processing 33FDH Execution task error An attempt was made to execute a motion control step K Motion control steps cannot be executed in the Motion with an event or NMI task SFC programs executed by the event and NMI tasks 33FEH Simultaneously active The number of simultaneously active steps exceeded 256 The maximum number of simultaneously active step count step count over when executing is 256 Correct the motion SFC program 38E0H Argument range error Any of the value specified in the instruction is outside Check the parameter value and correct the program so the range that the device No is within the range e For the value specified in the instruction and indirect Correct the program so that the device No which setting device No is outside the range or the device No indirectly specifies is proper of 32 bit type and 64 bit type is odd 38E1H Double ope
339. ion cycle even ifthe operation cycle setting is the Default setting e The following operations are performed if an operation cycle over condition is detected St 1046 Operation cycle over flag M2054 turns ON e Latching updating stopped of the time within each operation cycle for processing time monitor devices is performed If an operation cycle over condition is detected monitor the special register which stores the processing time and take the following measures to ensure that the time taken for the Motion operation does not exceed the set operation cycle Change the operation cycle to a larger value in Motion CPU Common Parameter gt Basic Setting gt System Basic Setting gt Operation Cycle setting Reduce the number of event task and NMI task command executions in the Motion SFC program Use the following procedure to turn the St 1046 Operation cycle over flag M2054 OFF Turn the Multiple CPU system power supply from ON to OFF e Reset the Multiple CPU system Perform a reset with the user program Point Command updating to the servo amplifier stops for cycles for which an operation cycle over condition occurs leading to abnormal machine noises and vibrations and impact Watchdog timer WDT If the Scan time SD520 exceeds 1 0 s the Motion CPU WDT error SM512 turns ON and axes that have started are stopped immediately without reducing speed I
340. ion required to cancel error System common errors Positioning synchronous control output axis errors warnings Self diagnostic error information SDO to SD7 SD10 to SD25 Diagnosis error detection SMO SM1 Warning detection SM4 Error information 1 SD80 to SD111 Error information 2 SD112 to SD143 Detailed information 1 flag in use SM80 Detailed information 2 flag in use SM112 e Warning code e Error code e Error detection signal Servo alarms warnings 1 Servo error code Servo error detection signal h Synchronous control input axis errors warnings 1 Command generation axis warning code Command generation axis error code Command generation axis error detection signal Synchronous encoder axis warning No Synchronous encoder axis error No Synchronous encoder axis error detection No 1 Clears errors for all axes at the same time After cancelling errors error related special relays special registers and the LED display return to the condition prior to the error If the same error occurs again after cancelling the error the error is registered again in the error history Operation when errors cancelled for each axis If an axis error reset or servo error reset is performed the error detection signal for each axis axis error No and axis warning No are reset however diagnostic errors are not reset 9 RAS FUNCTIONS 9 1 Self Diagnostics Function
341. ioning operation signal reference method etc and perform the home position return For dogless home position signal reference method Return to a point before the proximity dog signal ON by JOG operation or positioning operation etc and perform the home position return 197CH Allaxes rapid stop during During a home position return all axes rapid stop In case of proximity dog method return to a point before home position return operation was performed in the test mode of MT the proximity dog signal ON using JOG operation or Developer2 positioning operation and perform the home position return again In case of proximity dog is off in count method return to a point before the proximity dog signal ON using JOG operation or positioning operation and perform the home position return again 197DH External DOG signal ON The external dog proximity dog signal is ON when the Perform the home position return after moving to the during home position home position return starting proximity dog ON by the JOG operation etc return 197EH An encoder initial A communication error between the servo amplifier and Check the motor and encoder cables communication error at encoder occurred at the turning on servo amplifier power Execute a home position return at home position return turning ON servo supply requirement ON amplifier power supply 1980H JOG speed outside The set JOG speed is 0 Set within the range of 1 to JOG speed limit value
342. istered 9 RAS FUNCTIONS 9 3 Event History Function 247 E Timing of file creation Event history files are created at the following times e The Multiple CPU system power supply is turned OFF and ON if there is no event history file or after the event history settings are changea e The Multiple CPU system is reset if there is no event history file or after the event history settings are changed e Initialization of the SD memory card when no event history file exists e Write of parameters when no event history file exists or after an event history setting is changed 1 When a parameter is stored in the standard ROM the event history file is created on the SD memory card according to the event history setting Point P When a new event history file is created that operation is logged into the event file as an event The following table shows how the event history is treated depending on operation Operation Operation for the event history Memory initialization When this event occurs the event history is stored into the internal memory If the internal memory reaches the maximum number of event history records it can store all subsequent events are lost Event history creation The event history which has been stored in the internal memory during absence of the event history file is stored into the standard ROM or the SD memory card If any event was lost it is logged as HST LOSS Indicates the op
343. ite of standard ROM operations up to now standard ROM up to now stored as a 32 bit BIN value However write operations the number of write operations is not equal to the index value SD635 e When the index value exceeds 100000 an error is generated the index value is continued to be counted even when it exceeds 100000 If the index value exceeds 100000 the CPU module must be replaced SD700 Device assignment Number of points assigned Stores the number of points for device used in the Motion CPU S Initial SD701 for processing SD718 888us free running 888us free running timer Current value SD718 SD719 is incremented by 1 every 888s S Every 8881s timer Read SD718 device in 2 word unit Data size 2 word 2147483648 to 2147483647 SD719 Latch Cleared to zero at power supply on or reset counting is continued thereafter Usable tasks Normal event NMI Access Read enabled only Timer specifications 888us timer SD720 444us free running 444us free running timer Current value SD720 SD721 is incremented by 1 per 444us S Every 444us timer Read SD720 device in 2 word unit Data size 2 word 2147483648 to 2147483647 D721 Latch Cleared to zero at power supply on or reset counting is continued thereafter Useable tasks Normal event NMI Access Read enabled only Timer spesifications 444us timer 314 APPENDICES APPENDIX Appendix 4 Special Registers
344. iver communication is set in a servo parameter a minor error error code 1C93H will occur when the power supply of the Multiple CPU system is turned ON Monitor devices 8000 to 8639 This register stores the servo amplifier types and servo amplifier vendor ID below when using FR A700 series Md 1014 Servo amplifier type 8000 20n 16640 4100H FR A700 series Inverter 16641 4101H FR A700 NA series Inverter 16642 4102H FR A700 EC series Inverter 16643 4103H FR A700 CHT series Inverter e Md 1027 Servo amplifier Vendor ID 8016 20n Mitsubishi Electric Corporation Operation cycle If SSCNETII is set as the SSCNET settings communication type the operation cycle of 0 222 ms cannot be used Furthermore even if the operation cycle is set to 0 222 ms in the setting for axes 1 to 4 for 1 system if the servo amplifier is mixed with the FR A700 series the servo amplifier operates with an operation cycle of 0 444 ms 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 4 5 6 Compatible Devices with SSCNETIII H 65 FR A700 series detection error When an error occurs on FR A700 series the St 1068 Servo error detection M2408 20n turns ON Eliminate the error cause reset the servo amplifier error by turning ON Rq 1148 Servo error reset command M3208 20n and perform re start However 0 is always stored in Md 107 Parameter error No 8009 20n and Absolute position lost b14 of Md 108
345. ked at the digital oscilloscope monitor tal oscilloscope monitor data MBit device Sampling settings RUN status Turns ON when sampling is started Turns OFF when saving of the sampling results is complete OFF STOP ON RUN When sampling status changes main cycle SM760 Sampling settings trigger status Turns ON when trigger conditions are established Remains ON even when sampling is complete and turns OFF when starting sampling OFF before trigger ON after trigger When trigger ON sampling cycle SM761 Sampling settings saving Turns ON while saving data in the buffer data to the storage target when performing sampling OFF Not while saving ON While saving When file save status changes main cycle SM762 HWord device Sampling settings storage The storage target for the sampling settings file being 0 No sampling When starting SD760 target sampled is stored 1 Standard ROM sampling main 2 SD memory card cycle Sample settings results save The sampling results save destination for the data being 0 No sampling SD761 target sampled is stored 1 Standard ROM 2 SD memory card Sampling settings The sampling type being sampled is stored 0 No sampling SD762 sampling type 1 Trigger sampling Sampling settings The latest sampling results file information system time tj Latest saved file When outputting SD764 sampling results is stored informati
346. ks3 Module Configuration and System Parameter With Motion CPUs parameters set at GX Works3 are read by MT Developer2 and therefore the system configuration and common parameters are not set at MT Developer2 If setting the system configuration and common parameters always do so with GX Works3 Furthermore module parameters for modules set in the system configuration are set at GX Works3 however module parameters for modules for which a Motion CPU has been set as the control CPU cannot be set at GX Works3 Settings for modules controlled by Motion CPUs are specified at the MT Developer2 Module Configuration List Point P For modules used with High precision high speed input request signals set the Synchronization Setting within the Modules to Use in GX Works3 and set the fixed scan interval setting to 0 444ms or greater Please note that Synchronization Setting within the Modules can be used for modules with 32 or less input output points System configuration setting method HEGX Works3 settings Set the following parameters at GX Works3 e Module configuration e System parameter l O assignment setting Multiple CPU setting Synchronization setting Set the Motion CPU as the module control CPU in Control PLC Settings in I O Assignment Setting EMT Developer2 settings e Read the parameters set at GX Works3 using MT Developer2 System Parameter Diversion e Press the Detailed button at R Series Comm
347. l hub unit loading information line 2 compatible optical hub unit loading information line 2 optical hub unit connected after an optical hub unit is not connected to a servo amplifier either For optical hub units connected before an optical hub unit connected to a servo amplifier 1 is stored to the installation status regardless of whether there is a servo amplifier connection or not Driver communication function Driver communication function is only supported between servo amplifiers on the same route starting from the Motion CPU until the last module Driver communication is not performed between servo amplifiers on different sub routes or between a servo amplifier connected on the main route after an optical hub unit and a servo amplifier on a sub route connected to an optical hub unit When an axis set for driver communication is in a position where driver communication cannot be performed or when the connection of an axis set for driver communication is not confirmed all servo amplifiers including those that are on axes not set to driver communication cannot communicate with the Motion CPU Routes where driver communication function is possible are shown below O Driver communication X No driver communication Route Supported Within the main route O Within the same sub route O Between different sub routes x Between main route and sub route O Between slaves on first op
348. l expression is set to the program Gn Be sure to set the conditional expression in the last block expression unset specified in the transition of transition program 31F5H Fn FSn program code Internal code error for the operation control program Fn The Motion SFC program code is corrupted Turn Error FSn Rq 1120 PLC ready flag OFF and write the Motion SFC program again 31F6H Gn program code error Internal code error in the transition program Gn The Motion SFC program code is corrupted Turn Rq 1120 PLC ready flag OFF and write the Motion SFC program again 31F7H WAITON WAITOFF The device number of the device set in WAITON Correct the program so that the device number is within setting device WAITOFF transition is outside the range the range 31F8H Repeat control limit The repeated control instructions FOR exceed the Review the program so that the repeated control count over repeated control limit count set in the parameter and are instruction FOR does not exceed the repeated control repeatedly executed in one operation control program or limit count transition program 31F9H Program control An operation error indirectly specified device read error Correct the program so that the device No which execution error assignment execution error occurred when the block is indirectly specifies is proper executed to the program control instruction IF CASE Correct the program so that the substitute S data is FOR NEXT withi
349. lag SM505 is OFF Set the A000h for the File transmission request SD820 Ensure that the File transfer status SD554 is 1 Awaiting execution Set the FFFEh Execution commana for the File transmission request SD820 Ensure that the File transfer status SD554 is 2 Executing Ensure that the Cam data writing flag SM505 is ON Performing file transfer Ensure that the File transfer status SD554 is 0 Awaiting request acceptance Ensure that the Cam data writing flag SM505 is OFF File transfer complete 4 AUXILIARY AND APPLIED FUNCTIONS 4 7 File Transfer Function 4 8 File Transmission at Boot Function By using the file transmission at boot function operations such as the following can be performed when Multiple CPU system power supply is turned ON or reset Copy the parameters and programs on the standard ROM to the SD memory card Copy the parameters and programs on the SD memory card to the standard ROM and startup Motion CPU Set the operation of the file transmission at boot function in Motion CPU Common Parameter gt Basic Setting gt File Transmission Setting during Booting When the Multiple CPU system power supply is turned ON file transmission at boot is executed as per the File Transmission Setting during Booting ACAUTION Depending on the contents of the boot operation file Motion CPU control can be changed just by installing the SD memory card To avoid u
350. larm history 5 9 Alarm detail 5 10 Alarm history 6 11 Alarm detail 6 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 1 54 5 6 Compatible Devices with SSCNETIII H Alarm history Detail Occurrence time h 4 0 0328h 8 Alarm history number N 1 9 Alarm history number N 1 detail 10 Alarm history number N 1 occurrence time 2 words Alarm history clear command 1 0 0382h Regenerative load ratio 1 0 040Bh Effective load ratio 1 0 040Ch Peak load ratio 1 0 040Dh Model loop gain rad s 1 0 040Fh LED display characters 2 0 0410h 8 Lower 2 digits 9 Higher 2 digits Optional transient command 4 0 1 Number of words for response data 8 to 11 Gain changing command PI PID switching command control loop changing command Gain changing command and PI PID switching command are available Control loop changing command becomes invalid Driver communication The driver communication is not supported If the driver communication is set in a servo parameter a minor error error code 1C93H will occur when the power of Multiple CPU system is turned ON EMV onitor devices 8000 to 8639 This register stores the servo amplifier types and servo amplifier vendor ID below when using VCI series Md 1014 Servo amplifier type 8000 20n 258 0102h VCI series For linear stage Nikki Denso Co Ltd make 263 0107h VCI seri
351. le time setting value 1s has been connected Home position return Home position return requestis ON Home position request OFF to ON return information Disconnect normal SSCNETII H communication has SSCNETII H Communication connection with been disconnected by connection communication status SSCNETIL H function or re connection after information disconnecting function Warning Link down The Motion CPU has been entered Operation Communication into the link down state as a result initiator speed and of operation such as disconnection information communication of the network cable from an mode external device Socket Sending a message over socket communications send error Alive check error communication failed Alive check of the target device could not be completed within the period specified by the response monitoring timer value Divided message reception timeout error All the data could not be received within the period specified by the response monitoring timer value Data as long as the data length could not be received e The remaining part of the message divided at the TCP IP level could not be received within the period specified by the response monitoring timer value 292 APPENDICES APPENDIX Appendix 2 Event List 0908 System Warning IP composition timeout An IP composition ti
352. le cause is a hardware failure of the CPU module Please consult your local Mitsubishi representative 3C32H Memory error An error has been detected in the memory Take measures to reduce noise Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the CPU module Please consult your local Mitsubishi representative 290 APPENDICES APPENDIX Appendix 1 Error Codes Appendix 2 Event List Information such as errors detected by the Motion CPU and operations done for the module are saved as event history in A the standard ROM of the Motion CPU or the SD memory card Refer to event history function for details of the event history function lt Page 246 Event History Function When an event occurs its event code and description can be read using MT Developer2 Guide for reference of event list The event list contains the following information Event code The ID number of each event Event type The type of each event Event category The category of each event Detected event The description of each detected event Detailed information 1 to 3 Details of each detected event ormation The contents of detailed information 1 to 3 Detailed information 1 Operation initiator information The following information on the operation initiator Connection port connection information such as
353. le password is set 3 Page 112 File password File password setting File password registration change authentication and deletion are performed in MT Developer2 Refer to the following for details of the operation procedures Help of MT Developer2 O Project gt Security gt File Password Setting Register change authenticate or delete the password to data in motion CPU Different password can be set to files owed the same filename in other drives 174 Password Target Data Target Memory Standard ROM Data Name Motion SFC Parameter Ek Motion SFC Program Data Type Motion SFC Parameter Motion SFC Program Read Authenticated ES Authenticated Write 8 Servo Program Servo Program amp Registered p System Parameter R Series Common Para amp Registered amp Registered JP CPU Parameter R Series Common Para f Authenticated Ef Authenticat El Module Parameter R Series Common Para amp Registered amp Registered fil Axis 1 Servo Parameter Servo Parameter amp Registered M Axis 2 Servo Parameter Servo Parameter 22 command Generatinn Avis Pa ISunchranaus Cantral P LA Renicterad amp Registered Register Change e Store passwords carefully If a user has forgotten a registration password initialize the memory where the password is registered stan
354. le synchronization function processing time Inter module synchronization function processing time 5 us 0 7 us x Number of input points 143 us x Number of output points i 1 Total number of I O points words for modules that are part of inter module synchronization and controlled by the Motion CPU If an operation cycle over condition occurs review the module subject to synchronization and the inter module synchronization cycle settings If not using the inter module synchronization function by accessing actual I O X Y at the Motion SFC fixed cycle event task bus access occurs for each instruction causing a drop in performance If using the inter module synchronization function an overhead occurs for the amount of processing time mentioned above and actual I O X Y are collectively refreshed which can reduce motion operation time 1 MULTIPLE CPU SYSTEM 1 3 Data Communication Between CPU Modules in the Multiple CPU System Special relay special register The special relays and special register relating to the inter module synchronization function are shown below Refer to the following for details on special relays and special registers e Special relay Page 295 Special Relays e Special register Page 300 Special Registers Device Number Name Special relay SM480 Motion CPU operation cycle over SM488 Module synchronization error detection Special register SD480 Motion CPU operation cycl
355. less 3 DEVICES 3 7 Device Setting 3 8 Latch Function The content of each Motion CPU device is cleared in the following cases and is returned to the respective default value bit devices OFF word devices 0 e Multiple CPU system power supply OFF to ON e Multiple CPU system reset e Power failure longer than permissible momentary power failure time The content of each device for which the latch setting has been specified is retained in the event of a power failure even in the above cases Consequently when managing data when performing consecutive control all data is retained allowing control to be continued even if the Multiple CPU system power supply turns OFF to ON or if a power failure longer than permissible momentary power failure time occurs Devices for which latch is possible Devices for which a latch is possible are as follows e Internal relays M e Link relays B e Annunciators F Data registers D e Link registers W e Motion registers Operation when latches used Operation in the program is the same regardless of whether a latch has been set Latch range setting Set the latch range for each device with the device points latch setting Multiple latch ranges can be set for each device type A combined total of 32 latch ranges can be set for latch 1 and latch 2 However the latch range must be set so that the latch 1 and latch 2 ranges do not overlap Latch range setting
356. less operation 5 Check that ON During amplifier less operation is set in SSCNET control status SD508 Resume operation of servo amplifier after checking the St 1075 Servo ready M2415 20n ON Start command of amplifier less Execute command r Execute command clear SSCNET control command SD803 9 20 G X 0 Start completion of amplifier less operation SSCNET control status SD508 Command accept Start execute wating of Start processing execution of Command accept waiting amplifier less operation amplifier less operation waiting gt 4 ON Amplifier less operation A status SM508 OFF During amplifier less During normal operation operation pe Procedure to release 1 Set 25 Release command of amplifier less operation in SSCNET control command SD803 2 Check that 1 Execute waiting is set in SSCNET status SD508 Release processing execute waiting of amplifier less operation Sad Set 2 Execute command in SSCNET control command SD803 A Check that 0 Command accept waiting is set in SSCNET status SD508 5 Check that OFF During normal operation is set in SSCNET status SD508 Release processing completion of amplifier less operation When the servo amplifiers are connected they are automatically reconnected Release command of amplifier less Execute command EEE command clear SSCNET control command SD8
357. less operation The absolute position is restored by the refreshed absolute position data and the actual motor position during amplifier less operation Operation using MR Configurator2 Online operation and monitor of the servo amplifiers cannot be executed Optional data monitor Only the following data types are possible The other monitor values are 0 MRegistered monitor Position feedback Absolute position encoder single revolution position MTransient command Home position command unit LED display Driver communication Cannot change to amplifier less operation when connected and not connected servo amplifier axes are mixed Change to amplifier less operation when all axes are connected or disconnect all axes of the servo amplifier SSCNETII H head module The module is disconnected during amplifier less operation 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 3 SSCNET Control Function Procedure to start release of amplifier less operation Procedure to start 1 Set 20 Start command of amplifier less operation in SSCNET control command SD803 2 Check that 1 Execute waiting is set in SSCNET control status SD508 Start processing execute waiting of amplifier less operation 3 Set 2 Execute command in SSCNET control command SD803 4 Check that 0 Command accept waiting is set in SSCNET control status SD508 Start processing completion of amplifier
358. lifier set as master axis receives command positioning command speed command torque command from the Motion CPU and sends the control data to the servo amplifier set as slave axis by driver communication between servo amplifiers The servo amplifier set as the slave axis is controlled by the control data transmitted from the master axis by driver communication between servo amplifiers Motion CPU module o o o Cc G E iy iy iy N N N iy iy N N 5 5 q NE Master axis Position command speed command or torque command is received Servo amplifier from Motion CPU MR J3 O1B MR J4 OB Slave axis Control data is received from Master axis by driver communication Master axis Slave axis 1 Slave axis 2 Slave axis 3 Driver communication Control data 1 Control data 2 Control data 3 Driver communication Driver communication Control data 2 Control data 3 Control data 3 gt oke toi Eo uan Positioning command speed command torque command ko oke Toa E fo Ko y OA ko Y ojlo E Eo Ko
359. ller and the watchdog counter of the servo amplifier was detected 1C83H Unsupported operation Set the setting value of operation cycle which does not Please set the supported operation cycle and switch on cycle support the amplifier the power supply again or reset the multiple CPU system 1C90H Number of master axis The number of master axis is exceeding the possible Check the Communication setting among drivers PD15 error setting number in the Communication setting among of servo parameters and set the master axis less than 4 drivers PD15 of servo parameters axes in SSCNETTI line less than 8 axes in SCNET II H line 1C91H Master axis No error The self axis is set in Master axis No selection 1 PD20 Check Master axis No selection 1 PD20 at at communication slave setting among drivers and PD21 communication slave setting among drivers and PD21 to to PD23 of servo parameters PD23 of servo parameter in slave axis 1C92H Master axis specification Master axis which supports the slave axis has not been Check Master axis No selection 1 PD20 at error set communication slave setting among drivers and PD21 to PD23 of servo parameter in slave axis 1C93H Communication among For the axes set in the master slave a servo amplifierthat Check the master slave setting and the connected servo drivers setting error is not compatible with the driver communication has been amplifier connected 1C95H Communication Set the maste
360. lt in electric shock Wiring Precautions CAUTION Individually ground the FG and LG terminals of the programmable controller with a ground resistance of 100 ohm or less Failure to do so may result in electric shock or malfunction Use applicable solderless terminals and tighten them within the specified torque range If any spade solderless terminal is used it may be disconnected when the terminal screw comes loose resulting in failure Check the rated voltage and signal layout before wiring to the module and connect the cables correctly Connecting a power supply with a different voltage rating or incorrect wiring may cause fire or failure Connectors for external devices or coaxial cables must be crimped or pressed with the tool specified by the manufacturer or must be correctly soldered Incomplete connections may cause short circuit fire or malfunction Securely connect the connector to the module Poor contact may cause malfunction Do not install the control lines or communication cables together with the main circuit lines or power cables Keep a distance of 100 mm or more between them Failure to do so may result in malfunction due to noise Place the cables in a duct or clamp them If not dangling cable may swing or inadvertently be pulled resulting in damage to the module or cables or malfunction due to poor contact Do not clamp the extension cables with the jacket stripped Check the interface type and correctly
361. lt your local Mitsubishi representative 2242H Parameter error The intelligent function module has detected a module Check the detailed information system configuration module parameter error information and check the module corresponding to the displayed I O number If the same error code is displayed again the possible cause is a hardware failure of the data memory in the CPU module or the intelligent function module connected Please consult your local Mitsubishi representative 2280H Parameter error refresh The refresh setting is not set correctly Check the detailed information parameter information and correct the parameter setting corresponding to the displayed number so that the data are refreshed within the specified device range 2281H Parameter error refresh A device that cannot be used as a refresh device is Check the detailed information parameter information specified and correct the parameter setting corresponding to the displayed number 2282H Parameter error refresh The number of specified refresh points is invalid Check the detailed information parameter information and correct the parameter setting corresponding to the displayed number 22E0H Parameter verification In the multiple CPU system the system parameter Check the detailed information parameter information error settings of the host CPU module differ from those of and correct the system parameter settings other CPU modules corresponding to
362. ltiple CPU system power supply is turned OFF or the system is reset Furthermore changes can be updated to the servo parameter file with a File transmission request SD820 The relevant axis bit turns OFF when the file update is complete b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 bi bO SD556 Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 SD557 Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis 32 31 30 28 28 27 26 25 24 23 22 21 20 19 18 17 Devices used Explicit synchronization of servo parameters between areas can be performed with a special register The special registers used and update target areas are shown below e Servo Parameter Read Change Function Page 116 Servo Parameter Read Change Function e File Transfer Function Page 103 File Transfer Function Update source O Update target Special register Update target Servo parameter file Servo parameter open area Servo amplifier Device Servo parameter write O O e request SD804 Servo parameter read e O request SD804 File transmission request O e SD820 write File transmission request Oo O SD820 read 5 FUNCTIONS USED WITH SSCNET COMMUNICATION
363. ly specifies D is proper 392EH FOR assign execution Internal processing error occurred when FOR The Motion SFC program code is corrupted Turn error assignment is executing Rq 1120 PLC ready flag OFF and write the Motion SFC program again 3930H Bit opposite Internal processing error occurred when bit which is in a The Motion SFC program code is corrupted Turn complemented value is flipped to its opposite setting complemented is Rq 1120 PLC ready flag OFF and write the Motion SFC execution error executing program again 3931H Bit AND execution error Internal processing error occurred when bit AND is The Motion SFC program code is corrupted Turn executing Rq 1120 PLC ready flag OFF and write the Motion SFC program again 3932H Bit OR execution error Internal processing error occurred when bit OR is The Motion SFC program code is corrupted Turn executing Rq 1120 PLC ready flag OFF and write the Motion SFC program again 3933H Bit XOR execution error Internal processing error occurred when bit XOR is The Motion SFC program code is corrupted Turn executing Rq 1120 PLC ready flag OFF and write the Motion SFC program again 3934H Bit right shifted Internal processing error occurred when bit right shifted is The Motion SFC program code is corrupted Turn execution error executing Rq 1120 PLC ready flag OFF and write the Motion SFC program again 3935H Bit left shifted execution Internal processing error occurred
364. m Motion CPU 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 Write Set when there is writing from a user Request Set only when there is a user request Special relay etc Operation cycle Set during each operation cycle of the Motion CPU APPENDICES APPENDIX 300 Appendix 4 Special Registers information category information category code SDO Latest selfdiagnostics Latest self diagnostic error Error codes for errors found by diagnosis are stored as hexadecimal error code code notation data After confirming the error details clear SDO to SD26 by Error reset SM50 OFF to ON except for the stop error SD1 Clock time for latest Clock time for latest self The year four digits that SDO data was updated is stored as BIN code SD2 self diagnostic error diagnostic error occurrence The month that SDO data was updated is stored as BIN code occurrence SD3 The day that SDO data was updated is stored as BIN code SD4 The hour that SDO data was updated is stored as BIN code SD5 The minute that SDO data was updated is stored as BIN code SD6 The second that SDO data was updated is stored as BIN code
365. m again 3982H Less than lt execution Internal processing error occurred when less than lt is The Motion SFC program code is corrupted Turn error executing Rq 1120 PLC ready flag OFF and write the Motion SFC program again 3983H Below lt execution Internal processing error occurred when following lt is The Motion SFC program code is corrupted Turn error executing Rq 1120 PLC ready flag OFF and write the Motion SFC program again 3984H Above gt execution Internal processing error when exceeding gt is executing The Motion SFC program code is corrupted Turn error Rq 1120 PLC ready flag OFF and write the Motion SFC program again 274 APPENDICES APPENDIX Appendix 1 Error Codes 3985H Above gt execution error Internal processing error occurred when lt over is executing The Motion SFC program code is corrupted Turn Rq 1120 PLC ready flag OFF and write the Motion SFC program again 3A00H SDn read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A01H SDnL read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is pr
366. mal e Turn ON if the I O module status differs from that registered when the error ON Error power was turned ON e Remains ON even if the condition is restored to normal thereafter SM80 Detailed information OFF Not used Turns ON if there is any detailed information when Latest self S status 1 Flag in use ON Used diagnostics error SMO turns ON change SM112 Detailed information 2 Flag in use SM203 STOP contact OFF Other than STOP Turns ON when the status is STOP status ON STOP status APPENDICES APPENDIX Appendix 3 Special Relays 295 SM213 Clock data read OFF Non processing When this relay is ON clock data is read to SD210 to SD216 as BCD U request ON Read request values SM220 CPU No 1 READY OFF CPU No 1 READY Turn ON when access to No 1 PLC module is enabled from other CPU S Change complete incompletion modules when the Multiple system power supply is turned ON or reset status ON CPU No 1 READY completion M221 CPU No 2 READY OFF CPU No 2 READY Turn ON when access to No 2 PLC module is enabled from other CPU complete incompletion modules when the Multiple system power supply is turned ON or reset ON CPU No 2 READY completion SM222 CPU No 3 READY OFF CPU No 3 READY Turn ON when access to No 3 PLC module is enabled from other CPU complete incompletion modules when the Multiple system power supply is turned ON or reset ON CPU No 3 READY completion M223
367. me Deceleration time setting value time setting 0A55H Speed torque control Any of the devices set in the speed torque control Correct the speed torque control operation data device operation data incorrect operation data is outside the range Use the servo amplifier corresponding to the POL reflect setting In the axes which the torque initial value selection is setting during the torque control and set the POL reflect feedback torque when switching the control mode the setting as 1 Invalid at the torque control Or set the servo parameter POL reflect setting during the PC29 command torque in the torque initial value selection torque control is 0 Valid when switching the control mode 0A56H Speed limit value outside The value set in speed limit value in speed torque control Set the speed limit value within the range range during speed is outside the range when switching the control mode torque control 0A57H Torque limit value The value set in torque limit value in speed torque control The torque limit value is set to 1 to 10000 x0 1 outside range during speed torque control is outside the range when switching the control mode 254 APPENDICES APPENDIX Appendix 1 Error Codes 0A58H Fixed position stop acceleration deceleration time incorrect During the fixed position stop speed control the fixed position acceleration deceleration time is outside the range of 1 to 8388608 ms at the fixed p
368. me position signal reference method If home position return is performed again after home position return completion a minor error error code 197BH occurs and home position reutrn is not performed Home position return can be performed again after home position return completion Current value change Current value change is executed based on the set values in the servo program Current value change is executed based on the set values in current value change on the test screen Positioning operation Positioning operation is executed based on the set values in the servo program Positioning operation is executed based on the set values in positioning operation on the test screen Parameters used during test mode During test mode multi axis test operation is performed using the parameters set in the test screen of MT Developer2 Parameter settings The parameters set for performing JOG operation and positioning operation are shown below Parameter JOG operation Positioning control Basic setting JOG operation Acceleration time constant Deceleration time constant Rapid stop deceleration time constant Application setting S curve ratio Torque limit value Basic setting Stroke limit valid invalid setting Command speed Travel value Acceleration time constant Deceleration time constant Rapid stop deceleration time constant Ap
369. meout error Operation error occurred the remaining part of the initiator divided data could not be received information to cause the time out 0909 TCP specified port A port number being used for number error opened connection was set for TCP IP 090A UDP specified port A port number being used for number error opened connection was set for UDP IP OFFD Over Heat Warning The temperature of Motion CPU module became abnormal status OFFE Disconnected during Ethernet has been disconnected Operation Ethernet initiator communication information OFFF Disconnected SSCNETII H communication has SSCNETII H SSCNETII H been disconnected communication communication information 1000 Error The error details when a self diagnostic error occurs are stored as an event 10100 Security Information Security key A security key was registered or Operation Security key registration deletion deleted initiator operation information information 10200 Remote password lock The lock processing for the remote Remote password was performed password 10201 Remote password The unlock processing for the information information unlock remote password was performed successful and completed successfully 10202 Remote password The lock processing for the remote unlock failed password was performed and was not completed successfully 10300 Access from address Access from an IP address for Disconnected IP prohibited by IP filter which ac
370. mmand generation axis parameter Command generation axis parameter Synchronous encoder axis parameter Synchronous encoder axis parameter Servo input axis parameter Servo input axis parameter Axis 1 to axis 32 Synchronous control parameters up to 32 axes Cam data Cam data Cam data up to 1 024 data items Label structured data types Label structured data types settings Label structured data types settings Excluding label allocation information Device comment Device comment Device comment 6 COMMUNICATION FUNCTIONS 4 6 2 Security Function 73 Operations requiring password authentication with file password Operations requiring password authentication for data for which a file password has been registered are as follows Reading to Motion CPU Read protect password Writing to Motion CPU Write protect password Online change Write protect password Verification with Motion CPU Read protect password File password setting registration change authentication deletion Read protect password write protect password Motion CPU data deletion Write protect password Motion CPU memory formatting initialization i File transmission at boot Read protect password write protect password 1 Password authentication is not required for Motion CPU memory formatting initialization 2 Refer to file password for operation when fi
371. mode and torque control mode For the master axis when a switch to continuous operation to torque control mode is executed there is a warning error code 09E8H and the control mode does not switch Control mode of slave axis Because the slave axis is always controlled by torque mode the control mode b2 b3 of Md 108 Servo status1 8010 20n is in torque control mode 0 1 e Do not operate slave axis by speed torque control For the slave axis when a control mode switch is executed or is operated by speed torque control the speed torque control commands become invalid Servo parameter Set the following parameters for the axes that execute the master slave operation Refer to the following for details LAServo amplifier Instruction Manual No Item Setting details Setting range MR J3 0B MR J4 0B PA04 Function selection A 1 Set the forced stop input and forced stop 0000h to 2100h 0000h to 2100h deceleration function Set 0 Forced stop deceleration function disabled for forced stop deceleration function selection PD15 Driver communication setting Set the master axis and slave axis 0000h to 0011h 0000h to 0011h PD16 Driver communication setting Set the transmitted data at master axis setting 0000h to FFFFh 0000h to FFFFh Master transmit data selection 1 PD17 Driver communication setting 0000h to FFFFh 0000h to FFFFh Master transmit data selection 2 PD20 Driver
372. module O When using the programmable controller in an environment of frequent vibrations fix the module with a screw O Tighten the screws within the specified torque range Undertightening can cause drop of the screw short circuit or malfunction Overtightening can damage the screw and or module resulting in drop short circuit or malfunction O When using an extension cable connect it to the extension cable connector of the base unit securely Check the connection for looseness Poor contact may cause incorrect input or output O When using an SD memory card fully insert it into the memory card slot Check that it is inserted completely Poor contact may cause malfunction O Securely insert an extended SRAM cassette into the cassette connector of a CPU module After insertion close the cassette cover and check that the cassette is inserted completely Poor contact may cause malfunction Do not directly touch any conductive parts and electronic components of the module SD memory card extended SRAM cassette or connector Doing so may cause malfunction or failure of the module Wiring Precautions A WARNING O Shut off the external power supply all phases used in the system before installation and wiring Failure to do so may result in electric shock or damage to the product O After installation and wiring attach the included terminal cover to the module before turning it on for operation Failure to do so may resu
373. mory range D2 is within the buffer memory range Correct the program so that start device number S e Start device number S which stores the writing data which stores the writing data number of words n to number of words n to be written is outside the device be written is within the device range range When S is specified a bit device specify a multiple of e S is a bit device and its device number is not a multiple 16 for the device number of 16 Correct the program so that the S and D1 are The combination of S and D1 is not correct combined properly 397BH FROM execution error The number of words n to be read is outside the range Correct the program so that number of words n to be Unable to communicate with the target module when read is within the range executing the instruction or errors are detected Replace if there is an error in the target module The address specified in S2 is outside the buffer Correct the program so that the address specified in memory range S2 is within the buffer memory range Start device number D which stores the reading data Correct the program so that start device number D number of words n to be read is outside the device which stores the reading data number of words n to range be read is within the device range e D is a bit device and its device number is not a multiple When D is specified a bit device specify a multiple of
374. motpara axpara01 csv sdc pathset Precautions When a Motion SFC program file or servo program file is specified depending on whether an online change program file exists or not the program may not operate as intended Therefore before performing file transmission at boot we recommend deleting the prog folder of the destination using file delete delete then transmitting the entire prog folder E Moving the data of the prog folder on the SD memory card to the standard ROM lprog rom delete prog sdc rom move When an online change is performed on a Motion SFC program or servo program file the change is not reflected on the program on the SD memory card e When copy or move from the SD memory card to the standard ROM is specified by the boot operation file the file saved on destination Motion CPU is overwritten Even if the parameter files are stored in the SD memory card when the control data is not specified by the boot operation file operation is conducted according to the parameter file settings in the Motion CPU e Make the module Motion CPU model of the program written to the SD memory card program set by the boot operation file settings and the Motion CPU model of the destination the same When characters other than ASCII characters are used in the file name a moderate error error code 3070H occurs e When a wildcard specification is used in the file name and characters ot
375. n analysing inter module synchronization function related settings system parameters CPU parameters module parameters written to the Motion CPU when turning the Multiple CPU system power supply ON or when cancelling a reset the inter module synchronization function does not operate and a stop error occurs When this happens I O refresh is not performed Operation at STOP RUN gt STOP e Normal stop I O refresh continues even during a STOP condition With a normal stop operation such as STOP Motion CPU output is turned OFF and a stop command is issued to each module Refer to the User s Manual for each module for details on operation when the module stops normally If performing key operation RUN to STOP is recognized As the module is in the STOP condition the inter module when CPU module END processing is performed synchronization interrupt program does not run RUN to STOP Inter module synchronization Inter module synchronization cycle cycle M Inter module synchronization cycle gt lt gt i Scan i Scan i i i gt Normal control program Normal control Synchronous program interrupt prgrm END CPU module END The execution of all programs including inter module i synchronous interrupt programs is stopped with the i STOP operation i Outut module i Hold A Inter module synchronization target Output Clear g i il 1 j Output module Not inter module s
376. n between Multiple CPU 10 2 0 00 eee 1 3 Data Communication Between CPU Modules in the Multiple CPU System USO MEMO said doko Wathen tthe etched bog sa deen ea tanned a Sar bash See raps latin diga gh A Data communication by refreshing at Motion CPUs 0 0 0 00 eee eee eee Fixed scan data transmission section over check 00 00 00 cee ee Inter module synchronization function 0 000 00 ett Relationship between fixed scan communication and inter module synchronization Control instruction from PLC CPU to Motion CPU 0 00 eee eee CHAPTER 2 COMMON PARAMETERS 2 1 Parameters Used by the Motion CPU o ooocococccococ eee eens 2 2 R Series Common Parameter 0 00 e eee ee eee eee System parameter ss isipua ou di d ai eed bee eee a ed a ale on cele CPU paramotor rio o Aired A A Ai ged EAEE oa ia Module ParaMeter lt coup rar ia a a E nae A Pe a hes 2 3 Motion CPU Common Parameter ooccoccccccnnn eee eee eee BASIC SOWING daria ina dea dis dee Sateen Soro NetWork Setting i seess irana srne kinnin mi a desde aj a Daas Manual pulse generator connection setting 0 0 0 eee 2 4 Motion CPU Operating Status 0 0 cece eee eee Initial processing naz cooaes cimas alt rs la pd ais RUN STOP status Control cocci n ee Oa eee eee eek eke CHAPTER 3 DEVICES 3 1 Device Listo arras 3 2 WISER DOV ICO a aac sd ore sive a ra Output Y aa tirar A
377. n error MVOPEN instruction was executed to the logged on vision Review the conditions to execute the MVOPEN instruction system and correct the program 38E2H Unopened error The instruction is executed to the vision system which is Correct the program to execute the instruction after not logged on confirming whether the logon by the MVOPEN instruction has been completed normally or not 38E3H Open error The communication line with the vision system cannot be Check the connection of the Ethernet cable opened Correct the IP address and the port No of the Ethernet communication line setting to the same setting as the connection target vision system 38E4H Logon error The user name or password for logging on the vision Correct the user name and the password of the Ethernet system is in error communication line setting to the same setting as the connection target vision system 38E5H Communication error e The communication with the vision system is Check the connection of the Ethernet cable disconnected Correct the program to execute the MVCLOSE Communication with MVCLOSE instruction was shut instruction after the instruction is completed down during instruction execution Correct the TCP IP port No of the Ethernet TCP IP port cannot be open communication line setting to the same setting as the connection target vision system When not using the TCP IP protocol delete the TCP IP port No 38E6H No vision program The specified
378. n system ABS Incremental system INC When using FR A700 series absolute position system ABS cannot be used Control mode Control modes that can be used are shown below e Position control mode position control and speed control including position loop Speed control mode speed control not including position loop Torque control mode torque control However it is not available to switch to continuous operation to torque control mode of Speed torque control If the mode is switched to continuous operation to torque control mode a minor error error code 19E7H occurs and the operation stops 1 Feedback torque cannot be set in Torque initial value selection at control mode switching If it is set a warning error code 0A55H occurs and the command value immediately after switching is the same as the case of selecting 0 Command torque Control mode switching of speed torque control The axis connected with FR A700 series takes more time to switch the control mode than the axis connected with the servo amplifier Position control mode gt Speed control mode 6 to 11ms 19 to 24ms Speed control mode gt Position control mode Position control mode gt Torque control mode Torque control mode gt Position control mode Speed control mode gt Torque control mode Torque control mode gt Speed control mode Driver communication The driver communication is not supported If the dr
379. n the job was executed Point The image data is stored only when the format output string setting of TCP IP protocol is set in the vision system 3 Page 201 Setting batch send TCP IP protocol of multiple data This does not need to be set if the format output string setting of TCP IP protocol is not set in the vision system Refer to device list for the range of word devices that can be set Page 66 Device List Point P Set the device No as an even number The image data is stored as a 64 bit floating point type every four successive points from the specified device equivalent to the output data set with the format output string setting of TCP IP protocol Use the type conversion instruction of Motion SFC according to the application Communications Format Output String TCP IP Settings OPG Easy View FTP Format String Formatted String 286 530 262 685 10 652 Edit Device Specified device 0 4 8 1 5 9 2 6 10 3 7 11 286 530 262 685 10 652 200 6 COMMUNICATION FUNCTIONS 6 5 Vision System Connection Function Setting batch send TCP IP protocol of multiple data By using the format output string setting of TCP IP protocol image data after the job is finished can be sent in a batch to the Motion CPU Set with the following procedure using In Sight Explorer Click the Online icon on the tool bar and shift to the offline mode
380. n the range of the data type of D 32FOH PLC ready OFF Rq 1120 PLC ready flag or PCPU ready flag is OFF Insert Rq 1120 PLC ready flag and PCPU ready flag when starting by D P SFCS M P SFCS instruction being ON into the starting interlock condition 32F1H Motion SFC program No SFC program No is specified outside the range of 0 to 255 Check the Motion SFC program No and correct it to a error when starting by D P SFCS M P SFCS instruction correct sequence program 32F2H No Motion SFC program The specified Motion SFC program does not exist when Check the Motion SFC program No and correct it to a starting the Motion SFC program by D P SFCS correct sequence program M P SFCS instruction Or create the non created Motion SFC program 32F3H Double start error Start the same Motion SFC program when starting the The double start management is executed in the user side Motion SFC program by D P SFCS M P SFCS Insert the user starting signal into the PLC program as the instruction starting interlock 32F4H PLC ready OFF D P GINT M P GINT instruction is executed when Insert the interlock condition of D P GINT M P GINT Rq 1120 PLC ready flag or PCPU ready flag is OFF instruction execution when Rq 1120 PLC ready flag and PCPU ready flag is ON 32F5H No Motion SFC program The specified motion SFC program does not exist when Check the Motion SFC program No and correct it to a starting the motion SFC program acc
381. nce value trigger value set with a word trigger sets the range corresponding to the size of each word data 2 bytes Without sign 0 65535 With sign 32768 32767 4 bytes Without sign 0 4294967295 With sign 2147483648 2147483647 Filter specification The trigger point is set as the point after time elapsed of the sampling interval x filter specification value after the trigger turns ON The filter specification can be set for each channel 1 to 10000 No trigger condition settings No trigger conditions are set Sampling can be completed with a STOP output during sampling 7 DIGITAL OSCILLOSCOPE 222 7 6 Sampling Functions npling points The number of sampling points that can be set when specifying trigger condition settings is as follows By increasing the sampling points the sampling results file size and time taken to output the results to the save destination increase and therefore caution is advised Trigger sampling e Sampling results save destination Standard ROM 10 to 8192 points default 8192 points SD memory card 10 to 133120 points default 8192 points Sampling points before trigger 0 to sampling points 1 default sampling points 2 Sampling points after trigger 1 to sampling points sampling points before trigger 7 DIGITAL OSCILLOSCOPE 7 6 Sampling Functions 223 Saving sampling results Data sampled with the digital oscilloscope is stored in the Motion
382. nchronization function in the following cases When using I O module signals as high speed input request signals e When using a synchronous encoder via a high speed counter module By enabling inter module synchronization variations between synchronous encoder input value operation cycles are reduced Point Refer to the following for details on the overall system inter module synchronization function including PLC CPUs and network modules LAMELSEC iQ R Inter Module Synchronization Function Reference Manual Inter module synchronization setting Set the inter module synchronization settings in System Parameter gt Synchronization Setting within the Modules gt Synchronization Setting within the Modules of GX Works3 Inter module synchronization settings must be consistent across the Multiple CPU system VO Assignment Multiple GPU Setting Synchronization Setting within the Modules Hem Settin Input the Setting Item to Search EA El Synchvonization Settwa aia the Modules s Useloter madule Synchronization Function in System i oF Ez Select Synchronous Target Unit between Unit lt Detailed Setting gt E Synchronous Fixed Scan Interval Setting within the Modules 0 05ms Unit Setting Not Set Fixed Scan Interval Setting Not Set by 0 05ms 0 888ms Fixed Scan Interval Setting Set by 0 05ms 0 50 ms E Synchronous Master Setting within the Modules Synchronous Master Setting of OC IE
383. nction are systematically or automatically provided outside of the PRODUCT for the case of any problem fault or failure occurring in the PRODUCT 2 The PRODUCT has been designed and manufactured for the purpose of being used in general industries MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY INCLUDING BUT NOT LIMITED TO ANY AND ALL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT WARRANTY TORT PRODUCT LIABILITY FOR ANY INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS PRECAUTIONS OR WARNING CONTAINED IN MITSUBISHI S USER INSTRUCTION AND OR SAFETY MANUALS TECHNICAL BULLETINS AND GUIDELINES FOR the PRODUCT Prohibited Application Prohibited Applications include but not limited to the use of the PRODUCT in e Nuclear Power Plants and any other power plants operated by Power companies and or any other cases in which the public could be affected if any problem or fault occurs in the PRODUCT e Railway companies or Public service purposes and or any other cases in which establishment of a special quality assurance system is required by the Purchaser or End User e Aircraft or Aerospace Medical applications Train equipment transport equipment such as Elevator and Escalator Incineration and Fuel devices Vehicles Manned transportation Equipment for Recreation and Amusement and Safety devices handling of Nuclear
384. nding on the error of the SSCNETII H head module an error reset may not be executed or conditions may apply to the error reset In this case the error code storage device is not cleared and the error code detection signal is not reset even if an alarm reset is executed Refer to the the following for details QAMELSEC L SSCNETIII H Head Module User s Manual 8 Unusable 9 10 11 12 13 14 15 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 5 Connection of SSCNETIII H Head Module 1 45 peration example of parameter When setting 2 SSCNETII H head modules station 17 station 18 to SSCNET line 1 Parameter setting The setting example of parameter is shown below 17 1 Input RX 128 0000 007F gt 128 M112 M239 MO D2000 M16 RWr 24 0000 0017 gt 24 wooo00 Wwo0017 Output RY 128 0000 007F lt 128 M240 M367 RWw 24 0000 0017 lt 24 wW0018 W002F 18 2 Input RX 0 gt 0 M32 D2010 M48 Rwr 32 0018 0037 gt 32 D2020 D2051 Output RY 0 0 RWw 32 0018 0037 lt 32 D2052 D2083 1 Used only for internal processing of Motion CPU The number of points set in the refresh device CPU side is automatically assigned in MT Developer2 Operation example The example of operating parameter is shown below SSCNETII H head module SSCNETII H head module Motion CPU Station number 17 Station number 18 M Rx RX RX 0000 0000 0000
385. ndividual send 2 Transient request continuous send Other than 1 No request 1 Transient command Sets the transient command to be sent Without checking the value the set value is sent to the servo amplifier as a command Do not set values other than those that are set for transient commands as the servo amplifier operation for other values is not guaranteed When the issued command is a send command it is recorded to the event history After Multiple CPU system power supply is turned ON the command that supports the data type set by the parameter is stored as the initial value 2 Request data Sets the request data Can be used as a command option when using a send command such as alarm 3 history clear command Without checking the value the set value is sent to the servo amplifier as a command 4 Set 0 when request data is not defined by command 5 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 4 4 5 2 Optional Data Monitor Function 7 6 Monitor Transient status The process after sending transient request is stored data bF bE bD bC bB bA b9 b8 b7 b6 b5 b4 b3 b2 b1 bO Transient command processing completion wait Transient request start Transient receiving Transient reception completed normally gt Data valid bit 1 ON transient normal OFF abnormal occurrence 7 Unusable 8 Response data The response data from the servo amplifier is stored 9
386. nex make vision system Motion controller 1 The simultaneous communication cannot be used depending on the vision system s model Refer to the Cognex vision system manual or help sections to confirm the specifications of vision system e Telnet The vision system is controlled from the Motion CPU using the native mode The vision system dedicated functions control the vision system using Telnet e TCP IP protocol By using TCP IP as the vision system communication protocol and setting the output string the image data are sent in a batch to the Motion CPU immediately after the job is finished with the vision system High speed data transfer is possible compared to the other communication methods 6 COMMUNICATION FUNCTIONS 4 6 5 Vision System Connection Function 93 Vision system parameter Parameters required for Ethernet communication and job execution must be set beforehand with MT Developer2 The vision system can be controlled just by writing only the vision system dedicated functions in the Motion SFC program Priority of the vision system dedicated function The priority of the vision system dedicated functions in the Motion CPU are shown below Motion operation process Servo operation process Servo data communication process Event task of Motion SFC etc 1 High Vision system dedicated Execution of the communication process with the vision sy
387. nexpected operations check the data on the SD memory card before installing Depending on the boot operation file control data in the Motion CPU can be taken out from the CPU To avoid the unauthorized reading taking of data use the security function Page 173 Security Function File transmission at boot files In file transmission at boot the boot operation file and boot log file are saved to the MMTPRJ folder of the SD memory card root folder Boot operation file boot01 csv Executes file transmission at boot after Multiple CPU system power supply is turned User saves the file in the ON MMTPRJ folder Boot log file bootlog txt Stores the list of files that are read at the initial processing after Multiple CPU System saves the file in the system power supply is turned ON and the processing details of file transmission at MMTPRJ folder boot The contents are overwritten each time the Multiple CPU system power supply is turned ON Boot log file bootlog bak Renames the bootlog txt file as bootlog bak when the Multiple CPU system previous boot log power supply is turned ON tions of the boot operation file The operations specified by the boot operation file are shown below O Can be specified Can not specified specified as blank File copy Copies the specified file or O O O Q When a file with the same name copy files in the specified folder exis
388. nfiguration is shown below CPU buffer memory 0 to System area 2047 2048 User setting area to Occupies the points for refresh END only Pa Refresh END area when refresh END is not used this can be 524288 used as user setting area to System area 999999 1000000 to User setting area 2097151 CPU buffer memory Fixed scan communication area 0 to User setting area ae z Occupies the points for refresh 145 executing only Fixed scan communication Refresh 145 executing When refresh 145 executing is not used this area setting points 1 area E can be used as user setting area 1 MULTIPLE CPU SYSTEM 2 1 3 Data Communication Between CPU Modules in the Multiple CPU System 5 26 Memory Communication method Details Area size CPU buffer memory Communication by direct access Data reading and writing is performed for the self CPU or other CPU area Refresh area Communication by refresh Data communication is performed by refreshing at END processing PLC CPU 512k words Motion CPU 2M words Fixed scan communication gt area Communication by direct access Data reading and writing is performed for the self CPU fixed scan communication area and self CPU and other CPU data transfer is performed in fixed scan communication cycles Refresh area Communication by refresh Refresh is performed in fixed scan communication cycles
389. ng mProcessing details 1 The Y device content is initialized based on the Output mode setting of STOP to RUN Refer to 5 Page 48 CPU parameter operation 2 All parameters are read from a file Refer to L Page 62 Initial processing 3 Clear the M code storage area of all axes 4 The PCPU READY complete flag SM500 is turned ON when all of the above steps are complete Motion SFC program execution is possible The execution of automatically started Motion SFC programs is started from the beginning e If there is a starting axis an error occurs and the processing above is not executed e The processing above is not executed during the test mode It is executed when the test mode is cancelled and Rq 1120 PLC ready flag M2000 is ON v Deceleration stop Positioning start gt t Rq 1120 PLC ready flag M2000 I PCPU READY i complete flag SM500 Lt poa e PCPU READY complete flag q SM500 does not turn on because Clear a M code during deceleration Point Refer to the following for details on the processing time when the Rq 1120 PLC ready flag M2000 turns from OFF to ON LAMELSEC iQ R Motion Controller Programming Manual Positioning Control Rq 1120 PLC ready flag M2000 ON gt OFF RUN status gt STOP status processing mProcessing details 1 Deceleration stop of the starting axis 2 Execution of the Motion SFC program is stopped The program
390. ng time 1 to 2147483647 us If 0 is written the maximum value is reset SD570 Motion SFC event Event task 14 222ms The processing time for each motion SFC task is stored in us units S when task 14 222ms processing time 0 to 65535 us executing task processing time SD571 Motion SFC event Event task 7 111ms task 7 111ms processing time processing time SD572 Motion SFC event Event task 3 555ms task 3 555ms processing time processing time SD573 Motion SFC event Event task 1 777ms task 1 777ms processing time processing time SD574 Motion SFC event Event task 0 888ms task 0 888ms processing time processing time SD575 Motion SFC event Event task 0 444ms task 0 444ms processing time processing time SD576 Motion SFC event Event task 0 222ms task 0 222ms processing time processing time SD578 Motion SFC event Event task external task external interrupt processing time interrupt processing time APPENDICES APPENDIX Appendix 4 Special Registers 312 S when A SD579 Motion SFC event Event task PLC interrupt The processing time for each motion SFC task is stored in us units task PLC interrupt processing time 0 to 65535 us executing task processing time SD580 Motion SFC NMI task NMI task processing time processing time SD581 Fixed cycle system Fixed cycle system The processing time for each process is stored in us units S Opera
391. nge 10000 x0 1 10000 x0 1 0A49H Allowable range of Allowable error range for circular interpolation is outside Set the circular interpolation within the valid range circular interpolation the setting range setting outside range 0A4AH Repetition count setting The repetition count is outside the range of 1 to 32767 Set the repetition count within the range of 1 to 32767 outside range 0A4BH S curve ratio setting S curve ratio is set outside the range of 0 to 100 at the Set the S curve ratio within the range of 0 to 100 outside range S curve acceleration deceleration specification OA4CH Bias speed at start The bias speed at start is outside the range of 0 to Set the bias speed at start within the range of 0 to Speed setting outside range Speed limit value limit value The command speed is outside the range of Bias speed Set the command speed within the range of Bias speed at start to Speed limit value at start to Speed limit value OA4DH Bias speed at start The following acceleration deceleration systems were When specifying the following acceleration deceleration combined error specified in a servo program whose bias speed at start is systems set the bias speed at start to 0 not 0 FIN acceleration deceleration FIN acceleration deceleration Advanced S curve acceleration deceleration Advanced S curve acceleration deceleration 0A4EH Advanced S curve Acceleration section 1 ratio is outside the range of 0 0 t
392. nge settings storage target was set when Sampling range setting RUN request is ON 0033H Settings file write error No settings file exists Write the settings file again from the digital oscilloscope 0034H SD card unusable Sampling was started with no SD memory card e Check whether the SD memory card has been inserted or with use of the SD memory card forcibly inserted stopped If use of the SD memory card has been forcibly stopped release the stop 0035H SD memory card writing The SD memory card is write protected Release the SD memory card write protect not possible 0064H Settings file error There is an error in the settings file Write the settings file again from the digital oscilloscope 0065H Settings file version not The settings file version is not supported Check the versions compatible with the digital supported oscilloscope and write the settings file again 0096H Sampling results output The specified drive memory capacity or folder file Delete any unnecessary files and secure sufficient error configuration is wrong and therefore it was not possible to complete sampling results output memory space 226 7 DIGITAL OSCILLOSCOPE 7 8 Digital Oscilloscope Errors 8 MOTION CPU MEMORY STRUCTURE Programs and parameters used for Motion CPU control are stored as files in a nonvolatile memory standard ROM built in to the Motion CPU or a SD memory card installed in the SD memory card slot of the Motion
393. nication and start release of amplifier less operation 0 Command accept waiting 1 Execute waiting 2 Executing S Main processing SD509 256 Boot operation file invalid 310 Boot file transfer information APPENDICES APPENDIX Appendix 4 Special Registers Boot file transfer information Stores the status of file transmission at boot when the Multiple CPU system power supply is turned ON 0 Standard ROM write permission read protection TE Standard ROM write protection read protection 2 Standard ROM write protection read permission 3 Standard ROM write permission read permission S Initial processing SD512 Motion CPU WDT error cause Error meaning of WDT error occurs The following error codes are stored when an error occurs at the Motion CPU 1 WDT timeout All axes stop detection immediately Main and subsequent processing starting is not possible e Reset the system If an operation cycle over condition occurs even after resetting or if the main cycle is too long exceeds approx 1 0 s 1 Change the operation cycle to a larger value in Motion CPU Parameter gt Basic Setting 2 Reduce the number of event task and NMI task command executions in the Motion SFC program 2 WDT timeout detection Operation cycle Other H W Error e Reset the system than If the error occurs even after the resetting contact your above nearest system s
394. ning volume error 3AH 6 b Invalid command 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 1 56 5 6 Compatible Devices with SSCNETIII H 3BH 6 C Indirect data No invalid 3CH 7 Data sustain error 1 3DH 7 Data sustain error 2 3EH 7 Data sustain error 3 3FH 7 Data sustain error 4 40H 7 Data sustain error 5 41H 7 Data sustain error 6 42H 7 Data sustain error 7 43H 7 Data sustain error 8 44H 7 Data sustain error 9 45H 7 Data sustain error 10 46H 7 Data sustain error 11 47H 7 Data sustain error 12 48H 7 Data sustain error 13 49H 7 Data sustain error 14 4AH 7 Data sustain error 15 4BH 7 Data sustain error 16 4CH 7 Data sustain error 17 4DH 7 Data sustain error 18 4EH 7 Data sustain error 19 4FH 7 Data sustain error 20 50H 7 Data sustain error 21 51H 7 Data sustain error 22 52H 7 Data sustain error 23 53H 7 Data sustain error 24 54H 7 Data sustain error 25 55H 7 Data sustain error 26 56H 7 Data sustain error 27 57H 7 Data sustain error 28 58H 7 Data sustain error 29 59H 7 Data sustain error 30 5AH 7 Data sustain error 31 5BH 7 Data sustain error 32 5CH 7 Data sustain error 33 5DH 7 Data sustain error 34 5EH 7 Data sustain error 35 5FH 7 Data sustain error 36 60H 7 Data sustain error 37 62H 7 Data sustain error 39 63H 7 Data sustain error 40
395. not be accepted e If using the connect disconnect function of SSCNET communication in a system used to perform driver communication connection disconnection is only possible at the first axis the servo amplifier directly connected to Motion CPU Page 138 Precautions during control Procedure to connect disconnect of SSCNET communication Procedure to connect disconnect at the exchange of servo amplifiers or SSCNETII cables is shown below Procedure to disconnect 1 Set the axis No to disconnect in SSCNET control command SD803 Setting value 1 to 32 2 Check that 1 Execute waiting is set in SSCNET control status SD508 Disconnect execute waiting 3 Set 2 Execute command in SSCNET control command SD803 4 Check that 0 Command accept waiting is set in SSCNET control status SD508 Completion of disconnection 5 Turn OFF the servo amplifier s power supply after checking the LED display AA of servo amplifier to be disconnected Disconnect command Axis No of servo amplifier Disconnect execute Disconnect to be disconnected command command clear SSCNET control command j T T SD803 SSCNET control status SD508 execute Command accept Disconnect execute Disconnect processing oe accept waiting waiting waiting 4 30 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 3 SSCNET Control Function Procedure to connect Turn ON the servo amplifier s power supply Set 10
396. nstallation mode Refer to the following for rotary switch LLIMELSEC iQ R Motion Controller User s Manual The dot matrix LED display is INC gt SDC RUN STOP is ignored The FIN display indicates that installation of the operating system software in the Motion CPU has been successful Set to normal mode e Create a instnew folder below the SD memory card root and store the operating system software files inside this folder e If the system is unable to recognize the installation target files after turning the Multiple CPU system power supply ON the dot matrix LED will not display INC gt SDC and installation with the SD memory card will not start e If an error is detected after starting installation and it is not possible to complete the installation the dot matrix LED will display ERO SD memory card access error ER1 Install file error or ER2 Built in ROM access error Perform the installation again after removing the error The SD memory card forced stop function cannot be used during installation with a SD memory card Do not remove the SD memory card during installation 236 8 MOTION CPU MEMORY STRUCTURE 8 4 Installing the Operating System Software 8 5 Add on Function Functions of the Motion CPU module can be expanded by installing files supplied as add on libraries to the Motion CPU module Add on library Operating system Motion SFC processing Motion CPU Add on libra
397. o 807 Rq 1120 PLC ready flag M2000 OFF to ON When power supply is turned ON Read request file transmission request SD820 e Write request file transmission request SD820 e When power supply is turned ON y Standard ROM CPU write read SD memory card MT Developer2 Servo parameter file Managed servo parameters Servo parameters managed by the Motion CPU are first extracted to the servo parameter open area and are then automatically transferred to the servo amplifier when performing initial communication Point P If changes are made to the content of the servo parameter file use the following procedure to update the changed content to the servo amplifier e Turn OFF or reset the Multiple CPU system e Turn the Rq 1120 PLC ready flag M2000 from OFF to ON or File transfer flag SD820 and then turn ON the servo amplifier control power supply again or disconnect and then reconnect SSCNET communication If changes are also made to servo parameters for which it is necessary to reboot the servo amplifier control circuit power supply it is first necessary to perform the procedure above and then reboot the servo amplifier control circuit power supply again 4 14 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 1 Servo Parameter Management When parameters are updated at the servo amplfier side When the servo parameters are changed by one of the causes below after communication
398. o No Clutch synchronous controlling e Set the synchronous parameter Pr 405 Main shaft clutch control setting to No Clutch in synchronous controlling OBF4H Auxiliary shaft clutch e The value of synchronous parameter Pr 422 Auxiliary Set within the range control setting outside shaft clutch control setting is set outside the range in Do not change the setting to No Clutch range synchronous controlling Set the synchronous parameter Pr 422 Auxiliary shaft clutch control setting to No Clutch in synchronous controlling 0CO01H Speed change ratio 1 Set the value of synchronous parameter Pr 437 Speed Set within the range of 1 to 2147483647 denominator outside range change ratio 1 denominator less than 0 in synchronous controlling APPENDICES APPENDIX Appendix 1 Error Codes 255 0CO5H Speed change ratio 2 denominator outside range Set the value of synchronous parameter Pr 493 Speed change ratio 2 denominator less than 0 in synchronous controlling Set within the range of 1 to 2147483647 0C10H Cam No outside range A value outside the range of 0 to 1024 was set in Set within the range of 0 to 1024 synchronous parameter Pr 440 Cam No in synchronous controlling 0C11H Cam not registered Cam data which No has been changed does not exist in Specify a cam No in which cam data exists cam open area after changing synchronous parameter
399. o Set the acceleration section 1 ratio within the range of 0 0 acceleration section 1 100 0 to 100 0 setting outside range 0A4FH Advanced S curve Acceleration section 2 ratio is outside the range of 0 0 to Set the acceleration section 2 ratio within the range of 0 0 acceleration section 2 100 0 to 100 0 setting outside range 0A50H Advanced S curve Deceleration section 1 ratio is outside the range of 0 0 to Set the deceleration section 1 ratio within the range of 0 0 deceleration section 1 100 0 to 100 0 setting outside range 0A51H Advanced S curve Deceleration section 2 ratio is outside the range of 0 0 to Set the deceleration section 2 ratio within the range of 0 0 deceleration section 2 100 0 to 100 0 setting outside range 0A52H Advanced S curve Acceleration section 1 ratio Acceleration section 2 ratio Set the ratio of Acceleration section 1 ratio Acceleration acceleration section gt 100 0 section 2 ratio within the range of 0 0 to 100 0 setting over 0A53H Advanced S curve Deceleration section 1 ratio Deceleration section 2 ratio Setthe ratio of Deceleration section 1 ratio Deceleration deceleration section gt 100 0 section 2 ratio within the range of 0 0 to 100 0 setting over 0A54H Deceleration time over in The rapid stop deceleration time is larger than the Set the rapid stop deceleration time within the range of 1 to rapid stop deceleration deceleration ti
400. o be synchronized is set in hexadecimal notation During STOP during Setting value command peta 7 0000h No request This value is set when there is no request 1000h to 9020h Servo Specifies the servo parameter target axis No and parameter target file to be read written for file transfer reading writing H 0000 Command gt Target axis No 1 to 32 00 to 20 00 applies to all axes Read write target file 10 Built in memory to file Standard ROM 20 Built in memory to file SD memory card 80 File Standard ROM to built in memory 90 File SD memory card to built in memory A000h to B400h Cam file Specifies the cam file target cam No and target file to reading writing be read written for file transfer Command H 0000 gt Target cam No 1 to 1024 000 to 400 000 applies to all cam files gt Read write target file A File Standard ROM to built in memory B File SD memory card to built in memory FFFEh Execution By specifying a setting value when File transfer Command status SD554 is waiting to be executed 1 after setting each command value processing is executed The moment that the servo parameter read write command 1000h to 9020h and cam file read write command A000h to B400h used to perform file transfer are set in the File transmission request SD820 the File transfer status SD554 only changes to the awaiting execution statu
401. o execute the mark detection in Specified Number of Detections mode or Ring Buffer mode Word devices are set for the mark detection times counter Refer to device list for the range of word devices that can be set Page 66 Device List Used as a 1 word device The counter is updated as follows after mark detection data storage Continuous detection mode 0 to 65535 1 is added to the counter value The counter returns to 0 if 65535 is exceeded Specified number of detection mode 0 to specified number of detections 1 is added to the counter value Ring buffer mode 0 to buffer count 1 1 is added to the counter value The counter returns to 0 if the counter value reaches or exceeds the buffer count This setting can be omitted when the continuous detection mode is selected Mark letection current value monitor device The current value of mark detection data can be monitored Word devices are set for mark detection current value monitor devices Set an even number at the start of the device for 32 bit integer type 64 bit floating point type devices Monitor values are updated each operation cycle Refer to device list for the range of word devices that can be set 37 Page 66 Device List This setting can be omitted 4 AUXILIARY AND APPLIED FUNCTIONS 4 3 Mark Detection Function 4 4 Servo ON OFF Servo ON OFF This function executes servo ON OFF of the servo amplifiers connected to the Motion CPU
402. o test mode x x O x Remote operation request x x O O x Latch clear x A O x x Memory formatting x A O x x SSCNETII H control function Communication with servo amplifier x A As O O Disconnect disconnect function x A O O O Amplifier less operation function x A O O O Servo parameter transfer read change x A O O O Optional data monitor function x A O O O Auxiliary application function Limit switch output function x A O O O Mark detection function x A O O O Servo ON OFF x A O o O Follow up function x A e O O Digital oscilloscope online offline x A O O O File management SD memory card disable x A O O O 1 Refer to Rq 1120 PLC ready flag M2000 ON gt OFF RUN status gt STOP status processing lt Page 65 Rq 1120 PLC ready flag M2000 ON gt OFF RUN status gt STOP status processing 2 Execution may not be possible if an error occurs 3 Only transmission refresh is performed 4 Refer to test mode for functions that can be used from the MT Developer2 test screen 7 Page 208 Test Mode 5 Only the M P CHGA D P CHGA M P CHGT D P CHGT D P DDWR M P DDWR D P DDRD M P DDRD M P BITWR D P BITWR commands are possible 6 The servo system can be turned ON however axes cannot be moved Furthermore only position control mode is possible 2 COMMON PARAMETERS 2 4 Motion CPU Operating Status Rq 1120 PLC ready flag M2000 OFF gt ON STOP status gt RUN status processi
403. ocess ends abnormally the program will jump to line 20 MError Flag Set the bit device that turns ON if an error is detected when the vision system dedicated function is executed Refer to device list for the range of bit devices that can be set Page 66 Device List 6 COMMUNICATION FUNCTIONS 4 6 5 Vision System Connection Function 97 ation Setting The job vision program set in the vision system is assigned as a program number so that it can be executed from the vision system dedicated functions O Motion CPU Common Parameter gt Vision System Parameter gt Vision Program Operation Ttem Vision Program Operation Program No Vision System No Vision Program Name Status Storage Device Read Value Cell Read Value Storage Device Image Data Storage Device Vision Program Operation The job vision program set in the vision system is assigned as a program number so that it can be executed from the vision system dedicated functions Program No 1 to 128 Vision system No 1 to 32 Vision program name Up to 32 characters Status storage device Word device Read value cell Up to 32 characters Read value storage device Word device Image data storage device Word device Program No Not necessary to set This number 1 to 128 is used by the vision system dedicated function to identify the vision system job EVision System camera No Set the vision system number corre
404. odule Parameter Motion CPU Basic setting O x Set the basic parameters of the Motion Page 54 common system such as operation cycle and the Basic setting parameter external forced stop input Servo network setting O x Set the servo network type the connected Page 56 servo amplifier and the SSCNETITI H Servo network head module setting Limit output data O O Set the output device and watch data for 5 Page 81 limit output Limit output data setting High speed input request signal O x Set the high precision input request signal Page 86 used for advanced synchronous control or High speed mark detection input request signal setting Mark detection O x Set the data for mark detection 5 Page 91 Mark detection setting Manual pulse generator connection O x Set the data required for connecting the LF Page 61 setting manual pulse generator to the module Manual pulse generator connection setting Vision system parameter x O Set the parameters used for connecting 5 Page 195 the vision system Vision system parameter setting Head module O x Set the parameters used for connecting 5 Page 142 the SSCNETII H head module SSCNETIII H head module parameters Refresh END I45 executing setting O x Set the Multiple CPU refresh main cycle 57 Page 28 operation cycle Multiple CPU refresh setting LF Page 46 System parameter 2 COMMON PARAMETERS 4 2 1 Parameters Used by the Motion CPU 3 Motion Axis
405. of a communication failure O Do not write any data to the system area and write protect area of the buffer memory in the module Also do not use any use prohibited signals as an output signal from the CPU module to each module Doing so may cause malfunction of the programmable controller system For the system area write protect area and the use prohibited signals refer to the user s manual for the module used O ifa communication cable is disconnected the network may be unstable resulting in a communication failure of multiple stations Configure an interlock circuit in the program to ensure that the entire system will always operate safely even if communications fail Failure to do so may result in an accident due to an incorrect output or malfunction O To maintain the safety of the programmable controller system against unauthorized access from external devices via the network take appropriate measures To maintain the safety against unauthorized access via the Internet take measures such as installing a firewall O Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external power supply or the programmable controller Failure to do so may result in an accident due to an incorrect output or malfunction O If safety standards ex robot safety rules etc apply to the system using the module servo amplifier and servomotor make sur
406. of the following units Add on module Module that executes expansion functions Add on library A file that encompasses one or more add on modules The method for calling each add on module is defined in the add on library When installing to the Motion CPU module the entire add on library is installed Module names The Motion CPU module identifies add on modules by module name If module names are duplicated when installing several add on libraries a moderate error error code 308FH occurs at the initial processing of the Motion CPU module Installing add on library The add on library is installed to the built in memory of the Motion CPU module via MT Developer2 or the SD memory card Refer to installing the operating system software for the installation method 57 Page 234 Installing the Operating System Software Point The capacity of the memory in which the operating system software and add on library are stored is 8MB Make sure the total size of operating system software and add on library files is no more than 8MB e Use MT Developer2 for checking the installed add on library version and deleting add on library files from the Motion CPU module e Restrictions can occur depending on the version of the operating system software installed in the Motion CPU module and when combining with other add on libraries already installed When an add on library that cannot be combined is installed a moderate error error
407. ol functions such as mark detection clutch control and synchronous encoder axis current value changes Bit device Bit device Bit device Bit device Bit device e Amplifier input DI3 e Amplifer input DI1 e Amplifier input DI2 Signal control High speed input External signal request signal 32 axes ic ce DOG signal FLS signal RLS signal STOP signal redes ol time e Normal open Normal open Normal open Normal open mae Normal close Normal close Normal close Normal close e Precision settings e Leading edge Trailing edge Both directions Precision settings Control function Mark detection Clutch Synchronous encoder Speed position Home Hardware limit Stop 32 settings 32 axes x 2 current value change switching 32 axes position processing limit processing High speed input counter enable and Enable flag return combined home 32 axes request signal disable 12 axes 32 axes position return Compensation time 32 axes Latch data Current value Feed current value Synchronous encoder current External signal External signals FLS signals RLS signals STOP signals DOG signals are assigned to each axis and are used with control functions such as home position return speed position switching control hardware limits and stop processing External signals are set in the external s
408. ollowing in the servo network setting lt Page 56 Servo network setting Set the following for communication type in SSCNET setting When connecting SSCNETTI H SSCNETTI H When connecting SSCNETII SSCNETII e Set the amplifier model in amplifier setting to VCI Nikki Denso 4 4 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 8 5 6 Compatible Devices with SSCNETIII H Control of VCII series parameters Parameters set in VCI series are not controlled by the Motion CPU They are set directly using VCI data editing software For details on setting items for VCI series refer to the instruction manual of VCI series Comparisons of specifications with MR J4 W B MR J3 W B Item VCII series MR J4 W 0B MR J3 W cB Amplifier type VCI Nikki Denso MR J4 W B RJ MR J3 W B MR J3 W B Fully closed MR J3 W B Linear MR J3 W B DD motor Control of servo amplifier parameters Controlled by VCI series Controlled by Motion CPU External input signal Not available External input signals of servo amplifier are available Optional data monitor Data type Registered monitor Effective load ratio Regenerative load ratio Peak load ratio Position feed back Encoder position within one revolution Encoder multiple revolution counter Model loop gain Cumulative current value Servo command value Torque command value
409. ome position address is outside the range of 0 to Set the home position within the range of 0 to 35999999 setting error 35999999 x 10 degree at degree axis 1B04H Home position return The home position return speed is outside the range of 1 Set the home position return value less than the speed speed error to Speed limit value limit value 1BO5H Home position return The home position return speed is outside the range of Set the home position return speed within the range of speed error Bias speed at start to Speed limit value Bias speed at start to Speed limit value 1B07H Creep speed error The creep speed is outside the range of 1 to Home Set the creep speed below the home position return position return speed speed 1B08H Creep speed error The creep speed is outside the range of Bias speed at Set the creep speed within the range of bias speed at start to Speed limit value speed limit value start 1BOAH Movement amount The movement amount after the proximity dog ON is Set the movement amount after the proximity dog ON setting error after outside the range of 0 to 2147483647 x unit within the range of 0 to 2147483647 proximity dog ON 1BODH Home position return The creep speed torque limit value is outside the range of Set the creep speed torque limit value within the range of 1 torque limit value error 1 to 10000 x 0 1 to 10000 262 APPENDICES APPENDIX Appendix 1 Error Codes 1B14H A
410. on No driver foe ete a communication Axis 14 Driver communication Driver communication is possible within 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 4 4 5 6 Compatible Devices with SSCNETIII H 7 6 COMMUNICATION FUNCTIONS 6 1 Communication Function List Motion CPUs are equipped with following list of communication interfaces MELSOFT communication Via Multiple CPU O Direct connection O UDP5008 C Page 183 Direct connection Via Ethernet hub O TCP5007 UDP5006 L Page 186 Connection via HUB CPU search O UDP5009 Native mode communication with Cognex Corporation In O Arbitrary TCP K Page 191 Vision System Sight vision system Connection Function 1 Communication via other CPU to Motion CPU is possible with a Multiple CPU system 4 72 6 COMMUNICATION FUNCTIONS 6 1 Communication Function List 6 2 Security Function The theft tampering incorrect operation and illegal execution of customer assets stored on personal computers or customer assets inside modules in the MELSEC Q R series system due to unauthorized access by a third party is prevented Use each security function for
411. on Setting the optical hub unit station settings on Motion CPUs and MT Developer2 is not required The power supply of equipment connected to the optical hub unit can be turned OFF ON Disconnect Reconnect during operation ns on SSCNET communication Set the communication type to SSCNETII H for the SSCNET setting connecting the optical hub unit SSCNETII H communication equipment set in MT Developer2 can be connected There are no restrictions on connection order or connection position The servo amplifiers and SSCNETII H compatible equipment that can be used with the optical hub unit are shown below O Available x Not available SSCNETIL H O x O SSCNETII x x x 4 68 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 6 Compatible Devices with SSCNETIII H System configuration A connection example using optical hub units is shown below The transmission route that passes through the optical hub unit IN connector CN1A connector for servo amplifier and OUT1 connector CN1B connector for servo amplifier is called the Main route and the transmission routes that pass through OUT2 connector and OUT3 connectors are called the Sub route The optical hub unit can only be connected on the main route Also the optical hub unit is not included in the number of connected modules on a line Motion CPU module REMTCPU
412. on 0 gt The TCP IP device will be added Click the Format String button to display the FormatString dialog N Set Use Delimiter and set the selectable character with Standard Click the Add button to display the Select Output Data dialog w Select the data to be sent to the Motion CPU as the result of the job execution and then click the OK button Communications OPG EasyView FTP Format Output String T CP4TP Settings Format Strine Formatted 3 Edit Device Remove Device Cognex Select Output Data Name a Data Type E onian E a aaneen Input D MEJE1D3A FormatString Leading Text Inputs Line_0 eS Standard Inputs Line_1 Floating Point Trailing Text o E Inputs Line_2 Floating Paint Terminators O Other Inputs Line_3 Floating Paint Inputs Line_4 Floating Point Label Data Type Inputs Line_5 Floating Point Inputs Line_6 Floating Point Inputs Line_7 Floating Point Inputs Line_8 Floating Point Inputs Line_9 Floating Poi Job Field Width Data Type Pad Decimal Places Characters 0 Output Strine 10 Set Data Type for the added data Select Integer Unsigned Integer or Floating Point The data type stored in the Motion CPU device is always a 64 bit floating point type regardless of the data type s
413. on Parameters gt Module Configuration List gt Setting item in MT Developer2 and then set the parameters for the module for which a Motion CPU set has been set as the control CPU in the module detailed settings that appear 1 MULTIPLE CPU SYSTEM 1 1 Multiple CPU System Module individual settings The setting items for modules for which a Motion CPU has been set as the control CPU are shown below Module Item Setting range Default value Input module Input interrupt operation selection Input interrupt Input Interrupt condition setting Leading edge Trailing edge Leading edge trailing edge Interrupt pointer 10 to 115 Input response time setting 20us 501us 0 1ms 0 2ms 0 4ms 0 6ms 1ms 5ms 10ms pe 20ms 70ms Output module Error time output mode setting Clear Maintain Clear 1 0 module Input Input interrupt Input interrupt Input operation selection Interrupt condition setting Leading edge Trailing edge Leading edge trailing edge S Interrupt pointer 10 to 115 Input response time setting 0 1ms 0 2ms 0 4ms 0 6ms 1ms 5ms 10ms 20ms 70ms 10ms Output Error time output mode Clear Maintain Clear setting High speed counter module Pulses input mode 1 phase 1 time 1 phase 2 times CW CCW 2 phase 1 time 2 phase 2 times 2 phase 4 times 1 phase 1 time Counter speed setting 10kpps 100kpps 200kpps 500kpps 1Mpps 2Mpps 4Mpps 8Mpps 10kpps Counter type Linear counter Rin
414. on sampling results SD765 Latest file information main cycle 1 Elapsed time seconds up to the current time using Greenwich Mean Time 00 00 January 1st 1970 as the reference can be checked 7 DIGITAL OSCILLOSCOPE 7 7 Digital Oscilloscope Status 225 7 8 Digital Oscilloscope Errors al oscilloscope errors occur If an error occurs at the digital oscilloscope the error detection special relay turns ON the error code is stored in a special register and this appears in the event history The error is not displayed in the error history Furthermore if a self diagnosis error has occurred sampling will not be possible The cause of this error is also not detected MBit device Sampling setting Sampling error Word device Turns ON when sampling error occurs Turns OFF when the next sampling is started OFF No error Main cycle ON Error Sampling setting digital oscilloscope error cause The error code for the sampling error is stored This is cleared to 0 when the next sampling is performed code 0 No error Other than 0 Error Main cycle SD769 lloscope error list The following table shows the details and cause of errors occurring at the digital oscilloscope and the corrective action for those errors 0032H Outside settings data A value outside the setting range for the Sampling Set the Sampling settings storage target inside the storage ra
415. ontroller and servo amplifier SSCNETI SSCNETIL H General name for SSCNETII H SSCNETII Absolute position system General name for system using the servomotor and servo amplifier for absolute position Intelligent function module SSCNETII H head module General name for module that has a function other than input or output such as A D converter module and D A converter module Abbreviation for MELSEC L series SSCNETII H head module LJ72MS15 Optical hub unit or MR MV200 Abbreviation for SSCNETII H Compatible Optical Hub Unit MR MV200 1 SSCNET Servo System Controller NETwork 17 18 MANUAL PAGE ORGANIZATION Representation of numerical values used in this manual In the positioning dedicated signals n in M3200 20n etc indicates a value corresponding to axis No as shown in the following table 1 0 9 8 17 16 25 24 2 1 10 9 18 17 26 25 3 2 11 10 19 18 27 26 4 3 12 11 20 19 28 27 5 4 13 12 21 20 29 28 6 5 14 13 22 21 30 29 7 6 15 14 23 22 31 30 8 7 16 15 24 23 32 31 e The range of axis No 1 to 16 n 0 to 15 is valid in the RIG8MTCPU e Calculate as follows for the device No corresponding to each axis Ex For axis No 32 M3200 20n Stop command M3200 20 x 31 M3820 M3215 20n Servo OFF command M3215 20 x 31 M3835 In the positioning dedicated signals n in M10440 10n etc of the Synchronous encoder axis status
416. op is cancelled while the rapid stop deceleration time isn t progressing an overspeed or error excessive may occur SM505 Cam data operation OFF Cam data not Turn ON during cam data writing by executing the cam data write S Change flag operating CAMWR cam auto generation CAMMk status ON Cam data operating Turns ON during file transfer with the file transfer function SM506 External forced stop ON External forced stop Turn ON when an external forced stop input is detected input ON latch input is detected e Remains ON even if the condition is cancelled to thereafter OFF External forced stop The forced stop input ON latch flag is reset with the Motion SFC input is not detected program SM508 Amplifier less ON During amplifier less Confirm the amplifier less operation status S Main operation status operation processing OFF During normal operation APPENDICES Appendix 3 Special Relays APPENDIX 297 SM512 Motion CPU WDT ON Abnormal Turn ON when a watchdog timer error is detected by the Motion S Occur an error OFF Normal CPU self diagnosis function When the Motion CPU detects a WDT error error it executes an immediate stop without deceleration of the operating axes The Multiple CPU system is reset when this relay turns ON If this relay is ON even after resetting an error occurs at the Motion CPU The error cause is stored in the Motion CPU WDT error cause SD51
417. oper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A02H SDnF read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A03H Dn read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A04H DnL read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A05H DnF read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A06H Wn read error The directly specified device No is outside the range Correct the program
418. or 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 6 Compatible Devices with SSCNETIII H 149 VCII series MR J4 W 0B MR J3 W 0B Item Optional data Transient monitor Data command type Encoder resolution e Servo amplifier recognition information First 8 characters Servo amplifier recognition information Last 8 characters Servo amplifier software number First 8 characters Servo amplifier software number Last 8 characters Read alarm history number Alarm history Detail 1 2 Alarm history Detail 3 4 Alarm history Detail 5 6 Alarm history Detail Occurrence time Alarm history clear command Regenerative load ratio Effective load ratio Peak load ratio Model loop gain LED display Optional transient command Servo motor ID SSCNETII Encoder ID Servo motor ID SSCNETII H Encoder resolution Servo amplifier serial number First 8 characters Servo amplifier serial number Last 8 characters Servo amplifier recognition information First 8 characters Servo amplifier recognition information Last 8 characters Servo amplifier software number First 8 characters Servo amplifier software number Last 8 characters Power ON cumulative time Inrush relay ON OFF number Read alarm history number Alarm history Detail 1 2 Alarm history Detail 3 4 Alarm history Detail 5 6 Alarm history Det
419. or Continues Relevant axis Axis operation start continue is not possible due to only stops incorrect program or parameter settings or external signal status Program execution continues Warning Continues An insignificant error is detected such as an incorrect program or parameter setting or imperfect control change timing Axis operation and program execution continue as is 1 Stop continue can be set in the Multiple CPU parameters for other CPUs 2 Refer to the following for details on stopping LCIMELSEC iQ R Motion Controller Programming Manual Positioning Control Setting operation at error detection Depending on the self diagnosis content operation when errors are detected can be set in the CPU parameters Refer to CPU parameter for details of setting contents 3 Page 48 CPU parameter 9 RAS FUNCTIONS 9 1 Self Diagnostics Function 241 Cancelling errors Continue errors minor errors or continue mode moderate errors and warnings can be cancelled Cancelling errors Use the following method to cancel errors after eliminating the cause Cancelling method with GX Works3 Cancel with GX Works3 Module diagnostics Cancelling method with MT Developer2 Cancel with MT Developer2 Motion Monitor Cancelling method with special relay Cancel with Error reset SM50 Errors that can be cancelled The following is a list of errors that can be cancelled Error type Informat
420. or Hazardous Materials or Chemicals Mining and Drilling and or other applications where there is a significant risk of injury to the public or property Notwithstanding the above restrictions Mitsubishi may in its sole discretion authorize use of the PRODUCT in one or more of the Prohibited Applications provided that the usage of the PRODUCT is limited only for the specific applications agreed to by Mitsubishi and provided further that no special quality assurance or fail safe redundant or other safety features which exceed the general specifications of the PRODUCTS are required For details please contact the Mitsubishi representative in your region INTRODUCTION Thank you for purchasing the Mitsubishi MELSEC Q R series programmable controllers This manual describes the specifications procedures before operation and wiring of the relevant products listed below Before using this product please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC Q R series programmable controller to handle the product correctly When applying the program examples provided in this manual to an actual system ensure the applicability and confirm that it will not cause system control problems Please make sure that the end users read this manual Relevant products R16MTCPU R32MTCPU COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES Method of ensuring compliance To en
421. or X Y1F0 X Y1F0 gt Specification 1F UO O gt Buffer memory address gt Intelligent function module or 1 0 module I O number e 00 to FF Intelligent function module I O No 050 buffer memory address 11 e U5 G11 3 6 Constants This section describes constants Decimal constants K These devices are used to specify decimal data in the program Specify with KO The specification range is determined based on the argument data type for the instruction using the decimal constant Hexadecimal constants H These devices are uses to specify hexadecimal data in the program Specify with HO To specify data by BCD specify each hexadecimal digit with O to 9 The specification range is determined based on the argument data type for the instruction using the hexadecimal constant 72 3 DEVICES 3 5 Module Access Device 3 7 Device Setting No of devices setting for user devices The number of devices used can be changed with the number of device points latch setting T R Series Common Parameter gt Motion CPU Module gt CPU Parameter gt Device Related Setting gt Device Points Latch Setting gt Detailed Setting Range 0 to 2FFF 0 to 2FFF O to 12287 Setting Setting 0 to 1FFF No Setting No Setting 0 to 2047 No Setting No Setting 0 to 20479 Setting Setting Oto 1FFF No Setting No Setting 0 to 12287 No Setting No Setting 42 9K Word 40 0K Word 46 0K Bit Set the device
422. or output speed was not reached upon detection of the last positioning address 1A59H Command address When the control unit is degree set the command If the control unit is degree set the command address in outside range during address within the range of 0 to 35999999 during position the range of 0 to 35999999 position tracking control tracking 1A5AH_ Stroke limit outside range The command address for the position tracking control Set the address of stroke limit range position tracking control exceeded the stroke limit range 1A5BH Command address Servo axis Servo axis outside range during During speed control with fixed position stop the Set the command address within the 0 to 35999999 fixed position stop speed command address for the fixed position stop command range control ON exceeds the range of 0 to 35999999 Command generation axis Command generation axis Set the command address within range 0 to Cam axis During speed control with fixed position stop the length per cycle 1 command address for the fixed position stop command ON exceeds the range of 0 to Cam axis length per cycle 1 1A5CH Target position outside Executed the target position change request CHGP of Set the target position after change in the range of 0 to range address specified so that the changed target position is 35999999 if the change request of address specified for outside the range of 0 to 35999999 for the axis unit the axis unit degree
423. or the appropriate IP settings Set the same value as the personal computer IP address Obtain an IP address automatically Use the following IP address IP address 192 168 3 iG Subnet mask 255 255 255 0 Default gateway 192 168 3 200 lt Setting for Motion CPU side gt Set the same value as the personal computer IP address Example 192 168 3 0l IP Filter Use or Not Disable Direct E Connection to MELSO Not Used Disable Direct Connection to MELSOFT E ble Do Not Respond to Search for CPU Modu Response Set whether to disable enable direct connection with MELSOFT Do Not Respond to E Search for CPU Modu Set whether to respond to search for CPU module on network or not e Set the IP address not used with aa devices connected to network E IP Filter Setting POSSE ees ena eee ee Example 0 0 0 39 4 la gt CPU side 1 F Detailed PLC Mode RCPU y Ethernet Port Direct Connection Connection via HUB Cancel lt Setting for MT Developer2 side gt Please select Connection via HUB when you use HUB even The bad fangs to be be yen themed Part Dect Er Cee s a Set the same value as the Motion CPU as a tere ting Detras jos E IP address the communicat f othe Jui n E e st Example 192 168 3 39 IP address CPU Type Title Comment Response Wait Time 2 sec TT
424. ording to the correct program Or create the non created Motion SFC automatic start setting or GSUB program 32F6H Double start error The same motion SFC program has already been started The double start management is executed in the user side when starting the motion SFC program according to the Insert the user starting signal into the transition condition automatic start setting or GSUB as the starting interlock condition 32F7H Writing during RUN The motion SFC program to be overwritten during online Start after online change is finished change is started 33FOH Motion SFC program Though not in branch coupling the label code jump code The Motion SFC program code is corrupted Turn error in the selective branch coupling or the label code jump Rq 1120 PLC ready flag OFF and write the Motion SFC code in the parallel branch coupling exists program again 33F1H Motion SFC program The start selective branching destinations are other than The Motion SFC program code is corrupted Turn error all SFT or WAIT transition Rq 1120 PLC ready flag OFF and write the Motion SFC program again 33F2H Motion SFC program WAITON WAITOFF is not followed by a motion control The Motion SFC program code is corrupted Turn error step However this is permitted to a pointer Pn or jump Pn Rq 1120 PLC ready flag OFF and write the Motion SFC program again 268 APPENDICES APPENDIX Appendix 1 Error Codes 33F3H
425. orks3 Multiple CPU synchronous startup setting 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 After startup each CPU requires time for initializing 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 Point 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 Multiple CPU synchronous startup setting Set Synchronize in the Multiple CPU synchronous startup setting of the CPU in System Parameter gt Multiple CPU Setting gt Multiple CPU Setting gt Operation Mode Setting gt Synchronous Startup Setting When not performing Multiple CPU synchronous startup 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 Clock synchronization between Multiple CPU Motion CPU clock data is synchronized with the clock of CPU No 1 The clock data used for synchronization in a
426. orm positioning operation for up to four axes simultaneously Not available Stop Stop request for axes in test operation Rapid stop Rapid stop request for axes in test operation Error reset Cancel error request and reset the warning error servo alarm Software stroke limit Hardware stroke limit Stroke limit check enabled disabled can be selected when software stroke limit is valid Stroke limit check enabled disabled can be selected when FLS signal setting or RLS signal setting is valid Not available Not available 6 COMMUNICATION FUNCTIONS 6 6 Test Mode 208 Differences between normal operation and test operation The differences between normal operation and multi axis test operation are shown below Normal operation Multi axis test operation JOG operation JOG operation is executed based on the set values of JOG operation data and positioning dedicated signals JOG operation is executed based on the set values in JOG operation on the test screen Home position return Proximity dog Dog cradle method When home position return retry function is not set and home position return is performed again a minor error error code 197BH occurs and home position reutrn is not performed Regardless of the home position retry function setting home position return can be performed again after home position return completion Stopper method Dogless ho
427. orrect the setting movement amount or the stroke limit amount software stroke range when speed position switching signal CHANGE is range so that the positioning control is within the range of limit outside range input stroke limit 19EFH Interpolation command e The next interpolation is ABS arc or ABS helical If ABS arc or ABS helical interpolation is designated at a incorrect after skip during interpolation upon skip execution under continuous path point after the skip designation point set an ABS linear continuous path control control interpolation point in the interval ABS arc or ABS helical interpolation is executed with passing through only the incremental positioning point after skip is executed under continuous path control 19FAH No specified servo The servo program set in servo program start does not Set the correct servo program No program exist 19FBH Axis No unmatch error The axis No set in servo program start does not match to Set the correct axis No axis No set in servo program 19FCH Servo program e The device number of the device that is set in the servo Revise the program so that the device number is instruction code error program is outside the range correct or revise the CPU parameter device numbers so An instruction that cannot be used in D P SVSTD they are within the range M P SVSTD instructions is set Set the correct instruction code 19FDH Servo program No Servo program No is outside the ran
428. osition stop was executed upper stroke limit value for the axis for which fixed for the axis which the stroke limit has been set other position stop speed control is started than degree Command generation axis Command generation axis Set the length per cycle other than 0 for fixed position The speed control with fixed position stop was executed stop speed control starting axis in command axis for the axis which the Pr 346 Command generation axis 1 cyclic length is 0 19EBH Speed control II The operation disable instruction VVF VVR was started The VVF VVR instruction cannot be started in an axis that execution impossible in an axis that does not support VVF VVR instructions does not support VVF VVR instructions 19ECH External input signal The positioning control which uses the external input Set the external input signal in the system setting setting error signal was executed for the axis which has not set the external input signal in the system settings 19EDH Other axes software The feed current value of another axis exceeded the Correct the setting movement amount or the stroke limit stroke limit outside range stroke limit value during the circular helical interpolation or range so that the positioning control is within the range of error detection simultaneous manual pulse generator operation For stroke limit detection of other axis errors 19EEH Setting movement The preset movement amount exceeded the stroke limit C
429. ositioning acceleration deceleration time input Set the setting of fixed position stop acceleration deceleration time within the range of 1 to 838868 ms 0A59H Command speed outside During continuous path control the command speed at a Set the speed command value within the range of 1 to range during continuous passing point is less than 0 Speed limit value path control OA5AH Positioning speed error During continuous path control the positioning speed at a Set the command speed within the range of bias speed during continuous path passing point does not reach the bias speed at start at start or more and speed limit value or less control Set the command speed within the range of Bias speed at start to Speed limit value OA5BH Torque limit change When the torque limit value change D P CHGT When the torque limit value change is requesting execute value outside range M P CHGT CHGT is requesting the positive direction the changing request to set the positive direction torque torque limit value or the negative direction torque limit limit value or the negative direction torque limit value within value was set outside the range of 1 to 10000 x0 1 l the range of 1 to 10000 x0 1 OA5CH The torque limit value The torque limit value change request D P CHGT Make the torque limit value change request to the axis not change error to the axis M P CHGT CHGT was made to the axis n
430. ot yet started yet started not yet started OA5DH Under bias speed at start The speed after change does not reach the bias speed Set the command speed within the range of Bias speed when changing speed at start when changing the speed at start to Speed limit value The speed from command speed of program x Set command speed of program x override ratio and override ratio does not reach the bias speed at start speed of speed change request x override ratio within The speed from speed change request x override ratio the range of Bias speed at start to Speed limit value does not reach the bias speed at start OA5EH Torque limit change The change value according to torque limit value change Specify the change request within the torque limit value value incorrect during request D P CHGT M P CHGT CHGT during speed during the speed torque control speed torque control torque control exceeded the torque limit value during speed torque control OA5FH Command speed The absolute value of command speed is outside the Set the speed within the range of 0 to Speed limit value in absolute value outside range of 0 to Speed limit value in speed torque control speed torque control after change range during speed during the speed torque control torque control OBDOH Input axis phase The phase compensation of input axis was below the Shorten the phase compensation advance time compensation over minimum value 2147483648 or a
431. path from OUT1 1CBFH The optical hub unit Communication with the optical hub unit is error Check if there exist any error in SSCNETII cable communication error Check if there exist any problem in power supply e Replace the optical hub unit 1FFOH Add on function minor Minor error has been occurred in add on function Check the detail information and refer to technology error manual of add on library that supported file name APPENDICES APPENDIX Appendix 1 Error Codes 267 Minor error SFC 3100H to 3BFFH Minor error SFC details and causes and corrective action are shown below Error Error name Error details and cause Corrective action code 31FOH No specified program Servo program Kn specified in motion control step does Create the specified servo program Kn not exist 31F1H No specified program The program Fn FSn specified in the operation control Create the specified operation control program Fn FSn step does not exist 31F2H No specified program The program Gn specified in the transition does not exist Create the specified transition program Gn 31F3H Invalid device The invalid device is set in the operation control step The Motion SFC program code is corrupted Turn specification Fn FSn transition Rq 1120 PLC ready flag OFF and write the Motion SFC Gn program again 31F4H Operation conditional No conditiona
432. plication setting S curve ratio Torque limit value Stroke limit valid invalid setting Operation permission for home position return incompletion Point e The set values of parameters other than those above advanced S curve acceleration deceleration deceleration processing on STOP input allowable error range for circular interpolation bias speed at start are default values during test mode e When JOG operation or positioning operation is executed during test mode and the torque limit value of the test mode operation axis is changed the torque limit value does not change back until it is reset by Motion SFC program or Motion dedicated PLC instruction 6 COMMUNICATION FUNCTIONS 6 6 Test Mode 209 Test mode transition cancellation At a test mode transition request initial processing is performed and parameters and programs are read Refer to initial processing for details of initial processing gt Page 62 Initial processing Test mode transition When transitioning to test mode all axes become servo OFF regardless of the servo ON OFF status Rq 1123 All axes servo ON command M2042 and Rq 1155 Servo OFF command M3215 20n turn ON In the following cases transition to test mode is not possible Rq 1120 PLC ready flag M2000 turns ON e There is an axis in operation An error occurred in the initial processing at test mode request transition Point Note that at tr
433. ported base unit is connected Disconnect the unsupported base unit If all the base units are supported the possible cause is a hardware failure of the CPU module or base unit Please consult your local Mitsubishi representative 2080H Inter module synchronization configuration error An inter module synchronization signal error has been detected The possible cause is a hardware failure of the CPU module base unit or module I O module or intelligent function module connected Please consult your local Mitsubishi representative 20E0H Invalid module A module that the CPU module cannot recognize is mounted Mount only applicable modules The possible cause is a hardware failure of the I O module or intelligent function module accessed Please consult your local Mitsubishi representative 2120H Memory card error The memory card was removed without the card being disabled Disable the memory card and then remove it 2121H Memory card error An error has been detected in the memory card Format the memory card or re insert the memory card If the same error code is displayed again the possible cause is a hardware failure of the memory card Replace the memory card 2122H Memory card error The CPU module did not start because the memory card was not restored during the startup processing Reset the CPU module If the same error code is displayed again the possible cause is
434. processing inside the Motion CPU is as follows Receipt refresh gt Motion SFC event task gt Motion operation gt Transmission refresh Furthermore if the operation cycle is shorter than the fixed scan communication cycle receipt refresh and transmission refresh are performed only at the operation cycle immediately after the fixed scan communication cycle i Fixed scan communication cycle y 7 i l D i gt Motion CPU 7 y i fxed cycle UA NS IRA processing i i j Receipt refresh Transmission refresh f lt onl p lt gt lt Motion operation cycle i i R Fixed scan communication data transmission section If using refresh fixed scan communication it is recommended that fixed scan communication cycles and Motion operation cycles be aligned 1 MULTIPLE CPU SYSTEM 2 1 3 Data Communication Between CPU Modules in the Multiple CPU System 7 Setting for communicating by refresh In the refresh settings up to 32 setting ranges refresh END and refresh 145 executing can be set for each CPU module XZ R Series Common Parameter gt System Parameter gt Multiple CPU Setting gt Communication Setting between CPU gt Refresh END Setting or Refresh 145 executing Setting gt Detailed Setting CPU1 Receive CPU2 Send Refresh Device CPU2 lt CPU Buffer Memory CPU1 The device will be used to receive the data from CPU1 The total points The applicable device of start
435. ption and unit integral power consumption of multiple modules 5 The servo amplifier command value is a command value for the servo amplifier Coordinates differ from those for the Motion CPU and therefore the result will not be 0 even if the home position is set 6 The torque command value is a command value for the servo amplifier Torque command values are only valid in speed torque control torque control mode and continuous operation torque control mode The previous value will remain for the torque command value when restoring to position control from torque control etc however it is not actually used 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 2 Optional Data Monitor Function 121 HiTransient command O Settable xX Unsettable Servo motor ID SSCNETII 3 0 O O 0304h 8 Motor ID Encoder ID 10 Encoder ID Servo motor ID SSCNETII 2 0 x O 0309h H Encoder resolution pulse 2 0 O O 0305h Servo amplifier serial number characters 4 0 x O 0306h First 8 characters Servo amplifier serial number characters 4 0 x O 0307h Last 8 characters Servo amplifier recognition characters 4 0 O O 0310h information First 8 characters Servo amplifier recognition characters 4 0 O O 0311h information Last 8 characters Servo amplifier software characters 4 0 O O 0312h number First 8 characters Servo amplifier software characters 4 0 O O 0313h
436. purchase or delivery to a designated place Note that after manufacture and shipment from Mitsubishi the maximum distribution period shall be six 6 months and the longest gratis warranty term after manufacturing shall be eighteen 18 months The gratis warranty term of repair parts shall not exceed the gratis warranty term before repairs Gratis Warranty Range 1 The range shall be limited to normal use within the usage state usage methods and usage environment etc which follow the conditions and precautions etc given in the instruction manual user s manual and caution labels on the product 2 Even within the gratis warranty term repairs shall be charged for in the following cases 1 Failure occurring from inappropriate storage or handling carelessness or negligence by the user Failure caused by the user s hardware or software design 2 Failure caused by unapproved modifications etc to the product by the user 3 When the Mitsubishi product is assembled into a user s device Failure that could have been avoided if functions or structures judged as necessary in the legal safety measures the user s device is subject to or as necessary by industry standards had been provided 4 Failure that could have been avoided if consumable parts battery backlight fuse etc designated in the instruction manual had been correctly serviced or replaced 5 Failure caused by external irresistible forces such as fires or abnormal volta
437. r Motion CPUs in which a different key from that for the program file is written A single security key can be written to multiple Motion CPUs If writing a security key create a key at the Security key management screen beforehand and then connect to the Motion CPU Security keys can only be written or deleted when the Motion CPU is in the STOP status Refer to following for details on operation LO Help of MT Developer2 XZ Project gt Security gt Security Key Setting Security Key Management jj Transfer Setup Q Select security key to use Name K y CreatedDate 7 11 2014 4 17 29 PM Project cou a Select write target of security key EZ Write Target Key Name Created Date fm cru Module Controller Data Key Name Created Date Standard ROM E Sa Motion SFC Program E Servo Program 5 4 Cam Data L Ejno 0001 Write procedure 1 Select the security key to be written to the Motion CPU from Name 2 Click the Write button from the CPU tab Deletion procedure 1 Click the Delete button from the CPU tab 6 COMMUNICATION FUNCTIONS 4 6 2 Security Function 79 IP filter function By identifying the IP address of the device with which communication is being performed access by specifying an unauthorized IP address can be prevented Access is restricted by allowing or blocking access from IP addresses of external devices set in t
438. r is ON Check the encoder cable communication error The encoder cable is disconnected when the multiple Set the synchronous encoder connected actually in the CPU system power is ON system setting The synchronous encoder specified in system setting differs from the synchronous encoder actually connected when the multiple CPU system power is ON 1BDEH Slave CPU synchronous The axis that input axis parameter Pr 320 Synchronous Keep the connection status for the input axis of the encoder transfer invalid encoder axis type has been set cannot be connected in specified master CPU master CPU 1BDFH Servo input axis speed Start speed control I when input axis parameter Pr 300 Set the Pr 300 Servo input axis type to be invalid Use control I start impossible Servo input axis type is not invalid the speed torque control function when operating the speed control that does not include positioning loops APPENDICES APPENDIX Appendix 1 Error Codes 263 1BE0H Main input axis number outside range The setting value of synchronous parameter Pr 400 Main input axis number is outside the setting range e The same servo input axis number as the output axis is set in the synchronous parameter Pr 400 Main input axis number Set within the range Set the servo input axis number that is different from the output axis 1BE1H Sub inpu
439. r slave when the operation cycle is set as For SSCNET I line please set the operation cycle more operation cycle among 0 222ms than 0 444ms drivers setting error 1CBOH Connected servo e The settings of the servo amplifier station No axis Set the settings of the servo amplifier station No axis amplifier station number selection rotary switch are overlapping in the same selection rotary switch so that they are not overlapping overlapping error system of SSCNETIT in the same system of SSCNETII The axis setting equal to the number of used axes setin Set the axes equal to the number of used axes set in the the servo amplifier is not set servo amplifier Checked the data error of SSCNETII communication Check the SSCNETIT cable Connection error damage check 1CB1H Connected servo The series of the servo amplifier specified in the system Set the series of the actually connected servo amplifier amplifier type unmatch setting differs from the series of the servo amplifier error installed 1CBEH The optical hub unit Connection number of the optical hub unit exceeds Set the numbers that can be connect to the optical hub 266 connection error APPENDICES APPENDIX Appendix 1 Error Codes connectable number per system The optical hub unit connected to connection route which accessing OUT2 or OUT3 unit as followings When connect the optical hub unit to back part of the optical hub please connect to diverge
440. rameter No SD117 Network No Network No SD118 Station No 1 Station No 1 A SD119 Numer epee i Number of parameter SD120 Line No 1 items SD121 Field No i Line No f Field No 1 b15 87 0 mee Parameter type 1 System parameter 2 CPU parameter 3 Module parameter 4 Module extension parameter 5 Memory card parameter 101 Servo network setting 102 Head module setting 103 Motion CPU basic setting 104 High speed input request signal setting 105 Mark detection setting 106 Limit switch output setting 107 Manual pulse generator connection setting 108 Vision system parameter Ethernet communication line 109 Vision system parameter Vision program operation 110 Multiple CPU refresh setting 111 Servo parameter 112 Axis setting parameter 113 Parameter block 114 Servo input axis parameter 115 Synchronous encoder axis parameter 116 Command generation axis parameter 117 Synchronous parameter 118 Boot operation file 119 Servo program 120 Motion SFC parameter 121 Motion SFC program 122 Cam data 123 Multiple CPU advanced synchronous control Parameter storage target 2 SD memory card 4 Standard ROM I O No 10h When parameter type is 3 Module parameter or 4 Module extension parameter S Occur an error 306 APPENDICES APPENDIX Appendix 4 Special Registers
441. rations done for the module as event history in the standard ROM of the Motion CPU or the SD memory card Once errors and operations are stored their occurrence history and other information can be checked chronologically This function helps to determine the causes of problems that have occurred in the equipment devices check the update status of the Motion CPU control data and detect unauthorized access Collects the information of events that occurred in the Motion CPU in a batch and saves it Displays the event information retained by the Motion CPU with MT Developer2 MT Developer2 Point The event history information is constantly collected regardless of the operating state of the Motion CPU There are occasions however when the event history information cannot be collected due to a major error in a module a base unit error a cable failure or some other cause Event history settings Under normal circumstances the event history function can be used with its default settings and need not be manually configured The storage memory and size settings for event history files can be changed as needed 5 Page 48 CPU parameter Saving event history This section describes events saving for the event history Modules from which event history information is collected For the Motion CPU only events that occ
442. rce Isde SD memory card e When specifying file delete delete specify the source as blank Destination rom Standard ROM Write the memory of the destination Isde SD memory card e When rom is written the files in the standard ROM are updated and the Motion CPU controls with the updated data after the file transmission at boot is completed e When specifying control data set pathset to the transmit mode specify as blank When file copy copy or file move move is specified and the source and destination are the same it is not processed Transmit mode copy Fie copy Write the transmit mode move File move delete File delete pathset Control data set 108 e When the specified file cannot be found or the transmit mode cannot be determined the file is not read and the next record next line is analysed e The files that are not specified by the boot operation file are read from the standard ROM e The characters for each field are not case sensitive e By writing at the beginning of a record 1 line the character string is determined to be a comment line and is ignored and analysis moves to the next record next line The character strings of the fields after the transmit mode are ignored and the next record next line is analysed e When a boot operation file is in both the standard ROM and SD memory card the boot operation file in the SD memory card is processed When there are too many files to
443. re that the Multiple CPU refresh range and latch range do not lie outside the range for the number of devices If the relevant device range is exceeded data may be written to another device or an error may occur 3 DEVICES 3 7 Device Setting 73 74 Siz 1emory capacity Set user devices so that they satisfy the following formula Bit device capacity word device capacity lt 128k words MBit devices For bit devices 16 points are calculated as 1 word X Y M B F Bit device capacity Lcda A 16 words Word devices For data registers D link registers W and Motion registers 16 points are calculated as 16 words Word device capacity D W x16 words An example of device point allocation is shown below Bit devices Input x Hexadecimal 12k 12288 points X0 to X2FFF 16 768 words Output Y Hexadecimal 12k 12288 points YO to Y2FFF 16 768 words Internal relay M Decimal 16k 16384 points MO to M16383 16 1024 words Link relay B Hexadecimal 1k 1024 points BO to BO3FF 16 64 words Annunciator F Decimal 4k 4096 points FO to F4095 16 256 words Word devices Data register D Decimal 22k 22528 points DO to D22527 x 1 22528 words Link register Ww Hexadecimal 5k 5120 points WO to W13FF x1 5120 words Motion register Decimal 15k 15360 points 0 to 15359 x1 15360 words Device total 45888 words 131072 words or
444. resh device per CPU Refer to device list for the range of devices that can be set Page 66 Device List Point P e Refer to Multiple CPU refresh setting for details on the Refresh at END and Refresh 145 executing settings lt 5 Page 28 Multiple CPU refresh setting Page 30 Multiple CPU refresh setting Q compatibility high speed refresh setting e If using the CPU fixed scan communication function set at GX Works3 or the inter module synchronization function set the cycles that can be set at the Motion CPU 0 222ms 0 444ms 0 888ms 1 777ms 3 555ms 7 111ms for the fixed scan communication cycle or inter module synchronization cycle A moderate error error code 2222H occurs if a cycle other than the above cycles is set Refer to relationship between fixed scan communication and inter module synchronization for details on the relationship with motion operation cycle settings 3 Page 41 Relationship between fixed scan communication and inter module synchronization 2 COMMON PARAMETERS 4 2 2 R Series Common Parameter 7 CPU parameter Set the operational details for the Motion CPU s functions Also regarding the overall system settings for which verification between CPUs is not necessary are also stored in these parameters O R Series Common Parameter gt Motion CPU Module gt CPU Parameter El Mame Setting 1 Title Setting Comment Setting Operation Related Setting RUN Contact Output Mode
445. ress of registered monitor e Cumulative current value Servo motor speed Selected droop pulse Load side encoder information 1 Load side encoder information 2 e Motor thermistor temperature e Servo command value Torque command value Optional address of registered monitor Transient e Servo amplifier recognition information First 8 Servo motor ID SSCNETII Encoder ID command characters Encoder resolution Servo amplifier recognition information Last 8 characters Servo amplifier software number First 8 characters Servo amplifier software number Last 8 characters Read alarm history number Alarm history Detail 1 2 Alarm history Detail 3 4 Alarm history Detail 5 6 e Alarm history Detail 7 8 e Alarm history occurrence time 1 2 e Alarm history occurrence time 3 4 Alarm history occurrence time 5 6 Alarm history occurrence time 7 8 Alarm history clear command e Main circuit bus voltage Effective load ratio Estimate inertia moment ratio Model loop gain LED display Optional transient command Servo amplifier recognition information First 8 characters Servo amplifier recognition information Last 8 characters Servo amplifier software number First 8 characters Servo amplifier software number Last 8 characters Power ON cumulative time Inrush relay ON OFF number Read alarm history number e Alarm history Detail 1 2 e Alarm
446. rmation system time SD765 latest file information information Note Elapsed time seconds up to the current time using Greenwich Mean Time 00 00 00 January 1st 1970 as the reference is stored SD769 Sampling settings Sampling settings The error code for the sampling error is stored This is cleared to 0 digital oscilloscope digital oscilloscope error when the next sampling is performed error cause cause 0 No error Other than 0 Error code SD803 SSCNET control Connect disconnect of Requests the connect disconnect of SSCNET communication and start U Command SSCNET communication release of amplifier less operation Start release of amplifier 0 No command less operation 1 to 32 Disconnect command of SSCNET communication 10 Connect command of SSCNET communication 20 Start command of amplifier less operation 25 Release command of amplifier less operation 2 Execute command D804 Servo parameter Servo parameter write read The write read request is executed after setting of the axis No and S U write read request request flag servo parameter No 1 Write request 2 Read request 3 2 word write request 4 2 word read request 0 is automatically set by Motion CPU after completion of servo parameter write read request 1 is stored by Motion CPU at write read error SD805 Axis No The axis No to write read servo parameter is stored U APPENDICES APPENDIX Appendix 4 Special Registers 315 SD806 Servo p
447. rolled by the Motion CPU Image data Various data created by the vision system s image process Not images acquired by the trigger Read value Numeric data retrieved in addition to the image data Spreadsheet A table 400 line x 26 row in which the job is written The program is created by writing the functions of various image processes etc in each spreadsheet cell Tag Symbolic tag associated with the spreadsheet cells 6 COMMUNICATION FUNCTIONS 6 5 Vision System Connection Function 191 System configuration This section explains the system configuration and precautions for using the Cognex vision system connection function Motion CPU O Servo amplifier SSCNETII H Alignment stage etc In Sight Explorer e MT Developer2 In Sight series up to 32 modules Ethernet HUB eese Ethernet cable Dedicated cable Point f The Motion CPU s PERIPHERAL I F does not support PoE so a PoE power source equipment PSE is required 4 92 6 COMMUNICATION FUNCTIONS 6 5 Vision System Connection Function Depending on the vision system used power supply by Power over Ethernet PoE may be required Features of vision system conn
448. ror SM1 Latest selfdiagnostics OFF No self diagnostic Turn ON if an error occurs as a result of self diagnosis error error Remains ON even if the condition is restored to normal thereafter ON Self diagnostic error After confirming the error details turn OFF by Error reset SM50 ON to OFF except for the stop error SM4 Warning detection OFF No warning e Turn ON if a warning occurs as a result of self diagnosis S Occur a ON Warning e Remains ON even if the condition is restored to normal thereafter warning After confirming the error details turn OFF by Error reset SM50 ON to OFF except for the stop error SM50 Error reset OFF to ON Error reset Error is reset at OFF to ON S U Status request Turns ON to OFF when error reset is complete change ON to OFF Error reset complete SM53 AC DC DOWN OFF AC DC DOWN not e Turn ON if an instantaneous power failure of within 20 ms occurs S Occur an detected during use of the AC power supply module Reset when the power error ON AC DC DOWN supply is switched OFF then ON detected Turn ON if an 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 SM56 Instruction execution OFF Normal Turn ON if an instruction execution error type error occurs fault ON Instruction execution Remains ON even if the condition is restored to normal thereafter error SM61 I O module verify OFF Nor
449. rror has been detected Please consult your local Mitsubishi representative 2470H Another CPU module A major error has been notified from another CPU module Reset the CPU module and run it again If the same error major error code is displayed again the possible cause is a hardware failure of the host CPU module or another CPU module where the error has been detected Please consult your local Mitsubishi representative 2480H Multiple CPU error In the multiple CPU system an error has been detected Check the detailed information system configuration in the CPU module where Stop is set in the operation information identify the error CPU module and mode setting parameter eliminate the error cause Any CPU module other than CPU No 1 is mounted in Remove the CPU module from the inapplicable slot the inapplicable slot An error occurs in the CPU module mounted in the inapplicable slot 2481H Multiple CPU error In the multiple CPU system any CPU module other than Check the mounting status and reset status of the CPU CPU No 1 was disconnected from the base unit during modules other than CPU No 1 operation Or any CPU module other than CPU No 1 was reset 24C0H System bus error An error was detected on the system bus Take measures to reduce noise Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the CPU module base unit extension cable or module
450. rt of JOG operation simultaneous start for the JOG operation 0988H Manual pulse generator The manual pulse generator input magnification is outside Set the manual pulse generator input magnification within input magnification the range of 1 to 10000 the range of 1 to 10000 outside range 098EH Manual pulse generator The manual pulse generator start specified axis number is Set the manual pulse generator start specified axis start specified axis more than 4 number less than 3 number over 098FH Manual pulse generator The manual pulse generator smoothing magnification is Set the manual pulse generator smoothing magnification smoothing magnification outside the range of 0 to 59 within the range of 0 to 59 outside range 0991H Speed limit value over The speed after the change is out of the range of 0 to Set the speed within the range of 0 to Speed limit value Speed limit value Unable to change to a minus speed control after change e The absolute speed value after the change is out of the Set the speed absolute value within the range of 0 to range of 0 to Speed limit value Speed limit value after change The speed from command speed of program x override Set command speed of program x override ratio and ratio is out of the range of 0 to Speed limit value speed change request x override ratio within the range The speed from speed change request x override ratio of 0 to Speed limit value is out of the range of 0 to Sp
451. rward rotation friction bO only reverse rotation friction b4 only and vibration estimation b8 of the machine diagnostic status are ON and the machine diagnosis is completed normally When the values are not that of estimation completion and machine diagnosis fails repeat the operating procedure starting from procedure 2 4 Check the stored values in the devices set by friction estimation data vibration estimation data Point When the correct machine diagnosis conditions are not reached at the time of machine diagnosis estimation the friction estimation data and vibration estimation data are not stored Refer to the following manual to make sure the correct machine diagnosis conditions are reached LA Servo amplifier Instruction Manual Setting example An example for setting machine diagnostic status friction estimation data and vibration estimation data in the data type of the optional data monitor is shown below Ex When setting Setting 1 to Setting 3 of optional data monitor and storing friction estimation data to W50 to W53 and vibration estimation data to W60 to W63 e Optional data monitor setting Item Setting value Remarks Setting 1 Data type Machine diagnostic status The data returned by the machine diagnostic status is stored in W8 Settings and operations are not performed in WO to W7 Address Transient ID The friction estimation status can be checked as follows Storage
452. ry Install with Add on module MT Developer2 SD memory card The add on modules inside the add on library are executed by the following methods Automatically execute at a selected timing The add on module is automatically executed at one of the selected timings below Refer to the instruction manual of the add on library installed for details of execution timing At initialization of Motion CPU At the switching between OFF ON of Rq 1120 PLC ready flag M2000 e Every operation cycle e Every main cycle Call from the user program With the Motion SFC program MCFUN instruction the add on module can be called from the user program When calling from the user program specify the add on module with the module name that is registered when the add on module is installed and deliver the input value and output value by device Ex Calling the add on module with the module name AddonFunc1 with the MCFUN instruction MCFUN AddonFunc1 D5000 D5100 M0 Refer to the following for details of the MCFUN instruction LAMELSEC iQ R Motion Controller Programming Manual Program Design Refer to the instruction manual of the add on library installed for details of the MCFUN instruction for each add on module 8 MOTION CPU MEMORY STRUCTURE 2 8 5 Add on Function 37 Add on module structure An add on module comprises
453. s 1 and actual processing is not yet performed Perform processing by setting the execution command FFFEh in the File transmission request SD820 If an axis No 00h to 20h or cam No 000h to 400h that has not been set in the system is set the status returns to awaiting command acceptance 0 and the File transfer status SD554 does not change to the awaiting execution status 1 If any of the following occur while File transfer status SD554 is being executed 2 an error occurs and file transfer is terminated The File transmission request SD820 status changes to awaiting request acceptance 0 The target file does not exist Transferring from file to built in memory The target file cannot be opened The target file is corrupt The target folder capacity is insufficient Transferring from built in memory to file The content of the servo parameter file is incorrect The cam file content is incorrect The cam open area size is insufficient 4 04 4 AUXILIARY AND APPLIED FUNCTIONS 4 7 File Transfer Function operation Operation when the file transfer target is a servo parameter file is as follows Built in Any given 1 axis The target axis servo parameter open area content is written to the servo parameter file memory to file If an error occurs during execution the servo parameter file is not updated transfer All axes The servo parameter open area content is written
454. s is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range APPENDICES APPENDIX Appendix 1 Error Codes 277 3A58H B n read error The indirectly specified device No is outside the range Correct the program so that the device No which indirectly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A59H F n read error The indirectly specified device No is outside the range Correct the program so that the device No which indirectly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A60H 16 bit batch Xn read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A61H 32 bit batch Xn read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A62H 16 bit bat
455. s on special relays and special registers Special relay Page 295 Special Relays Special register Page 300 Special Registers Device Number Name Special relay SM484 Fixed scan data transmission section over Special register SD484 Fixed scan data transmission section over count 2 1 MULTIPLE CPU SYSTEM 3 1 3 Data Communication Between CPU Modules in the Multiple CPU System Inter module synchronization function Inter module synchronization function overview By using the inter module synchronization function control timing can be synchronized across Motion CPUs I O modules and intelligent function modules By enabling inter module synchronization for modules controlled by a Motion CPU motion control and synchronized I O control are possible e With the inter module synchronization function each module executes a Inter module synchronization interrupt program to perform fixed cycle control At the Motion CPU overall Motion CPU fixed cycle processing Motion SFC fixed cycle event tasks motion operation processing etc corresponds to the inter module synchronization interrupt program By enabling the inter module synchronization function between Multiple CPUs the execution timing for self CPU Motion CPU fixed cycle processing and other CPU inter module synchronization interrupt programs PLC CPU 144 interrupt program Motion CPU fixed cycle processing can be synchronized e Set the inter module sy
456. set to the project in engineering tool differs from that of the CPU module accordance with the CPU module actually mounted actually mounted 2240H Parameter error In the multiple CPU system the I O module or intelligent Check the detailed information parameter information module function module controlled by another CPU module is and correct the parameter setting corresponding to the specified in the module parameters displayed number If the same error code is displayed again the possible cause is a hardware failure of the data memory in the CPU module or the module I O module or intelligent function module connected Please consult your local Mitsubishi representative 2241H Parameter error The I O numbers set in the system parameters differ Check if the system configuration displayed on the module from those of the module actually mounted system monitor window of the engineering tool match The target module is not mounted on the slot where the the actual system configuration system parameters and module parameters are set Check the detailed information parameter information The module type set in parameter differs from that of the and correct the parameter setting corresponding to the module actually mounted displayed number If the same error code is displayed again the possible cause is a hardware failure of the data memory in the CPU module or the module I O module or intelligent function module connected Please consu
457. setting Set the bit device used for the forced stop to perform a forced stop for all servo amplifier axes together Refer to device list for the range of bit devices that can be set 1337 Page 66 Device List No default value has been set The set bit device is designated 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 54 2 COMMON PARAMETERS 2 3 Motion CPU Common Parameter File transmission setting during booting Set the operation for performing the file transmission at boot function Refer to file transmission at boot function for details of the file transmission at boot function 137 Page 107 File Transmission at Boot Function The file transmission at boot settings from the last time power supply was shutoff are valid when the power supply of the Multiple CPU system is turned ON Standard ROM write permission read protection Moving or copying to the standard ROM is permitted for files saved outside of the standard ROM Moving or copying out of the standard ROM is protected for files saved in the standard ROM Standard ROM write protection read protection Moving or copying to the standard ROM is protected for files saved outside of the standard ROM Moving or copying out of the standard ROM is protected for files saved in t
458. setting This counter is valid even is inter module synchronization is not used SD484 Fixed scan data 0 Fixed scan data Stores the count for the motion operation process not completed by the APPENDICES APPENDIX Appendix 4 Special Registers 309 SD502 SD503 SD504 e Checks the connection status Installed 1 Not installed 0 of the Servo amplifier loading information SSCNETII H compatible optical hub unit loading information line 1 Servo amplifier loading information SSCNETII H compatible optical hub unit loading information line 1 SD506 SSCNETII H compatible optical hub unit loading information line 2 SSCNETII H compatible optical hub unit loading information line 2 The servo amplifier installation status is checked when the multiple CPU system power is turned ON or when the system is reset and the result is stored as bit data b15 to b12b11 to b8b7 to SD502 Axis 16 to Axis 13 Axis 12 to Axis 9 b4 b3 to bO Axis 8 to Axis 5 Axis 4 to Axis 1 SD503 Axis 32 to Axis 29 Axis 28 to Axis 25 Axis 24 to Axis 21 Axis 20 to Axis 17 gt 0 Not mounted 1 Mounted The system is reset when communication with the servo amplifier is interrupted The mounting status of changed axis after the power supply on is stored The servo amplifier installed not installed status is as follows Installed The servo amplifier status is normal normal communication wit
459. setting Fixed parameter O x Set the fixed data based on the control parameter mechanical system etc of the controlled parameter axis Home position O x Set the data required for the home return data position return JOG operation data O O Set the data to perform the JOG operation External signal O x Set the external signals upper stroke limit parameter FLS lower stroke limit RLS stop STOP and proximity dog or speed position switching DOG CHANGE used for each axis Expansion O O Set when the following functions are used parameter Individual monitoring of positive and negative direction torque limit values Change the acceleration deceleration time when changing speed When performing positioning control in the absolute data method in degrees specify the positioning direction Speed torque O x Set when the speed torque control is control data performed Optional data O x Set the type of the monitored data and the 7 Page 120 monitor storage device when the servo amplifier Optional data status etc is monitored monitor setting Pressure control O x Set when performing pressure control that a data uses a profile Override data O x Set when using the override function Vibration O x Set when using vibration suppression suppression command filter function command filter data Servo parameter O O Parameters for the servo amplifier are set based on the specifications for
460. signal confirmed in the inter module synchronization cycle thereafter Clear error detection with power supply OFF to ON or reset occurrence SM500 PCPU READY ON PCPU READY When the Rq 1120 PLC ready flag M2000 turn OFF to ON the S Request complete completion fixed parameters servo parameters and limit switch output data etc OFF PCPU READY are checked and if no error is detected this flag turns ON Also incompletion performs write of servo parameters to the servo amplifier and clearing of M codes Rq 1120 Turn OFF with PLC ready flag M2000 OFF Rq 1120 PLC ready flag M2000 t PCPU READY complete SM500 t Dl Write of servo parameter to servo amplifier clearing M code SM501 Test mode ON ON TEST mode ON Judge whether TEST mode ON or not using MT Developer2 Used OFF Except TEST mode for interlock conditions etc when performing servo program start with a Motion SFC program SM502 External forced stop ON Forced stop OFF Confirm forced stop ON OFF S Operation input OFF Forced stop ON If an external forced stop is input during positioning the feed current cycle value becomes the same value as the actual current value Simultaneously Rq 1123 All axes servo ON command M2042 turns OFF and so the servo turns OFF As the rapid stop deceleration time progresses after the forced stop input the feed current value returns to the current value at the moment the forced stop occurred If the forced st
461. sing time SD574 Motion SFC event task 0 888ms processing time SD575 Motion SFC event task 0 444ms processing time SD576 Motion SFC event task 0 222ms processing time SD578 Motion SFC event task external interrupt processing time SD579 Motion SFC event task PLC interrupt processing time SD580 Motion SFC NMI task processing time SD581 Fixed cycle system processing time SD582 Motion operation task processing time SD583 CPU refresh 145 executing processing time SD584 Motion SFC event task time within operation cycle 14 222ms SD585 Motion SFC event task time within operation cycle 7 111ms SD586 Motion SFC event task time within operation cycle 3 555ms SD587 Motion SFC event task time within operation cycle 1 777ms SD588 Motion SFC event task time within operation cycle 0 888ms SD589 Motion SFC event task time within operation cycle 0 444ms SD590 Motion SFC event task time within operation cycle 0 222ms SD592 Motion SFC event task external interrupt time within operation cycle SD593 Motion SFC event task PLC interrupt time within operation cycle SD594 Motion SFC NMI task time within operation cycle SD595 Fixed cycle system processing time within operation cycle SD596 Motion operation task time within operation cycle SD597 CPU refresh 145 executing time within operation cycle 9 RAS FUNCTIONS 9 2 Safety Functions 245 9 3 Event History Function The Motion CPU stores errors detected by the module ope
462. so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A07H WnL read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A08H Wn F read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A09H n read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A0AH nL read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A0BH nF read error The directly specified device
463. sponding to the vision system that is executing the job BVision Program Name Set the name of the job executed by the vision system dedicated function 4 98 6 COMMUNICATION FUNCTIONS 6 5 Vision System Connection Function MStatus Storage Device Set the word device that stores the job s load status and the vision system s online offline status Refer to device list for the range of word devices that can be set Page 66 Device List Both of them are set to 0 at the Multiple CPU system s power supply ON The job s load status is indicated with the following values Storage value Status 0 Job not loaded or offline The job is not loaded or even if loaded is offline An error occurs if a trigger is issued 1 Job loading completed The job has been loaded and is online The job is executed if a trigger is issued and online Point The vision program status storage device value is refreshed at the following timing e When a job is loaded by the MVLOAD instruction or MVPST instruction Refreshed immediately after loading e When the vision system s online offline status changes e When a job is loaded from a source other than the Motion CPU In Sight Explorer etc Refreshed several seconds after loading e When job is loaded and an online vision system is logged onto with the MVOPEN instruction Refreshed several seconds after logging on Read Value Cell Read Value Storage Dev
464. stem 2 function Motion main process Communication process with the peripheral devices Auto refresh process Normal task process of Motion SFC 3 Low i Point i The communication process with the vision system has a lower priority than the motion operation cycle so the motion operation processing time is not affected Even if the vision system dedicated function is executed from the Motion SFC event task or NMI task communication process with the vision system is executed after the motion operation process 4 94 6 COMMUNICATION FUNCTIONS 6 5 Vision System Connection Function Vision system parameter setting This section describes the setting items for vision system parameter system When writing the vision system parameters into the Motion CPU execute one of the following e Select the menu bar Check Convert Vision System Parameter Check Click Convert button of Ethernet communication line setting screen or vision program operation setting screen ernet Communication Line Setting Set the parameters related to the vision system Ethernet communication O Motion CPU Common Parameter gt Vision System Parameter gt Ethernet Communication Line Vision System No IP Address 10 0 50 101 E Port No Set the port number used for communication with the vision system For Telnet Communication For TCP IP Communication User Name i i mitsubishi Password itsubishi mitsubishi
465. sure that Mitsubishi programmable controllers maintain EMC and Low Voltage Directives when incorporated into other machinery or equipment certain measures may be necessary Please refer to one of the following manuals LUIMELSEC iQ R Module Configuration Manual LU Safety Guidelines This manual is included with the base unit The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage Directives Additional measures To ensure that this product maintains EMC and Low Voltage Directives please refer to the following manual LCIMELSEC iQ R Motion Controller User s Manual 10 CONTENTS SAFETY PRECAUTIONS 200 a es CONDITIONS OF USE FOR THE PRODUCT 0 0 000000 c eee ee INTRODUCTION goss e tar Sere as ey aa sale ae ek a Se ab heed COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES 0 0 0 0005 RELEVANT MANUALS o omar id ahead ii e had whee kee Pad eee a kaa ed CHAPTER 1 MULTIPLE CPU SYSTEM 1 1 Multiple CPU System 0 rera sic o e e le e eon inte eee OVE EW si ae ana il iio e lea guess ee Restrictions on Multiple CPU systems using Motion CPUs 0 00000000 Module control with Motion CPUS o coccocccccccco eee ae 1 2 Setting Operation for Multiple CPU System 00 02 cece eee eee eee Setting operation for CPU module stop error oococcccccco Multiple CPU synchronous startup setting 0 0 0 0 cece eee Clock synchronizatio
466. t fixed cycle epep pea a on xec scan input refresh Operation cycle TRY Fixed scan j refresh cycle refresh transmission refresh AEN processing 7 transmission l section i section i i i OK the send data can be seen NG the send data cannot be seen from from other CPU in next cycle other CPU in the next cycle because data write was not completed by the beginning of the transmission section Checks are performed as follows depending on the relationship between the motion operation cycle and fixed scan communication cycle When motion operation cycle lt fixed scan communication cycle A check is performed only when an operation cycle over condition is detected and not performed otherwise When motion operation cycle fixed scan communication cycle A check is performed every cycle When motion operation cycle gt fixed scan communication cycle A check is performed only at the fixed scan communication section immediately before the motion operation cycle No check is performed part of the way into a fixed scan communication section during a motion operation cycle thus if a cycle shorter than the motion operation cycle is referenced from another CPU separation may occur even if no error occurs when performing this check Special relay special register The special relay and special register relating to the fixed scan data communication section excess check are shown below Refer to the following for detail
467. t vision system can be connected to the PERIPHERAL I F of the Motion CPU The vision system dedicated functions have been added to the Motion SFC program making it easy to control the vision system from the Motion SFC program Refer to the Cognex vision system manual or help sections for details on the In Sight vision system and Cognex vision system integrating tool In Sight Explorer The following terms are used to explain the vision system connection function In Sight Explorer Abbreviation for Cognex vision system integrating tool In Sight Explorer Version 4 3 0 or later Log on Log off Procedure to connect disconnect the communication to the vision system from the Motion CPU PoE Abbreviation for Power over Ethernet Method of supplying power via an Ethernet cable Native mode Vision system s communication method used to control the vision system from the Motion CPU TCP IP One of vision system s communication protocol names Job Vision program Program that processes images in the vision system Load Trigger The process of developing a job file stored in the vision system into the memory in the vision system and making it an active job Start signal for acquiring images Vision system status storage device Device that stores the status of the vision system controlled by the Motion CPU Program status storage device Device that stores the status of jobs cont
468. t RX RWr Output RY RWw Status device O x O O Monitor device x x O x Command device O x O O Motion Axis setting Home position Word device setting item x x O x control parameter return data parameter External signal Bit device setting item O x x parameter Expansion Bit device setting item O O x x parameter Word device setting item x x O x Speed torque Bit device setting item O O x x control Word device setting item x x O x parameter Optional data Storage device No x x O x monitor Pressure Bit device setting item O O x x control data Word device setting item x x O x Override data Word device setting item x x O x Vibration Bit device setting item O O x x suppression Word device setting item X x O x command filter data Synchronous Command Bit device setting item O O x x control generation axis Word device setting item x x O x parameter parameter Multiple CPU Status device setting O O O x advanced synchronous control setting Device allocation A x A x 3 DEVICES 3 1 Device List Latch function A x A x Program Motion dedicated Device writing to Motion CPU D P DDWR O x A O sequence command M P DDWR Reading from Motion CPU device O A O D P DDRD M P DDRD Servo program K Servo Bit device setting item O O x O ord device setting item x x command Word devi an O o Positioning data Bit device setting item O O x O Word device setting item
469. t request signal is input The detection accuracy is the operation cycle regardless of the high speed input request signal type A Operation cycle kK m Word device data Latch data A gt t High speed input request signal Mark detection data storage device Set the mark detection data storage device first device to use in the Specified Number of Detections mode or Ring Buffer mode When using the Specified Number of Detections mode or Ring Buffer mode reserve the device area to accommodate the number of detections Word devices are set for mark detection data storage devices Set an even number at the start of the device for 32 bit integer type 64 bit floating point type devices If storing 64 bit floating point type data in specified number of detection mode or ring buffer mode mark detection data cannot be stored when the device No for which mark detection data is stored is the end device No 1 Refer to device list for the range of word devices that can be set t Page 66 Device List Ex In the below case mark detection data is stored in W1FFA F for the first mark detection however data is not stored for subsequent mark detections Data type 64 bit floating point type data Mark detection data storage device W1FFA Mark detection mode Specified Number of Detection mode or Ring Buffer mode Number of mark detections set 2 or more 4 AUXILIARY AND APPLIED FUNCTIONS
470. t 380 Synchronous control M10880 n is OFF e When Rq 320 Synchronous encoder axis control request M11601 4n is OFF e When mark detection is not used 4 AUXILIARY AND APPLIED FUNCTIONS 4 2 External Input Signal 4 3 Mark Detection Function Any motion control data and all device data can be latched at the input timing of the high speed input request signal Also data within a specific range can be latched by specifying the data detection range The following three modes are available for execution of mark detection Continuous Detection mode The latched data is always stored at mark detection Operation is the same as the high speed reading function High speed input request signal Mark detection data f f f storage device 0n Specified Number of Detection mode The latched data from a specified number of detections is stored Ex Number of detections 3 High speed input request signal A 7 A Mark detection data 1 ii storage device 0n A The 4th detection and later are ignored 1n N 2n 4 The 3rd detection 3n Ring Buffer mode The latched data is stored in a ring buffer for a specified number of detections The latched data is always stored at mark detection Ex Number of detections 4 High speed input request signal Mark detection data f f f i storage device 0n
471. t a user from those set in the vision system to be used when executing the vision system dedicated functions Point Select a user name for which the access level is set to Full Access or Protect in the In Sight Explorer user list Password Set the password corresponding to the set user name Status Storage Device Set the word device in which the vision system status and vision system dedicated function error codes are set Refer to device list for the range of word devices that can be set 37 Page 66 Device List Point Set the device No as an even number The vision system status and error code of vision system dedicated function are stored in two successive points of the specified device as shown below Specified device Vision system status gt 0 Error code of vision system gt dedicated function wl 4 96 6 COMMUNICATION FUNCTIONS 6 5 Vision System Connection Function Both of them are set to 0 at the Multiple CPU system s power supply ON Refer to error codes for the error code of vision system dedicated function Page 249 Error Codes The vision system status is indicated with the following values 0 Not connected Status before logging onto the vision system 10 Connecting Status while executing log onto the vision system 20 Reception enabled Status in which the vision system has been logged onto and the vision system dedicated functions can be execut
472. t axis number The setting value of Pr 401 Sub input axis number is Set within the range outside range outside the setting range Set the servo input axis number that is different from the The same servo input axis number as the output axis is output axis set in the synchronous parameter Pr 401 Sub input axis number 1BE2H Main shaft gear Set the value of synchronous parameter Pr 404 Main Set within the range of 1 to 2147483647 denominator outside shaft gear denominator less than 0 range 1BE3H Main shaft gear The input value is overflowed sign reverse because the Reduce the absolute value of synchronous parameter operation overflow gear ratio of main shaft gear is large Pr 403 Main shaft gear numerator Increase the synchronous parameter Pr 404 Main shaft gear denominator Slow down the input axis speed 1BE4H Main shaft clutch control The value of synchronous parameter Pr 405 Main shaft Set within the range setting outside range clutch control setting is set outside range 1BE5H Main shaft clutch A value outside the range of O to 1 was set in synchronous Set within the range of O to 1 reference address parameter Pr 406 Main shaft clutch reference address setting outside range setting 1BE6H Main shaft clutch A value outside the range of O to 5 was set in synchronous Set within the range of 0 to 5 smoothing method parameter Pr 411 Main shaft clutch smoothing system outside range 1B
473. t for each channel is judged with either the OR condition or AND condition OR and AND conditions cannot be combined and used for each channel OR condition AND condition The trigger turns ON if any of the conditions for each channel data are established The trigger turns ON if all of the conditions for each channel data are established e Trigger conditions Trigger conditions are set for each channel The number of channels for which trigger conditions are set is 16 channels in word data and 16 channels in bit data for number of probe settings 1 Bit trigger pattern No setting ON When the channel value is ON OFF When the channel value is OFF t When the channel value changes from OFF to ON 4 When the channel value changes from ON to OFF 2 Word trigger pattern These are the conditions when compared with the value specified for the trigger reference value trigger value Increase direction Decrease direction When the channel value changes from a value smaller than the trigger value to the trigger value or greater When the channel value changes from a value greater than the trigger value to the trigger value or smaller Increase or decrease direction When the channel value changes from a value smaller than the trigger value to the trigger value or greater or from a value greater than the trigger value to the trigger value or smaller Trigger reference value The trigger refere
474. t the data of S is within the integer value range of unsigned 32 bit integer value 3954H FLOAT execution error Internal processing error occurred when FLOAT is The Motion SFC program code is corrupted Turn executing Rq 1120 PLC ready flag OFF and write the Motion SFC program again 3955H UFLOAT execution error Internal processing error occurred when UFLOAT is The Motion SFC program code is corrupted Turn executing Rq 1120 PLC ready flag OFF and write the Motion SFC program again 272 APPENDICES APPENDIX Appendix 1 Error Codes A 3956H DFLT execution error The data of S is not in a valid 32 bit floating point type Correct the program so that the data of S is valid as the 32 bit floating point type 3957H SFLT execution error e The data of S is not in a valid 64 bit floating point type Correct the program so that the data of S is valid as e The converted value exceeded the range of 32 bit the 64 bit floating point type floating point type Correct the program so that the value is within the range of the 32 bit floating point type 3962H TAN execution error S is 90 180 n n is an integer Correct the program so that S is outside the range of 90 180 n 3963H ASIN execution error S is outside the range of 1 0 to 1 0 Correct the program so that S is within the range of 1 0 to 1 0 3964H ACOS execution error S is outside the r
475. task enable may be executed in the normal task task only Correct the program 3902H DI execution error Event task disable was executed except for the normal Event task disable may be executed in the normal task task only Correct the program 3903H BMOV execution error S to S n 1 is outside the device range Change S or n so that the block transfer range is S is a bit device and its device number is not a multiple within the device range of 16 When S is a bit device correct the program so that the D to D n 1 is outside the device range device number to be multiple of 16 e D is a bit device and its device number is not a multiple Change D or n so that the block transfer range is of 16 within the device range e n is outside the range of 0 to 1000000000 When D is a bit device correct the program so that the The combination of S and D is not correct device number to be multiple of 16 Correct the program so that n is within the range of 0 to 1000000000 Correct the program so that the combination of S and D is correct 3904H TIME execution error The data of S is outside the range of 0 to 2147483647 Correct the program so that the data of S is within the 270 APPENDICES APPENDIX Appendix 1 Error Codes range of 0 to 2147483647 3905H FMOV execution error e D to D n 1 is outside the range of the device
476. tch setting of relation setting of CPU parameter within the valid range 3A67H 32 bit batch Bn read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A68H 16 bit batch Fn read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A69H 32 bit batch Fn read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A6AH 16 bit batch SMn read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 278 APPENDICES APPENDIX Appendix 1 Error Codes 3A6BH 32 bit batch SMn read error The directly specified devic
477. ter within the valid range APPENDICES APPENDIX Appendix 1 Error Codes 279 3A90H MCFUN Execution Error The add on module specified in S1 is not registered The string specified in S1 exceeds the range of the characters number The device numbers in S2 and D1 are odd The device numbers which indirectly specifies S1 S2 D1 and D2 are illegal The called add on module returns to abnormal termination Specify the registered add on module Correct the program so that it will be within the character range Correct the program so that S2 D1 is an even number device Correct the program so that the device No which indirectly specifies is proper Remove the conditions that may cause add on module error 280 APPENDICES APPENDIX Appendix 1 Error Codes Moderate error 2000H to 3BFFH Moderate error details and causes and corrective action are shown below Error Error name Error details and cause Corrective action code 2000H Module configuration The module type set in the system parameters I O Re set the module type in the system parameters in error assignment setting differs from that of the module actually accordance with the CPU module or intelligent function mounted module actually mounted 2001H Module configuration The I O numbers set in the system parameters I O Re set the I O numbers in the syst
478. test mode O Help of MT Developer2 The test mode operation differs depending on the operating system software and MT Developer2 version performing test mode The combinations for the operating system software and MT Developer2 version are shown below Multi axis test operation 04 or later 1 115V or later 1 1128 or earlier 03 or earlier 1 112S or earlier Single axis test operation Test mode specifications The test mode specifications are shown below Operation axes selection Select up to four axes for performing test operation Select one axis for performing test operation Operation axes servo Servo ON ON OFF Servo ON the axes performing test operation When a linear servo or DD motor are included in the operation axes execute magnetic pole detection one axis at a time All axes servo ON Each selected axis Servo ON Servo OFF Servo OFF the axes performing test operation All axes servo OFF Each selected axis Servo OFF JOG operation Perform JOG operation for up to four axes simultaneously Perform JOG operation for the specified axis Home position return Perform home position return of the selected start axis Perform home position return for the specified axis Current value change Perform current value change for up to four axes simultaneously Perform current value change for the specified axis Positioning operation Perf
479. the file passwords are determined as not matched 2 A moderate error error code 3072H occurs Boot file transmission from standard ROM to SD memory card No such combination Files are stored File password set Files are stored File password set Matched Transmission not permitted Not matched Transmission not permitted No file password set Transmission not permitted No files are stored Transmission not permitted No file password set Files are stored File password set Transmission not permitted No file password set Transmission permitted No files are stored Transmission permitted When a read protect and a write protect password are set if one of the passwords do not match the file passwords are determined as not matched 2 A moderate error error code 3072H occurs When performing file delete delete the files to be deleted will be deleted regardless of whether there is a file password set or not 4 4 2 4 AUXILIARY AND APPLIED FUNCTIONS 4 8 File Transmission at Boot Function When a security key is set to a program file and the security key of the program file does not match the security key of the Motion CPU a moderate error error code 3072H occurs and file transmission is not performed A moderate error error code 3072H also occurs when a security key is not written to the Motion CPU ETransmitt
480. the following for home position return operation LCIMELSEC Q R Motion Controller Programming Manual Positioning Control Home position return without passing motor Z phase When 1 is set in the first digit of the parameter of VCI series Select function for SSCNETII on communicate mode P612 it is possible to carry out the home position return without passing the zero point Return to home position after power is supplied will be executed when passing of motor Z phase is not necessary When 0 is set a minor error error code 197AH occurs because the home position is executed without passing the motor Z phase motor reference position signal Control mode Control modes that can be used are shown below e Position control mode position control and speed control including position loop Speed control mode speed control not including position loop Torque control mode torque control However it is not available to switch to continuous operation to torque control mode of Speed torque control If the mode is switched to continuous operation to torque control mode a minor error error code 19E7H occurs and the operation stops 1 Feedback torque cannot be set in Torque initial value selection at control mode switching If it is set a warning error code 0A55H occurs and the command value immediately after switching is the same as the case of selecting 0 Command torque Control of servo parameters Parameters o
481. the local node IP address Subnet mask Set the IP address in order to set which upper bit to use for the network address to identify the network Default gateway Set the IP address for the passing device default gateway used to access the network device to which the local node belongs Security HIP filter setting Data set at GX Works3 is read by MT Developer2 and therefore there is no need to set the IP filter Disable direct connection to MELSOFT Set whether to Enable or Disable a direct connection simple connection with the Engineering Tool EDo not respond to search for CPU module on network Set whether to Respond or Not respond to an Engineering Tool network CPU module search 2 COMMON PARAMETERS 2 2 R Series Common Parameter 2 3 Motion CPU Common Parameter The Motion CPU common parameters are used to specify Motion CPU basic settings the servo network configuration and all auxiliary functions A list of Motion CPU common parameter settings is shown in the table below Item Setting range Default value Remark Basic Operation cycle 0 222ms 0 444ms 0 888ms 1 777ms Default setting Set the operation cycle of motion setting 3 555ms 7 111ms Default setting control Forced stop Instruction Not used Used Not used Set the bit device to use for the input setting Device Bit device Not setting forced stop File transmission setting
482. the purposes below Project Prevents unauthorized program program file units viewing Security key authentication 57 Page 175 Software security key Uses a security key function authentication Motion CPU Prevents unauthorized program execution Uses a security key Prevents unauthorized file reading writing Uses a password File password function Page 173 File password Recognizes the IP address of external devices via a IP filter function lt Page 180 IP filter function PERIPHERAL I F and blocks access with unauthorized IP addresses File password This function is used to protect the data of Motion CPU by registering a password for the file in the Motion CPU Password authentication is required when reading writing data There are two types of password Read protect and Write protect Both settings can be specified for a single data item tected by file password The data protected file password are shown below Motion SFC parameter Motion SFC parameter Motion SFC parameter Motion SFC program Servo program Motion SFC program Servo program Motion SFC program Servo program and program allocation R series common parameter Servo parameter System parameter System parameter CPU parameter CPU parameter Module parameter Axis 1 to axis 32 servo parameter Module parameter Servo parameter up to 32 axes Synchronous control parameter Co
483. tical hub unit main route and sub route Between main route and sub route x Between slaves on later optical hub unit main route and sub route 170 Point Refer to driver communication function for details of Driver communication function 3 Page 137 Driver Communication Function 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 6 Compatible Devices with SSCNETIII H EServo amplifier layout for driver communication A connection example showing where driver communication is possible not possible is shown below Motion CPU module Driver communication Lg Optical hub y PP Optical hub _Z Main route unit Axis 1 Axis 2 Axis 3 unit o No driver communication with all sub routes 1 to 3 No driver communication Driver communication Axis 10 Axis 111 Driver communicati
484. timate calculation Set the estimate calculation to Valid Invalid at the word device data setting Valid Normal data Ring counter 16 bit integer type K1 to K32767 H0001 to H7FFF 32 bit integer type K1 to K2147483647 HO0000001 to H7FFFFFFF 64 bit floating point type K2 23E 308 to K1 79E 308 Invalid 1 Estimate calculation Valid Calculation for word device data in the operation cycle is estimated The latch data is the value estimated at the timing in which the high speed input request signal is input The value is calculated as shown in the figure below whether the word device data is normal data or a ring counter Set the ring counter value for the ring counter Valid Normal data Operation Estimate line Word device data Latch data gt t High speed input request signal 4 AUXILIARY AND APPLIED FUNCTIONS 4 3 Mark Detection Function 93 94 e Valid Ring counter Operation cycle A P Ring counter value gt Latch data 7777722222222 too Estimate line Word device data gt t High speed input request signal Point If Valid Normal data is selected for word device data updated as a ring counter the latch data may not be estimated correctly 2 Estimate calculation Invalid Calculation for word device data in operation cycle is not estimated The latch data is the word device data at the timing in which the high speed inpu
485. time Alarm occurrence time 1 2 Alarm occurrence time 3 4 Alarm occurrence time 5 6 Alarm history clear command Home position command unit e Main circuit bus voltage Regenerative load ratio Effective load ratio Peak load ratio Estimate inertia moment ratio Model loop gain LED display Load side encoder information 1 Load side encoder information 2 Speed feedback Servo motor thermistor temperature Optional transient command Absolute position detection system Usable 2 Usable Home position return method Proximity dog type 1 2 Count type 1 to 3 Data set type 1 Dog cradle type Limit switch combined type Scale home position signal detection type Dogless home position signal reference type Proximity dog type 1 2 Count type 1 to 3 Data set type 1 2 Dog cradle type Stopper type 1 2 Limit switch combined type Scale home position signal detection type Dogless home position signal reference type Speed torque control Position control mode Speed control mode Torque control mode Position control mode Speed control mode Torque control mode Continuous operation to torque control mode 150 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 6 Compatible Devices with SSCNETIII H Torque limit value change Usable Separate setting Usable Restrictions 9 Gain changing command Valid Valid PI P
486. time within operation cycle 0 222ms operation cycle 0 222ms SD592 Motion SFC event Event task external task external interrupt time within interrupt time within operation cycle operation cycle SD593 Motion SFC event Event task PLC interrupt task PLC interrupt time within operation cycle time within operation cycle SD594 Motion SFC NMI task NMI task time within time within operation operation cycle cycle SD595 Fixed cycle system Fixed cycle system The processing time for each process is stored in us units O to processing time within processing time within 65535 us system operation system operation cycle The time within the operation cycle indicates the time used for each cycle process in one operation cycle start of fixed cycle system SD596 Motion operation task Motion operation task time processing to end of motion operation processing time within operation within operation cycle If St 1046 Operation cycle over flag M2054 turns ON the cycle processing time when St 1046 Operation cycle over flag M2054 turns from OFF to ON is latched as the time within the operation SD597 CPU refresh 145 CPU refresh 145 executing executing time within operation cycle time within operation cycle cycle APPENDICES APPENDIX Appendix 4 Special Registers 313 SD600 Memory card mounting status SD memory card type This register indicates the type of mounted SD memory cards b15
487. timing Motion operation Timing Example 3 Fixed scan communication timing Inter module synchronization timing A Motion operation 1 MULTIPLE CPU SYSTEM 41 1 3 Data Communication Between CPU Modules in the Multiple CPU System 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 following for the details of each instruction Control may not be instructed from one Motion CPU to another Motion CPU LAMELSEC Q R Motion controller Programming Manual Program Design M P SFCS D P SFCS Start request of the Motion SFC program Program No may be specified M P SVST D P SVST Start request of the specified servo program M P SVSTD D P SVSTD Direct positioning start request M P CHGA D P CHGA Current value change request of the specified axis M P CHGAS D P CHGAS Current value change request of the specified command generation axis M P CHGV D P CHGV Speed change request of the specified axis M P CHGVS D P CHGVS Speed change request of the specified command generation axis M P CHGT D P CHGT Torque control value change request of the specified axis M P GINT D P GINT Execute request of an event task to the other CPU Motion CPU M P DDWR D P DDWR Write device data of the self CPU PLC CPU to the
488. ting Set 2 Execute command in SD803 Check the normal operation 5 4 Driver Communication Function This function uses the Master slave operation function of servo amplifier The Motion CPU controls the master axis and the slave axis is controlled by data communication driver communication between servo amplifiers without going through the Motion CPU This function is used for the case such as to operate the ball screw controlled by multiple axes via the belt There are restrictions in the function that can be used by the version of the servo amplifier Refer to the Servo amplifier Instruction Manual for details The following shows the number of settable axes for the master axis and slave axis No restriction The axes other than the master axis and slave axis can be used as normal axis R32MTCPU R16MTCPU 1 line 16 axes 1 axis to 4 axes 1 axis to 8 axes 1 Up to 4 axes per line are settable in the master axis 2 Up to 8 axes per line are settable in the master axis Driver communication function is only valid in MR J3 O1B and MR J4 O1B MR J4W OB and MR J3W O1B cannot be used Nor can MR J4W OB be used in MR J3 OB compatibility mode Control details Set the master axis and slave axis in the servo parameter Execute each control of Motion CPU in the master axis However be sure to execute the servo ON OFF of slave axis and error reset at servo error occurrence in the slave axis The servo amp
489. ting Title Setting Comment Setting E Operation Related Setting RUN Contact Output Mode Setting of STOP to RUN Module Synchronous Setting Device Related Setting Device Points Latch Setting RAS Setting Error Detections Setting Module Verify Error E Over Execute Time of Motion CPU Fixed Scan Process Set error detection about execute time of motion CPU fixed scan proce Setting a R32MTCPU No 1 Output the Output Y Status before STOP Synchronize lt Detalled Setting gt Set when change the error detect setting according to self diagnostics Detect By setting Do not respond to search for CPU Module on network R Series Common Parameter gt Motion CPU Module gt Module Parameter gt Do not respond to search for CPU Module on network to Not responded the CPU module does not appear in the list after a search on the network 6 COMMUNICATION FUNCTIONS 6 4 Communication Function via PERIPHERAL I F Precautions Precautions for connection via HUB are shown below When the personal computer that can connect to LAN line is used set the same value for Motion CPU IP address as the following personal computer IP address Motion CPU IP address 192 168 3 39 Ex Personal computer IP address 192 168 3 1 General j You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator f
490. ting increase direction decrease direction increase or decrease direction Trigger reference value word trigger Specified in data type range for each channel only Filter specification 0 to 10000 x rate ms Saving Sampling results save destination Standard ROM SD memory card File format CSV Real time display Channels Word Up to 8 channels capable of Bit Up to 8 channels real time display 1 Refer to device list for the range of devices that can be set Page 66 Device List 7 DIGITAL OSCILLOSCOPE 7 3 Digital Oscilloscope Specifications 7 4 Digital Oscilloscope Operating Procedure The digital oscilloscope sampling operating procedure is described below The digital oscilloscope is operated using MT Developer2 Set clock data before using the digital oscilloscope File name time information is created based on the clock data setting Page 102 Clock Function Furthermore if using an SD memory card the card must be formatted 3 Page 231 SD memory card handling 4 START Specify settings required for sampling at digital oscilloscope NO Use SD memory card Insert SD memory card in Motion CPU Write sampling settings file to Motion CPU standard ROM or SD memory card Start sampling from digital oscilloscope Start sampling with digital Start sampling with Sampling oscilloscope RUN settings RUN request SM860 Sampling resul
491. tion Standard ROM Standard ROM SD memory card Description example for operation file at boot When using the label allocation information stored in the SD memory card label structure file GL_LABEL IF2 GL_LABEL IF2 sdc pathset When using the label allocation information stored in the standard ROM label structure file GL_LABEL IF2 initial status GL_LABEL IF2 rom pathset 6 COMMUNICATION FUNCTIONS 6 8 Label Access from External Devices DIGITAL OSCILLOSCOPE 7 1 Features Analysis is possible with high accuracy sampling Sampling is possible in cycles as short as 0 222ms Sampling is performed without missing specified control data changes By reading the sampling result with the MT Developer2 digital oscilloscope and outputting to a waveform the identification of system startup and the cause of trouble can be analyzed with high accuracy Offline sampling is possible with the personal computer By writing a setting data file necessary for sampling to the Motion CPU standard ROM or to an SD memory card beforehand sampling can even be performed offline This allows sampling to be performed even in environments where there is no personal computer or where the cable connected to the personal computer is damaged Furthermore sampling results output and saved to a specified location can be checked and analysed directly without using the MT Developer2 digital oscilloscope 7 2 F
492. tion processing time processing time 0 to 65535 us cycle SD582 Motion operation task Motion operation task processing time processing time SD583 CPU refresh 145 CPU refresh 145 executing executing processing processing time time SD584 Motion SFC event Event task time within The processing time for each Motion SFC task is stored in us units task time within operation cycle 14 222ms 0 to 65535 us operation cycle The time within the operation cycle indicates the time used for each 14 222ms process in one operation cycle start of fixed cycle system SD585 Motion SFC event Event task time within processing to end of motion operation processing task time within operation cycle 7 111ms If St 1046 Operation cycle over flag M2054 turns ON the operation cycle processing time when St 1046 Operation cycle over flag M2054 7 111ms turns from OFF to ON is latched as the time within the operation cycle SD586 Motion SFC event Event task time within task time within operation cycle 3 555ms operation cycle 3 555ms SD587 Motion SFC event Event task time within task time within operation cycle 1 777ms operation cycle 1 777ms SD588 Motion SFC event Event task time within task time within operation cycle 0 888ms operation cycle 0 888ms SD589 Motion SFC event Event task time within task time within operation cycle 0 444ms operation cycle 0 444ms SD590 Motion SFC event Event task time within task
493. tion CPU inherent cycle Synchronization with inter module synchronization cycle timing example 2 Used If the Fixed scan communication function and inter module synchronization function setting is Not cooperated Synchronization with fixed scan communication cycle 2 timing example 1 Moderate error error code 2222H If the Fixed scan communication function and inter module synchronization function setting is Cooperate Setting not possible with Engineering Tool Inter module synchronization cycle synchronization with fixed scan communication cycle timing example 3 1 Ifinter module synchronization function is set to not used or if the Motion CPU is not the module subject to inter module synchronization 2 Ifthe motion operation cycle and fixed scan communication cycle or the inter module synchronization cycle differ the start timing with longer cycle is always synchronized with the start timing with shorter cycle Point Ifa cycle other than 0 222ms 0 444ms 0 888ms 1 777ms 3 555ms 7 111ms not compatible with Motion CPUs is set for a fixed scan communication cycle or inter module synchronization cycle a moderate error error code 2222H occurs when the Multiple CPU system power supply is turned ON Timing Example 1 Fixed scan communication timing Motion operation Timing Example 2 Inter module synchronization
494. tion error has been detected Take measures to reduce noise synchronization signal Reset the CPU module and run it again If the same error error code is displayed again the possible cause is a hardware failure of the CPU module base unit extension cable or module I O module or intelligent function module connected Please consult your local Mitsubishi representative 2611H Inter module An inter module synchronization error has been detected Take measures to reduce noise synchronization signal Reset the CPU module and run it again If the same error error code is displayed again the possible cause is a hardware failure of the CPU module base unit extension cable or module I O module or intelligent function module connected Please consult your local Mitsubishi representative 2622H Multiple CPU The Motion CPU fixed cycle process did not complete Please take measures below synchronous processing before the fixed cycle data send section Change the operation cycle into a large value error e Reduce the number of command execution of the event task or NMI task in the system setting If you see the same error again there or data memory the CPU module the risk of hardware failure of the memory card Please consult your local Mitsubishi representative 2630H Multiple CPU A multiple CPU synchronization error has been detected Take measures to reduce noise synchronization signal e Reset the CPU module and run it again If th
495. tion mode to Pulses counter mode mode Set 0 to the ring counter upper limit value setting and 0 is not set to the ring counter upper limit value setting ring counter lower limit value setting and ring counter lower limit value setting 30E0H Multiple CPU refresh Total number of the set transmission points exceeds 256 Set the total number of transmission points less than 256 setting error 30FOH Servo amplifier unset None of the axes has been set in servo network setting Set the axis in servo network setting error 30F1H Axis number overlapping Axes have overlapped in servo network setting Set in servo network setting so that axis does not overlap setting error 30F2H Servo amplifier station Servo amplifier station No has overlapped in servo Set in servo network setting so that servo amplifier station No overlapping setting error network setting No does not overlap APPENDICES APPENDIX Appendix 1 Error Codes 287 30F3H Head module axis component axis setting error The setting station No of SSCNETII H head module is exceeding the maximum station No by calculation cycle Check the setting station No or the operation cycle of SSCNETII H head module 30F4H Communication among Unusable settings that execute communication among Check Master axis No selection 1 PD20 at drivers setting error drives are specified in motion controller and servo communication slave setting
496. tioning control using the adjustment data recognized by the vision system as the target data Complete the following settings with In Sight Explorer Refer to the Cognex vision system manual or help sections for details on operating and setting In Sight Explorer Ethernet communication setting IP address 10 0 50 100 Port No Telnet 23 TCP IP 3000 Job setting Job name Worksearch1 TCP IP protocol Format output string 1 Pattern_1 fIXTURE x Floating point 2 Pattern_1 fIXTURE y Floating point meter setting Complete the vision system parameter setting of MT Developer2 Ethernet Communication Line Setting Vision System No TP Address 10 0 50 100 E Port No Set the port number used for communication with the vision system For Telnet Communication 23 For TCP IP Communication Password mitsubishi Status Storage Device Error Flag Ethernet Communication Line ba the parameters related to the vision system Ethernet communication e Vision System No 2 IP address 10 0 50 100 Port No Telnet 23 TCP IP 3000 User name According to the vision system setting Password According to the vision system setting Status storage device D2000L Error flag MO 6 COMMUNICATION FUNCTIONS 2 6 5 Vision System Connection Function 05 HVision program operation setting Item E Vision Program Operation Program No Vision
497. tlog txt Point P Check the contents of the boot log file bootlog txt using a personal computer to view the boot log file bootlog txt in the 5MMTPRJ folder in the SD memory card 4 AUXILIARY AND APPLIED FUNCTIONS 4 4 4 4 8 File Transmission at Boot Function Operation when security function is set This section shows the operation when security function is set Refer to security function for the security function 5 Page 173 Security Function If a file password is set to a file in the Motion CPU the file password is authenticated at file transmission at boot When file passwords are set to files inside the boot operation file files are transmitted only when all the file passwords of all of the files in the source and destination are matched Transmitting from SD memory card to standard ROM No such combination Files are stored File password set Files are stored File password set Matched Transmission permitted Not matched Transmission not permitted No file password set Transmission not permitted No files are stored Transmission permitted No file password set Files are stored File password set Transmission not permitted No file password set Transmission permitted No files are stored Transmission permitted 4 When a read protect and a write protect password are set if one of the passwords do not match
498. to b8b7 to b4b3_ to bO SD557 Axis 16 to Axis 13 Axis 12 to Axis 9 Axis 8 to Axis 5 Axis 4 to Axis 1 SD557 SD558 Axis 32 to Axis 29 Axis 28 to Axis 25 Axis 24 to Axis 21 Axis 20 to Axis 17 e When the Multiple CPU system power is next turned ON the content of the servo parameter open area for the relevant axis is automatically updated to a file The servo parameter files can be reflected with File transmission request SD820 After file is reflected the bit for the relevant axis turns OFF SD561 Multiple CPU Multiple CPU advanced The CPU setting status of Multiple CPU advanced synchronous control S Initial advanced synchronous control setting is stored processing synchronous control status 0 Independent CPU setting status 1 Master CPU 2 Slave CPU SD562 Scan time Scan time 1s units The current main cycle is stored in 1 us units S Main SD563 1 to 2147483647 us processing SD564 Maximum scan time Maximum scan time 11s The main cycle maximum value is stored in 1 us units SD565 units 1 to 2147483647 us If 0 is written the maximum value is reset SD566 Motion SFC normal Normal task processing time The Motion SFC normal task processing time during main cycles is SD567 task processing time stored in us units 1 to 2147483647 us SD568 Maximum Motion Normal task maximum The Motion SFC normal task processing maximum time during main SD569 SFC normal task processing time cycles is stored in us units processi
499. tributing the high load processing over several CPU modules Communication between CPUs in the Multiple CPU system e Since device data of other CPUs can be automatically read by the Multiple CPU refresh function the self CPU can also use device data of other CPUs as those of self CPU e Motion dedicated PLC instructions can be used to access device data from the PLC CPU to Motion CPU and start Motion SFC program 1 MULTIPLE CPU SYSTEM 4 1 1 Multiple CPU System 9 Restrictions on Multiple CPU systems using Motion CPUs Refer to the following for details on the Multiple CPU system concept system configuration such as CPU module installation positions CPU Nos I O No allocation etc LAMELSEC iQ R Series Module Configuration Manual This section describes restrictions when using Motion CPUs CPU module installation position Motion CPUs can only be used with the Multiple CPU system Motion CPU modules cannot be installed in CPU slots Controllable modules MMELSEC Q R series modules The following modules can be controlled with a Motion CPU Modules other than those below cannot be controlled with a Motion CPU Module Model Input module RX10 RX40C7 RX41C4 RX42C4 RX40PC6H RX40NC6H Output module RY10R2 RY40NT5P RY41NT2P RY42NT2P RY40PT5P RY41PT1P RY42PT1P Input output composite module RH42C4NT2P Analog input module R60AD4 R60ADI8 R60ADV8 R60AD8 G R
500. trol function Connect disconnect of SSCNET Temporarily connect disconnect of SSCNET communication is executed during Multiple CPU system s power supply ON communication This function is used to exchange the servo amplifiers or SSCNETIT cables Start release of amplifier less Start release of amplifier less operation is requested operation This function is used to confirm the operation without connection of the servo amplifies Set the request in SSCNET control command SD803 and the process status is stored in SSCNET control status SD508 HSSCNET control status devices SD508 The execute status of the SSCNET control is stored System 0 Command Connect disconnect command of SSCNET communication or start release accept waiting command of amplifier less operation is in the status that can be accepted 1 Execute SD508 is waiting for connect disconnect execute command after accepting waiting the connect disconnect command of SSCNET communication or start release of amplifier less operation Connect disconnect of SSCNET communication or start release of amplifier less operation is in process 2 Executing 1 The status for amplifier less operation status is set in the amplifier less operation status flag SM508 lt Page 133 Amplifier less operation function ESSCNET control command devices SD803 Set the SSCNET control command User 0 No command Set
501. ts are stored in the specificed save target e ieee The digital oscilloscope sampling results are displayed automatically l 4 END D 1 Operation is possible even if not connected to the digital oscilloscope 2 Sampling results are displayed automatically however sampling results files can also be read later 7 5 Sampling Settings File The sampling settings file is a file used to set information required for sampling such as the sampling interval and probe data The sampling settings file is saved to the standard ROM or to an SD memory card Sampling is started by specifying the sampling settings file storage target The sampling settings file setting items are as follows File type Setting item Sampling settings file Sampling interval Sampling target Trigger settings Save settings 7 DIGITAL OSCILLOSCOPE 21 7 4 Digital Oscilloscope Operating Procedure 9 7 6 Sampling Functions The functions used to perform sampling with the digital oscilloscope are as follows Sampling type The sampling type sets the sampling method Values before and after the trigger when specified conditions established are sampled only in the specified range Sampling is complete when saving to the specified save destination is complete Sampling start settings Sampling start settings specify conditions required to start sampling with the digital oscilloscope RUN output or when the
502. ts in the destination the file is overwritten File move Moves the specified file or O O O O When a file with the same name move files in the specified folder exists in the destination the file is overwritten The source file is deleted File delete Deletes the specified file or O O O For delete specify the source as delete specified folder blank Control data set Specifies the file to be used O O O For pathset specify the pathset as control data The system destination as blank can be startup by reading a The control data to be changed file from a different folder becomes the specified file in the without changing the parameter change function as standard ROM well A servo parameter file cannot be specified to the file name 4 AUXILIARY AND APPLIED FUNCTIONS 4 4 8 File Transmission at Boot Function 07 Boot operation file content The boot operation file is written in CSV comma separated values format Write CSV file records 1 line as follows There is no restriction on the number of records MFormat 1 record File name Source Destination Transmit mode File name Character Up to 63 characters Write the file in the MMTPRJ folder of the control data to be transmitted string e Wildcard symbol may be used Wildcard Any given character string symbol 2 Any given character Source rom Standard ROM Write the memory of the sou
503. ts the alternative status such as ON or OFF O FALSE 1 TRUE 1 bit Word signed Positive and negative integer values 32768 to 32767 16 bits Double word signed Positive and negative double precision integer values 2147483648 to 2147483647 32 bits Word unsigned bit string 16 bits 16 bit array 0 to 65535 16 bits Double word unsigned bit string 32 bits 32 bit array 0 to 4294967295 32 bits Double precision real number Numerical values of decimal places double precision real 1 79E 308 to 2 23E 308 64 bits number values Number of significant digits 15 14 digits 0 0 of decimal places 2 23E 308 to 1 79E 308 3 DEVICES 3 9 Labels 77 78 Structures A structure is a data type containing one or more labels and can be used in all programs Members labels included in a structure can be defined even when their data types are different Creating structures To create a structure first define the structure and then define members in the structure Structure Member name Label1 Member name Label2 Member name Label3 Member name Label4 How to use structures To use a structure register a label using the defined structure as the data type To specify each member in a structure add the member name after the structure label name with a period as a delimiter in between Specifying a member in the structure stLabel1 bLabel1 Mem
504. tside the range OA3BH Vibration suppression The value of frequency of vibration suppression command Revise the frequency setting value of vibration command filter filter 1 or 2 was set outside the range suppression command filter inside the setting range frequency setting outside the range OA3CH Vibration suppression The depth value of vibration suppression command filter 1 Revise the depth setting value of vibration suppression command filter depth was set outside the range command filter 1 inside the setting range setting outside the range OA3DH Parameter block No Specified parameter block No is outside the range of 1 to Set the specified parameter block No within the range of 1 setting outside range 64 to 64 OA3EH Dwell time setting The dwell time is outside the range of 0 to 5000 ms Set the dwell time within the range of 0 to 5000 ms outside range OA3FH M code setting outside The setting of M code is outside the range of 0 to 32767 Set the M code within the range of 0 to 32767 range 0A40H Torque limit value setting The setting of torque limit value is outside the range of 1 to The setting of torque limit value is set within the range of 1 outside range 10000 x0 1 to 10000 x0 1 0A41H Auxiliary control unit The auxiliary control unit is outside the range of 0 to 3 Set the auxiliary control unit within the range of 0 to 3 setting outside range 0A42H Speed limit value setting The speed limit valu
505. uency Temperature O the A and oe 1234Hz 200 C Specify a label name and evice such as to enable access Start Stop read or write the data at any from external devices makes the i ni iven timing non fixed cycle communication of a label name from O 9 g yele an external device possible Read the label Frequency gt Motion CPU mS The label allocation is returned to any label S read or write query Labels that can be accessed by external devices are stored Label allocation information S Label name Label address Frequency wo Setting Labels Set the label to be accessed from an external device in label setting and check Access from external device Refer to the following for the operation procedures of label setting Help of MT Developer2 Label Setting VARIABLE Class Label Name System label is reserved to be registered System label is reserved to be released The system label is already registered to the system label database o execute the Reservation to Register Release for the system label Reservation to Register System Label eflection to the system label database is required gt O lease execute Reflect to System Label Database Reservation to Release S
506. uest Signal Detection Direction 0 Rising O Rising High speed Input Request Signal Precision 0 General 0 General High speed Input Request Signal Compensation Time O s Ofus High speed Input Request Signal Valid Flag High speed Input Request Signal Status High speed Input Request Signal Set the assignment of high speed input request signal 3 High speed input request signal is a signal to control mark detection or speed position switching control dutch ON OFF operation of synchronous control counter enabling counter disabling of synchronous encoder axis current value change operation in high degree of accuracy Displayed High speed input request signal Bit device Amplifier input High speed input request signal detection direction Rising Falling Both directions High speed input request signal precision General High precision High speed input request signal compensation time 5000000 to 5000000 us Word device High speed input request signal valid flag Bit device High speed input request signal status Bit device 1 This setting can be omitted 4 AUXILIARY AND APPLIED FUNCTIONS 86 4 2 External Input Signal HHigh speed input request signal Set the input signal for high speed input request signal Bit device Bit devices are used for high speed input request signals Refer to device list for the range of bit devices that can be set gt Page 66 Device List e Amplifier input Input s
507. ule which has an error detected by error module number module number the I O module verification is stored SD80 Detailed information 1 Detailed information 1 Detailed information 1 information category code is stored b15 to Not used fixed to 0 b8 b7 to bO Information block code The following codes are stored into the information category code N A Program position information Drive and file information Parameter information System configuration information Number of times information ON Re ND 7 Time information 135 Add on function information 141 Servo error error at communication failure 142 Axis control error 143 Motion SFC program S Occur an error APPENDICES APPENDIX Appendix 4 Special Registers 301 A SD81 to Detailed information 1 Detailed information 1 SD111 Detailed information 1 corresponding to the error code SDO is stored There are ten types of information to be stored as shown in the following figures The type of the detailed information 1 can be obtained using SD80 the value of the Detailed information 1 information category code stored in SD80 corresponds to the following figures 1 2 4 to 7 135 141 to 143 SD81 can be used for determining whether there is detailed information stored in SD82 or after Detailed information 1 No detailed information 0 1 Program position information
508. ules The error detection types and error code ranges are shown below Detection with each module s self 0001H to 3FFFH These are errors such as module self diagnostic errors that are different for each module diagnostic function Detection when communicating 4000H to FFFFH CPU module error between modules 7000H to 7FFFH Serial communication module error BOOOH to BFFFH CC Link module error C000H to CFFFH Ethernet module error DOOOH to DFFFH CC Link IE field network module error E000H to EFFFH CC Link IE controller network module error FOOOH to FFFFH MELSECNET H network module MELSECNET 10 network module error Detailed information When errors are detected during self diagnosis detailed information indicating the cause of the error is also stored Detailed information on each error code can be checked with the engineering tool The following detailed information is saved for each error code Up to two types of detailed information are stored and the type differs for each error code Detailed Program positioning information Displays positioning related information in the program information 1 Drive No file name Displays information relating to the drive No and file name Parameter information Displays parameter related information such as the parameter storage target and parameter types System configuration information Displays system configuration related information such as I O Nos and po
509. ultiple CPU system CPUs and the system will not start up e During installation install operations from other sources will not be accepted For example an error will occur if an attempt is made to install from MT Developer2 while performing installation with a SD memory card e The capacity of the built in memory in which Motion CPU module operating system software files are stored is 8MB The model name and version of operating system software installed in the Motion CPU module can be checked in MT Developer2 Refer to the following for details LUIMELSEC iQ R Motion Controller User s Manual 2 4 8 MOTION CPU MEMORY STRUCTURE 3 8 4 Installing the Operating System Software Installation procedure using MT Developer2 The procedure used to install the operating system software using MT Developer2 is as follows Start Installation y A P 3 Set to installation mode ea ti Jenss Refer to the following for rotary switch LCIMELSEC iQ R Motion Controller User s Manual Turn ON the Multiple CPU system The dot matrix LED display is INC power supply RUN STOP is ignored A Y Start the install of MT Developer2 Y Set the connection method between the personal computer and Multiple CPU system in the connection settings Operation in MT Developer2 Select the operating system software installed and install it in the Motion CPU module Y Dialog Installation is completed is ___
510. unction Overview With the digital oscilloscope function data can be sampled in specified cycles and sampling results can be saved to the standard ROM or to an SD memory card 7 DIGITAL OSCILLOSCOPE 7 1 Features 21 7 218 7 3 Digital Oscilloscope Specifications The digital oscilloscope specifications are shown in the following table Individual sampling setting specifications Sampling settings data storage target Sampling type Standard ROM SD memory card Trigger sampling Sampling start setting User operation Sampling interval Operation cycle 0 222ms x sampling rate interval No of channels Word data Up to 16 channels Bit data Up to 16 channels Word size 2 bytes With sign Without sign 4 bytes With sign Without sign Sampling target Word data Servo control data Selected from probe item list Motion dedicated device Advanced synchronous control device Optional device Word device Bit data Motion dedicated device Selected from probe item list Advanced synchronous control device Optional device Bit device Trigger Number of sampling points Up to 133120 points default 8192 points Trigger mode No trigger Data conditions OR condition AND condition Setting when Trigger pattern bit No setting OFF ON OFF gt ON leading edge ON gt OFF trailing trigger mode is edge data conditions Trigger pattern word No set
511. up 5 e 1 Group 1 6 Group 6 2 Group 2 7 Group 7 3 Group 3 8 Group 8 4 Group4 9 Group 9 The setting value of servo parameter to be written is stored when 3 2 word write request is set in Servo parameter write read request SD804 User System request 1 is stored by Motion CPU at write read error User 1 Do not execute the automatic refresh 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5 6 Compatible Devices with SSCNETIII H 153 Optional data monitor setting The following table shows data types that can be set Set the data so that the total number of communication data points per axis is no more than 6 points in a SSCNETIT H line and no more than 3 points in a SSCNETIT line e Registered monitor Effective load ratio Regenerative load ratio Peak load ratio 1 1 Position feedback pulse 2 0 Encoder single revolution position pulse 2 0 Encoder multiple revolution counter rev 1 1 Model loop gain rad s 1 1 Cumulative current value Positioning command 2 0 Servo command value pulse 2 0 Torque command value 20 0 1 1 0 Optional address or registered monitor Data types other than the above are 0 2 The Cumulative current value Servo command value and Torque command are all command values for the servo amplifier All other data types are servo amplifier monitor values feedb
512. ur on the self CPU are saved Events on the modules managed by the self CPU are not saved Events saved by the CPU module Information saved in the event history includes operation initiator and other detailed information for troubleshooting purposes For events that are saved in the event history on the Motion CPU refer to event list 37 Page 291 Event List 246 9 RAS FUNCTIONS 9 3 Event History Function Event history file The storage memory and file size for event history files can be changed in event history setting Refer to CPU parameter for details of the event history setting Page 48 CPU parameter Storage memory Choose either the standard ROM or SD memory card If the storage memory is the SD memory card when the write protect switch of the SD memory card is enabled an event history will not be stored It is still possible to read the event history file in the SD memory card using MT Developer2 Therefore if the write protect switch of the SD memory card is changed from disabled to enabled during operation a write error to the SD memory card occurs when an event for storing in the event history occurs SD memory card available event is registered after the write protect switch is enabled At the time immediately after an error has occurred the module diagnostics of GX Works3 can detect it however after the Multiple CPU system power supply is turned OFF to ON or after resetting operation the error that occurre
513. urrently set is stored as 32 bit L data SD265 M number of points assigned The number of points assigned is stored even when the number of points assigned to M is 32K points or less H SD266 B number of points assigned The number of points of the device B currently set is stored as 32 bit L data SD267 B number of points assigned The number of points assigned is stored even when the number of points assigned to B is 32K points or less H SD270 F number of points assigned The number of points of the device F currently set is stored as 32 bit L data SD271 F number of points assigned H SD280 Word device number D number of points assigned The number of points of the device D currently set is stored as 32 bit of points assigned L data D281 D number of points assigned The number of points assigned is stored even when the number of points assigned to D is 32K points or less H SD282 W number of points assigned L SD283 W number of points assigned H SD480 Motion CPU operation 0 Motion operation cycle Stores the count for the motion operation process including inter S Change cycle over count over not occurrence module synchronization process not completed within the motion status Normal operation cycle 1 to 65535 Operation cycle After exceeding 65535 the count returns to 0 and counts again over cumulative count The counts are stored regardless of the CPU module operation setting at error detected RAS
514. veloper2 Memory formatting O O CPU writing reading Writing O O Reading O O Deletion O O Digital oscilloscope Writing O O Reading O O Deletion O O File transmission at boot Writing O O Reading O O Deletion O O Motion SFC program cam data operation instructions Writing O O CAMRD CAMWR CAMMK Reading O O 1 Refer to memory initialization for details Page 233 Memory Initialization Point SD memory cards cannot be used if write protected e Read only files cannot be written to or deleted e The file update date and creation date is based on the No 1 PLC CPU clock data 8 MOTION CPU MEMORY STRUCTURE 22 8 1 Memory and Files 7 File handling precautions File reading and file writing processing File reading and writing processes are performed in the Motion CPU main cycle The read and write time varies depending on the file size and main cycle length Power supply OFF including reset when performing file operations File content is not assured if the Multiple CPU system power supply is turned OFF or the system is reset when performing file operations other than data reading In order to avoid file corruption turn OFF the Multiple CPU system power supply or reset the system after completing file operation Simultaneous access of the same file An error occurs when performing the following operations Ensure that MT Developer2 processing is complete before moving onto subsequent processing e The fil
515. vice No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A49H n m read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper Set the device range according to the device number latch setting of relation setting of CPU parameter within the valid range 3A4AH UOGn m read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper 3A4BH UD HGn m read error The directly specified device No is outside the range Correct the program so that the device No which directly specifies is proper 3A54H SM n read error The indirectly specified device No is outside the range Correct the program so that the device No which indirectly specifies is proper 3A55H X n read error The indirectly specified device No is outside the range Correct the program so that the device No which indirectly specifies is proper 3A56H Y n read error The indirectly specified device No is outside the range Correct the program so that the device No which indirectly specifies is proper 3A57H M n read error The indirectly specified device No is outside the range Correct the program so that the device No which indirectly specifie
516. viewing Operation is controlled based on whether the security keys for program files and the personal computer match Quiera No key or key B A Viewing Key A Program file Viewing Program execution inside Motion CPU Operation is controlled based on whether program files written to the Motion CPU and Motion CPU security key match Program execution O Quer Program execution x No key or key B KeyA Program file S B8 Program file 6 COMMUNICATION FUNCTIONS 4 6 2 Security Function 75 Copying security keys Security keys registered in the personal computer can be imported or exported and used at another personal computer Expiry dates can be set for copied security keys Security key writing Security key writing View Cancel View Cancel 0 Key A Program file Distribute Key A file Point Even if MT Developer2 is uninstalled security keys set at the personal computer are not deleted To delete do so at the Security key management screen e Refer to security key for operation when performing file transmission at boot for a Motion CPU with a security key set 3 Page 113 Security key NCAUTION Program asset outflow cannot be prevented if a personal computer at which a security key is set is misused by a third party and therefore customers must take the following countermeasures to protect ag
517. vision program job does not exist in the For the vision program name of the vision program vision system operation setting specify the job name existing in the vision system 38E7H Read value error The data of read value cell is not an integer value Check that the cell tag contents specified in the read value cell of the vision program operation setting are integer To read the floating point type data correct the program to use the TCP IP protocol or the MVIN instruction APPENDICES APPENDIX Appendix 1 Error Codes 269 38E8H Execute time out Execution of the vision system dedicated function does not finish within the specified time Review the time out period specified by the vision system dedicated function and correct the program 38E9H Trigger response time The response to the image pickup is not returned within Review the time out period specified by the vision out the specified time system dedicated function and correct the program e Check if there is an execution error of job in the vision system side by In Sight Explorer and correct the job 38EAH Offline error The vision system is in the Offline status Set the vision system in Online status by In Sight Explorer 38EBH Control authority error User authorities to control the vision system are not For the user name which can be specified by the Ethernet enough communication line setting specify t
518. wer supply Nos Count information Displays count related information such the number of times data is written to the memory Time information Displays time related information Detailed Drive No file name Displays information relating to the drive No and file name information 2 Parameter information Displays parameter related information such as the parameter storage target and parameter types System configuration information Displays system configuration related information such as I O Nos and power supply Nos Detailed information on the latest error codes can also be checked from special registers SD Detailed information is stored in Detailed information 1 SD81 to SD111 and Detailed information 2 SD113 to SD143 The stored information type is determined with Detailed information 1 information category SD80 and Detailed information 2 information category SD112 Page 300 Special Registers APPENDICES APPENDIX Appendix 1 Error Codes 249 Operations at error occurrence There are two types of errors stop errors and continue errors Refer to operations at error detection for details of stop errors and continue errors 5 Page 241 Operations at error detection Cancelling errors Continue errors minor errors or continue mode moderate errors and warnings can be cancelled Refer to cancelling errors for details of cancelling errors gt Page 242 Cancelling errors Error codes stored using
519. wer supply module A hardware failure has been detected in the power supply module CPU module base unit or extension cable Take measures to reduce noise Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the CPU module Please consult your local Mitsubishi representative Take measures to reduce noise Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the CPU module Please consult your local Mitsubishi representative Take measures to reduce noise Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the CPU module Please consult your local Mitsubishi representative supply module Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the power supply module CPU module base unit or extension cable Please consult your local Mitsubishi representative Check the waveform of the voltage applied to the power 3C20H Memory error An error has been detected in the memory Take measures to reduce noise Reset the CPU module and run it again If the same error code is displayed again the possible cause is a hardware failure of the CPU module Please consult your local Mitsubishi representative 3C21H
520. xplains the Multiple CPU system configuration Common performance specifications common parameters auxiliary e Manual IB 0300237 This manual applied functions error lists and others EPUB PDF MELSEC iQ R Motion Controller User s Manual This manual explains specifications of the Motion CPU modules Print book IB 0300235 SSCNETII cables synchronous encoder troubleshooting and e Manual others EPUB PDF MELSEC iQ R Motion Controller Programming Manual This manual explains the functions programming debugging for Print book Program Design Motion SFC and others e Manual IB 0300239 EPUB PDF MELSEC iQ R Motion Controller Programming Manual This manual explains the servo parameters positioning Print book Positioning Control instructions device lists and others e Manual IB 0300241 EPUB PDF MELSEC iQ R Motion Controller Programming Manual This manual explains the dedicated instructions to use Print book Advanced Synchronous Control synchronous control by synchronous control parameters device e Manual IB 0300243 lists and others EPUB PDF Point P e Manual refers to the Mitsubishi FA electronic book manuals that can be browsed using a dedicated tool e Manual has the following features e Required information can be cross searched in multiple manuals Other manuals can be accessed from the links in the manual The hardware specifications of each part can be found from the product figures e Pages that users
521. ynchronization Output target p Output and deceleration stop are performed for all modules including the target module of inter module synchronization when the STOP operation is peformed Refresh is performed at END processing during STOP status 1 MULTIPLE CPU SYSTEM 1 3 Data Communication Between CPU Modules in the Multiple CPU System e Abnormal stop If a Motion CPU major moderate error occurs including cases where settings ensure that Motion CPUs stop at a major moderate error at each module Motion CPU output is turned OFF there are also cases when output is retained depending on the parameter settings and a stop command is issued to the control module I O refresh continues even during a STOP condition Refer to the User s Manual for each module for details on operation when the module stops abnormally Inter module Inter module synchronization timing synchronization timing RUN to STOP first stop stop i f i _ Inter module synchronization cycle j Inter module synchronization cycle mt thy CPU module Motion SFC ee ation normal task Motion SFC i Motion operation fixed cycle event task If a moderate error occurs motion operation continues deceleration stop i Execution of the program is stopped when a stop error l j target external outputs depending on the specifications for each module 1 occurs i
522. ystem Label Not Reflected 0 Total 0 When label allocation is changed When a device with a label allocated in the label setting is changed the Motion CPU follows up by automatically making the external device refer to the changed device therefore changing the label settings at the external device is not required However when data type etc is changed an update at the external device is required The actions at the external device when a label is changed are shown below Change at external device not required Change at external device required Changed device allocated to label Change the data type changed at the Motion CPU at the external device Changed the data type of the label Correct the label deleted at the Motion CPU at the external device Deleted the label 6 COMMUNICATION FUNCTIONS 21 6 8 Label Access from External Devices 5 216 llocation information The label allocation information used when accessing labels from external devices is stored in the standard ROM or the SD memory card When using label allocation information stored in the SD memory card storing label allocation information in the SD memory card set the transfer for label allocation information in the SD memory card with the file transmission at boot function Refer to file transmission at boot function for details on file transmission at boot function Page 107 File Transmission at Boot Func

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