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Programming Manual SV13/SV22(Motion SFC) Q173DCPU

1. m Request PLC interrupt I1 Interrupt PLC interrupt event task n1 n2 01 02 _ bc INT H3E1 K1 M100 D100 Operation Outline operation between CPUs at the DP GINT instruction execution is shown below PLC program ON D P GINT execution DP GINT instruction Request data set CPU dedicated transmission Transfer Transfer 0 88ms cycle 0 88ms Response data set i Event task executed processing PLC interrupt event task lt T to the other Motion CPU 1 1 Complete device D1 0 Status display device D1 1 at the completion 3 MOTION DEDICATED PLC INSTRUCTION Errors The abnormal completion in the case shown below and the error code is stored in the device specified with the complete status storage device D2 If the complete status storage device D2 is omitted an error is not detected and operation becomes No operation Complete status N Error factor Corrective action Error code H Instruction request to Motion CPU from PLC CPU exceeds the permissible 0010 value Confirm a program The interrupt pointer No set in the D P GINT instruction is outside the 2082 and correct it to a range of 0 to 15 correct PLC There are 33 or more simultaneous D P GINT instruction requests to the 2100 Motion CPU from the PLC CPU the
2. Speed change request to 2000 toward Axis 1 of Motion CPU Change request Axis No 1 of Motion CPU S1 nf 51 n2 D1 D2 gt Speed 20000 n2 H H3E1 J4 K20000 M100 D100 3 MOTION DEDICATED PLC INSTRUCTION Operation Outline operation between CPUs at the DP CHGV instruction execution is shown below PLC program ON D P CHGV execution DP CHGV instruction Request data set CPU dedicated transmission 0 88ms cycle Response data set Speed change Complete device D1 0 Status display device D1 1 at the completion Setting range 1 Setting of axis to execute the speed change The axis to execute the speed change set as S1 sets J axis No ina character sequence p 51 usabie range Q173DCPU 110 32 Q172DCPU 1to8 The number of axes which can set are only 1 axis Set J in a capital letter and use the axis No set in the system setting as the axis No to start Refer to the Q173DCPU Q172DCPU Motion controller Programming Manual COMMON for system settings 2 Setting of the speed to change n2 usable range 2147483648 to 2147483647 3 MOTION DEDICATED PLC INSTRUCTION Errors The abnormal completion in the case shown below and the error code is stored in the device specified with the complete status storage device D2
3. DP CHGA n1 51 Command M Command 3 MOTION DEDICATED PLC INSTRUCTION Setting data Setting data Setby Data type First No of the target CPU 16 Value to specify actually is the following PO User 16 bit binary CPU No 2 3E1H CPU No 3 CPU No 4 Note Motion CPU cannot be set as CPU No 1 in the Multiple CPU configuration Axis No Jn 7092 to execute the current value change Q173DCPU J1 to J32 0172DCPU J1 to J8 Synchronous encoder axis No En Note 3 0 execute the current value change Character User Q173DCPU E1 to E12 Q172DCPU E1 to E8 sequence Cam axis No Cn to execute the current value change within 1 revolution Q173DCPU C1 to C32 Q172DCPU C1 to C8 Current value to change 32 bit binary Complete devices D1 0 Device which make turn on for one scan at accept completion of instruction D1 1 Device which make turn on for one scan at accept abnormal completion of instruction 1 0 also turns on at the abnormal completion Complete status storage device Note 1 Omission possible with both of D1 and D2 omission Note 2 n shows the numerical value correspond to axis No Q173DCPU Axis No 1 to No 32 1 to 32 Q172DCPU Axis No 1 to No 8 1 to 8 Note 3 n shows the numerical value correspond to synchronous encoder axis
4. 4 Parallel branch point K2 K4 F10 Coupling jump ON M100 G11 K3 F11 After the servo program K3 has G12 completed stopping execution waits until the completion of condition set at transition G3 and servo program F12 K4 completes starting On completion of waiting execution transits to the next lower part 44 Parallel coupling point 4 MOTION SFC PROGRAMS The number of parallel branches need not match that of couplings at a parallel coupling point In the example of the diagram in Section 4 9 3 2 the number of parallel branches is 3 and that of couplings is 2 When a WAIT transition is set right after a parallel coupling the stop completions of the axes are not included in the waiting conditions if the parallel coupling is preceded by motion control steps To perform a parallel coupling on stop completions set WAIT transitions before a parallel coupling x K3 K5 Parallel coupling G1 If this is WAIT stop completions of axes started at K2 to K5 are not included in transition conditions O When you want to perform a coupling on stop completions of axes started in G5 K2 to K5 set WAIT transition in each route to make parallel coupling Parallel coupling 4 MOTION SFC PROGRAMS 4 10 Y N Transit
5. Sign bit field 2 The represented value is shown below The bias value is H3FF Sign bit field Bias exponent field bias value 1 1 0 decimal field 2 5 OPERATION CONTROL PROGRAMS 3 Data ranges are shown below Decimal representation Hexadecimal representation H0000000000000000 K 1 79E 308 to K 2 23E 308 H0010000000000000 to H7FE1CCF385EBCS89F H8000000000000000 H8010000000000000 to HFFE1CCF385EBC89F K2 23E 308 to K1 79E 308 4 A round off error may be produced in a 64 bit floating point type data operation Especially when using 64 bit floating point type data in a comparison operation note that a round off error may cause an intended operation Example In the following transition program the result of the comparison operation may not become true depending on the value of 2008 due to round off error 1 0OF SQRT 200F 300F 100F 100F 200F 300F d Bit data The bit data is the data where a contact coil or similar device is handled in increments of 1 bit It is used in device set SET and device reset RST Example 1 LL Bit data e Batch bit data The batch bit data is the data where bit data is handled in increments of 16 32 points It is used in device input DIN and device output DOUT As indicated below whether the bit data is handled in increments of 16 or 32 points is governed by the data type of the word device used as a
6. The speed change request is regarded as a Speed control with fixed normal speed change request position stop Minor error 305 779 will occur and the axis Speed switching control VSTART will be controlled at the speed limit value JOG operation NE A speed change cannot be made Minor High d llati 056 error 310 79 will occur A speed change cannot be made Minor error 301 9 will occur Note Minor error 301 A speed change was made during home position return Minor error 305 The setting speed is outside the range of 0 to speed limit value Minor error 310 A speed change was made during high speed oscillation Controls a If a speed change is made to a negative speed control is executed with the control mode during the start as indicated in the above table b The returning command speed is the absolute value of a new speed c When the axis is waiting at the return position 1 Signal states n Axis No Axis No 1 Start accept M2000 n ON unchanged from before execution of CHGV instruction Positioning start completion M2400 20m ON unchanged from before execution of CHGV instruction Positioning completion 2401 20 OFF In position 2402 20 ON Command in position M2403 20m OFF Speed change 0 accepting flag M2240 m ON 5 67 5 OPERATION CONTROL PROGRAMS 2 Make a speed change to a posi
7. o o m m m lt 21218 m L n m e e m 1 1 D804F i Og E tm lt 9 3 T c EN 9 EN c wo EN 9 A SET M1000 SET M1000 SET M1000 SET M1000 SET M1000 N rm APP 6 APPENDICES Processing time of operation instructions Continued 173DCPU Q172DCPU Classifications Symbol Instruction Operation expression S eue u SET M1000 0 gt 1 SET M1000 D800 gt D801 SET M1000 U3E1 G10000 gt U3E1 G10001 SET M1000 0L gt 2L More than or equal to SET M1000 D800L D802L Completion of condition SET M1000 U3E1 G10000L gt U3E1 G10002L SET M1000 0F gt 4F SET M1000 D800F D804F SET M1000 U3E1 G10000F gt U3E1 G10004F 0 CHGV K1 D800 CHGV K1 U3E1 G10000 CHGV K1 D800L CHGV K1 U3E1 G10000L K1 0 5 89 Speed change request D I 9 S A I Q A 3k o o o n o Jo o o fa Jajo a j o gt o HK o o a 65 IN o 5 o o A o o amp I 9 I 9 c Torque limit value change CHGT K1 U3E1 G10000 K1 0L K1 D800L CH
8. The range of axis No 1 to 8 is valid in the Q172DCPU Device area of 9 axes or more is unusable in the Q172DCPU Note 3 It is unusable in the SV13 SV22 real mode It can also be ordered the device of a remark column These devices can be used as the clutch statuses The clutch status can also be set as the optional device at the clutch parameter Refer to Section 7 2 2 of the Q173DCPU Q172DCPU Motion controller SV22 Programming Manual VIRTUAL MODE for details 1 23 1 OVERVIEW 8 Table of the common devices Command signal SV13 SV22 Refresh cycle Fetch cycle Signal direction Note 1 Note 2 M3072 PLC ready flag Main cycle Main cycle M3073 Speed switching point specified flag At start M3074 All axes servo ON command ee M3075 Real mode virtual mode change request At virtual mode SV22 transition M3076 JOG operation simultaneous start command M3077 Manual pulse generator 1 enable flag M2051 Main cycle M3078 Manual pulse generator 2 enable flag M2052 M3079 Manual pulse generator 3 enable flag M3080 Motion error history clear request flag M3081 Command signal Unusable 55 points Note 1 The state of a device is not in agreement when the device of a remark column is turned ON OFF directly In addition when the request from a data register and the request from the above device are performed simultaneously the request from the above
9. Program No 100 Program No 5 Program No 5 Program No 100 Program No 2 c In the case of b arrange to stuff to the front the invalid programs Operation procedures to stuff to the front are shown below 1 Select the followings by Motion SFC program editor screen of MT Developer For Motion SFC chart and operation control transition program Select Convert menu Batch Conversion For Servo program Select Tool menu Sort of Servo Program 2 Execute the program writing with Online menu Write to CPU in the stop state of Motion CPU Motion CPU Personal computer Program memory MT Developer Program 0 Program 0 Write the Program No 2 program with Program No 2 Program No 5 Write to CPU Program No 5 Program No 6 Program No 6 Program No 100 Program No 100 Free area 10 7 10 ONLINE CHANGE IN THE MOTION SFC PROGRAM MEMO 11 USER FILES EEE 11 USER FILES User file list and directory structure is shown below 11 1 Project Every user file is managed in a workspace and multiple projects can be stored ina single workspace Workspace name folder and Project name folder are created when initially saving a project or when copying a project as indicated on the next page Workspace path name Workspace name Project name are restricted to 200 characters in length lt Example gt
10. _ Stores the number of writing data 10 10 D101 to number of writing data points Instruction S1 1 setting device D101 execution command DP DDWR H3E1 D100 DO W10 M100 M CP Mae M100 M101 Normal complete program Complete device M101 MM 1 Abnormal complete program Example 2 Program which stores simultaneously data for 10 words from DO of the self CPU to W10 or later of the CPU No 2 while is ON X0 MO a Stores the number of writing data 10 s MOVP K10 0101 H to number of writing data points 51 1 setting device 0101 nstruction execution 4 Stores DO to D9 of self CPU to W10 to command _ DP DDwR H3E1 D100 DO W10 M100 W19 of CPU No 2 SET MO M100 i RT MO L4 M100 M101 E Normal complete program Complete device 101 4 Abnormal complete program Example 3 Program which stores data for 10 words from DO of the self CPU to 10 or later of the CPU No 2 when turned ON _ Stores the number of writing data 10 MOVP K10 D101 to the number of writing data points Instruction 51 1 setting device D101 execution 4 command DP DDWR H3E1 D100 DO 10 M100 Sores i EUM M100 M101 Normal complete program Complete device 101 Abnormal complete program 3 MOTION DEDICATED PLC INSTRUCTION 3
11. 7 5 2 Indirect designation using motion devices The coasting timer FT cannot used to make indirect specification in the servo program and mechanical system program 8 MOTION DEVICES 8 MOTION DEVICES The motion registers 0 to 8735 and coasting timer FT are available as Motion CPU dedicated devices They can be used in operation control F FS programs or transition G programs 8 1 Motion Registers 0 to 8735 Motion device Specifications Number of points _ 8736 points 0 to 8735 Data size 16 bit point 5 Only a user device is latched Motion register Latch All points are cleared by latch clear operation Usable tasks Normal event and NMI Access Read and write enabled in whole range 1 Motion register list Common to all operating system software Device No Application Signal direction User devices 8000 points Cleared by latch clear Monitor devices Cleared at power on or reset only 640 points Motion error Cleared at power on or reset only history devices Cleared by the Motion error history request flag on keep 96 points at power on or reset 8 MOTION DEVICES a Monitor devices 8000 to 8639 Information for each axis is stored in the monitor devices The details of the storage data are shown below Axis Device No Signal name 8000 to 8019 902010 8039 Signal name Refresh cycle Signa
12. DO K2 MO GO A00H A01H CPU shared memory 100 200 2 words transfer DO D1 Device memory 100 200 5 OPERATION CONTROL PROGRAMS F FS 5 13 7 Read device data from CPU shared memory of the other CPU MULTR MULTR D S1 52 n Number of basic steps Usable data Usable Data Bit device Setting data Bit Comparison 16 bit 32 bit 64 bit 16 bit 32 bit 64 bit Calculation p floating Coasting floating conditional conditional integer integer 1 integer integer type i expression point expression expression type L type K H a a EN EET ol T o Usable Setting data Setting data Description Data type of result First No of the PLC CPU Motion CPU which it will be read CPU No 1 CPU No 2 3E1H CPU No 3 3E2H CPU 4 3E3H 82 The CPU shared memory first address of the data which it will be read 000H to FFFH m Number of words to be read 1 to 256 Functions 1 A part for n words of data of the target CPU specified with 51 are read from the address specified with 82 of the CPU shared memory and are stored since the device specified with S2 CPU shared S1 CPU shared memory address memory of the Self CPU operation specified CPU data area Device memory Read the d
13. usable Error detection ernal signal TREN Virtual mode continuation operation disable warning Unusable Un 1 The range of axis No 1 to 8 is valid in the Q172DCPU 2 The device area more than 9 axes as an user device in the Q172DCPU However when the project of Q172DCPU is replaced with Q173DCPU this area cannot be used 1 20 1 OVERVIEW 6 Table of the synchronous encoder axis command signals SV22 only Signal name TM Pen um Error reset Unusable AUS Adae Axis 11 bug 1 The range of axis No 1 to 8 is valid in the Q172DCPU 2 The device area more than 9 axes as an user device in the Q172DCPU However when the project of Q172DCPU is replaced with Q173DCPU this area cannot be used 1 21 1 OVERVIEW 7 Table of the common devices SV13 SV22 SV13 SV22 Refresh Fetch Signal Remark cycle cycle direction Note 4 signal Status signal Note 1 2 Main Command M3080 cycle signal transition Status signal Immedi M2039 Motion error detection flag M2039 Motion error detection flag ate M2040 Speed switching point M2040 Speed switching point ist Command M3073 specified flag specified flag signal Operation Status M2041 System setting error flag M2041 System setting error flag cycle signal Device No Signal name Device No Signal name M2000 PLC ready flag M2000 PLC fla
14. 1 OVERVIEW Table of the common devices SV13 SV22 continued SV22 Refresh Fetch Signal Remark Device No Signal name Device No Signal name cycle cycle direction Note 4 Status M2054 Operation cycle over flag M2054 Operation cycle over flag cycle signal M2055 M2055 Unusable 6 points M2060 BP Unusable M2061 Speed change 6 points M2060 ve 2061 Speed change to accepting flag cycle M2092 82 axes accepting flag M2093 SV13 Status signal Note 1 2 M2092 32 axes M2093 Unusable 8 points o M2100 M2101 Synchronous to to encoder current value Operation changing cycle flag Note 3 12 axes Status signal Note 1 2 Unusable M2112 Axis 12 EN WERE M2113 Miu o 15 points M2127 M2127 M2128 M2128 Automatic Automatic Status to to to to decelerating Operation decelerating flag cycle signal a Note 1 2 M2159 Axis 32 32 axes M2159 Axis 32 J 32 axes M2160 M2160 Unusable Note 5 to 64 points Unusable 80 points M2224 to M2239 M2240 Speed change to 0 accepting Unusable 16 points Speed change 0 accepting flag fla 32 axes M2271 Operation status 32 axes cycle signal 1 1 2 Control loop M2272 Control loop Note 1 2 monitor status monitor status 32 axes M2303 32 axes Unusable Unusable 16 points 16 points
15. Selective branch Selective coupling IFEm Selective branch IFBm 1 Parallel coupling PAEm Parallel branch 1 IFEm IFEm PABm CALL Fn JMP PAEm PAT2 CALL Fn JMP PAEm PAEm JMP PAEm PAEm IFBm IFT1 SFT Gn JMP IFEm IFT2 SFT Gn JMP IFEm IFEm JMP IFEm IFEm IFBm 1 IFT1 SFT Gn JMP IFEm 1 IFT2 SFT Gn JMP IFEm 1 IFEm 1 JMP PAEm PAEm PABm 1 JMP PAEm 1 2 CALL Fn JMP PAEm 1 PAEm 1 The selective coupling point and parallel branch point can be the same Note that in the Motion SFC chart this type is displayed in order of a selective coupling a parallel branch as shown on the left In this case a pointer Pn cannot be set between the selective coupling point IFEm and the parallel branch point PABm The parallel coupling point and selective branch point can be the same Note that in the Motion SFC chart this type is displayed in order of a parallel coupling a selective branch as shown on the left Execution waits at the parallel coupling point and shifts to the selective branch In this case a pointer Pn cannot be set between the parallel coupling point PAEm and the selective branch point IFBm The select
16. Subroutine call start Progra step Clear step Brogram name Shift Up to 80 characters preread transition Displayed in 20 characters 4 lines WAIT WAITON PRON bit device Transition WAITOFF OFF bit device Shift Y N WAIT Y N Displayed in 16 characters 4 lines Pointer Pointer 4 MOTION SFC PROGRAMS 1 Motion SFC comments are stored into the CPU code area The CPU code area stores the Motion SFC chart codes operation control F FS program codes transition G program codes and Motion SFC comments Be careful not to set too many comments to avoid code area overflow Refer to Section 1 2 2 1 b Motion SFC Performance Specifications for the code area sizes 2 You cannot use in comment statements 5 OPERATION CONTROL PROGRAMS 5 OPERATION CONTROL PROGRAMS Refer to Section 12 3 Motion SFC Error Code List for error codes of the operation error Refer to the Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE and Q173DCPU Q172DCPU Motion controller SV22 Programming Manual VIRTUAL MODE for minor errors of the operation error 5 1 Operation Control Programs 1 Operation control programs a Substitution operation expressions motion dedicated functions and bit device control commands can be set in operation control program b Multiple blocks in one operation control program can be set
17. 2 The data range of S is 32768 to 32767 3 When S is a 64 bit floating point type its fractional portion is rounded down before conversion is made 4 If S is a 16 bit integer type its value is returned unchanged with no conversion processing performed Errors 1 An operation error will occur if The S data is outside the range 32768 to 32767 or S isan indirectly specified device and its device No is outside the range Program examples 1 Program which converts the data of DOL into a signed 16 bit integer value and substitutes the result to 0 0 SHORT DOL D1 DO 40 K 30000 4 K 30000L H8ADO HFFFF8ADO 5 OPERATION CONTROL PROGRAMS FIFS 5 7 2 Unsigned 16 bit integer value conversion USHORT USHORT S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculation data Bit device bit 32 a floating Coasting ue bit eee floating conditional conditional integer integer _ integer integer type point timer point expression expression type type L type K H K H L type F type K 6 o9 aoa aoad i Usable Setting data Setting data Data type of result Data which will be converted into unsigned 16 bit s S 16 bit integer type integer value Functions 1 The data specified with S is converted into an u
18. c A Q c s U X c 99 ITI ag e e c U APPENDICES Processing time of operation instructions Continued 173DCPU Q172DCPU Classifications Symbol Operation expression m 5 u 0 BIN 1 D800 BIN D801 conversion U3E11G10000 BIN U3E1 G10001 OL BIN 2L D800L BIN D802L U3E1 G10000L BIN U3E1 G10002L 0 BCD 1 D800 BCD D801 ___ U3E1 G10000 BCD U3E1 G10001 BIN BCD conversion OL BCD 2L D800L BCD D802L U3E1 G10000L BCD U3E1 G10002L 0 SHORT 2L HO SHORT HE Converted into 16 bit D800 SHORT D802L integer type acy D800 SHORT D804F U3E1 G10000 SHORT U3E1 G10002L U3E1 G10000 SHORT U3E1 G10004F 0 USHORT 2L 0 05 Converted into 16 bit D800 USHORT D802L integer type Gomer D800 USHORT D804F U3E1 G10000 USHORT U3E1 G10002L U3E1 G10000 USHORT U3E1 G10004F OL LONG 2 OL LONG HF Converted into 32 bit D800L LONG D802 integer type D800L LONG D804F signed U3E1 G10000L LONG U3E1 G10002L U3E1 G10000L LONG U3E1 G10004F OL ULONG 2 OL ULONG 4F Converted into 32 bit D800L ULONG D802 integer type unsigned D800L ULONG D804F U3E1 G10000L ULONG U3E1 G10002L U3E1 G10000L ULONG U3E1 G10004F OF FLOAT 4 1 44 OF FLOAT 4L 1 34 Converted into 64 bit D800F FLOAT D804 floating point type D800F FLOAT D804L U3E1 G10000F FLOAT U3E1 G10004 U3E1 G10000F
19. c There are no restrictions on the number of blocks that may be set in one operation control program However one program is within 64k bytes d The maximum number of characters in one block is 128 5 e Transition conditions cannot be set Transition conditions can be set only in transition programs f The bit conditional expression that logical data value true or false is returned in an operation control program a comparison conditional expression can be set up only as a source S of device set SET or device reset RST An operation control program example is shown below 1 block 0 D0 D1 D2 5 Substitution expression four arithmetic operations gt W0 F SIN 10F Substitution expression standard function CHGV K2 K10 Motion dedicated function 1 program SET M100 M0 X0 Bit device control SET RST M10 X0 Bit device control RST DIN DO X0 Bit device control DIN E Comment 5 OPERATION CONTROL PROGRAMS 2 Priorities of operators and functions Operators and functions have the following priorities Using parentheses allows an operation sequence to be specified freely Item Operator Function i Calculation within parentheses Standard function SIN COS etc Type conversion USHORT LONG etc ion 1 Bit inversion logical negation sign inversion Multiplication division remainder 96 Bit left shift lt lt bit right sh
20. FIFS 5 6 10 Absolute value ABS ABS S Number of basic steps Usable data Usable Data Bit device Setting bi bi Bit Comparison 46 bit 32 bit 64 bit 16 bit 32 bit 64 bit Calculation p floating Coasting floating conditional conditional integer integer _ integer integer type point timer point expression expression type type L type F type K H KH L type K Usable data Setting data Setting data Data type of result Data on which absolute value conversion will be S Data type of S performed 1 The absolute value of the data specified with S is found Functions Errors 1 An operation error will occur if S isan indirectly specified device and its device No is outside the range Program examples 1 Program which finds the absolute value of DOF and substitutes the result to 0F ABS DOF 3 2 D1 DO ptu s TM eT 5 OPERATION CONTROL PROGRAMS FIFS 5 6 11 Round off RND RND S Number of basic steps Usable data Usable Data Bit device Setting bi bi Bit Comparison 46 bit 32 bit 64 bit 16 bit 32 bit 64 bit Calculation p floating Coasting j floating conditional conditional integer integer _ integer integer type MU timer hee expression expression type type L type K H K H L Usable data Sett
21. Note 2 Real output is turned off if necessary Note 3 The occurrence detection of servo error and so on is added to the stop status with forced stop if necessary When a forced stop is released it is the structure which starts the program which does motion control from the initials again by sample program Therefore it is the system example that motion control is resumed when a forced stop release is executed after it stops forced for while b No 110 Motion control Motion control F110 SET M2042 All axes servo ON ON G105 M2415 M2435 Is 1 axis and 2 axis servo on off status ON G110 IPX2 IPX1 G111 IPX2 PX1 G112 PX2 IPX1 G113 PX2 PX1 Manual pulse generator Home position return Programming operation 6115 a subroutine call completion NOP pun U U MM PX1 PX2 Selective branch is made the program so that each subroutine may never start it in the plural at the same time And each subroutine makes the next step WAIT to become a subroutine call to make it stop when this program is suspended by the clear step of No 20 Main too Condition of PX1 PX2 Subroutine call program The subroutine call of the following program is executed corresponding to the status of PX2 PX1 No Program name OFF OFF 12
22. Operations Transits to the next step by formation of transition condition Gn __ Gn without waiting for the operating completion of the servo program Kn started at the motion control step b Motion control step WAIT Operations Waits for the operating completion of the servo program Kn started at the motion control step and then transits to the next step by formation of transition condition Gn The operation completion condition of the servo program Kn is not needed in the transition condition Gn An error stop of the started servo program Kn at during a start is also regarded as an operation completion c WAITON WAITOFF Motion control step Operations Prepares for the start of the motion control step next to WAITON WAITOFF and makes a start immediately when the specified bit device turns ON OFF When the motion control step is executed without being used ON MO heme EF MO With WAITON WAITOFF preparations for a start are made after the transition condition preceding the motion control step enables This will cause a variation of delay starting time between when the transition condition is completed and when a start is made but a combination with WAITON WAITOFF can eliminate the variation of the above delay starting time Kn 4 MOTION SFC PROGRAMS Specifiable bit devices XO to XIFFF M MO to M12287 UD G10000 0 to UDG 10000 1 ee
23. Virtual enable 210 0 Number of step O Command speed constant speed Number of indirect words Absolute 1 axis positioning Incremental 1 axis positioning Absolute 2 axes linear Description 7 Instruction symbol _ Gives the servo instructions usable in servo programs Gives the processing outlines of the servo instructions a Indicates positioning data which can be set in servo instructions 1 which must be set Data which cannot execute the servo instruction unless it sets 2 A Item which is set when required Data which will be controlled by the default value unless it sets b Allows direct or indirect designation except axis No 1 Direct designation Set with numerical value 2 Indirect designation Set with word device 2 Servo program execution is controlled using the preset word device contents Each setting item may either be 1 or 2 word data For 2 word data set the start device No c Number of steps As there are more setting items there are more number of instruction steps The number of steps is displayed when a Servo program is created The instruction item comprise the minimum steps and one item increases the number of steps by 1 Items common to the servo instructions Items
24. _ olol o lolol Usable Setting data Setting data Data type of result Data type of S1 or S2 Data which will be EXCLUSIVE ORed bit by bit which is greater Integer type Functions 1 The bit by bit exclusive logical add of the data specified with S1 and the data specified with 52 is found 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before operation is performed At this time note that signed data is converted Errors 1 An operation error will occur if S1 or 52 is an indirectly specified device and its device No is outside the range Program examples 1 Program which EXCLUSIVE ORs 0 and 1 and substitutes the result to DO o fm pT po 5 OPERATION CONTROL PROGRAMS FIFS 5 5 5 Bit right shift gt gt 51 gt gt 52 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device 16 bit 2296 floating Coasting Mu 32 bit floating Calculation conditional conditional integer integer oint timer integer integer type oint expression expression expression type type L Raha type K H K H L n i a ee ej 6 _ olol lololo l l ol _ Usable Setting data 51 Data to be right shifted Data type of S1 Integer type Functions 1 The data specified with S
25. At cam data read The cam data storage area is rewritten The cam data in the currently set status are read 5 76 5 OPERATION CONTROL PROGRAMS 4 The word devices that may be set at D S and n are shown below Note 2 Note 2 Note 3 No SDn REA Note 1 Note 2 The device No cannot be specified indirectly Specify a multiple of 16 as the device number of bit data PX PY cannot be set Note 3 Note 4 o aH The No that may be set as is within the following range eo 1 to 64 301 to 364 Errors 1 An operation error will occur if The cam data of cam No specified with D or S are not yet registered to the Motion controller The resolution of cam No specified with D or S differs from the number of transferred words specified with n S to S n 1 is outside the device range D to D n 1 is outside the device range e is or a negative number PX PY is set in S to S n 1 PX PY is set in D to D n 1 when n specified is a word device 2 When conversion is made in program editing of MT Developer an error will occur if S to S n 1 is outside the device range D to D n 1 is outside the device range e n is or a negative number PX PY is set in S to S n 1 constant PX PY is set in 0 to
26. Device memory CPU shared memory 0 100 2 words transfer COOH 100 1 200 lt CO1H 200 5 OPERATION CONTROL PROGRAMS FIFS 5 13 8 Write device data to intelligent function module TO TO D1 D2 S n Number of basic steps Usable data Usable Data Bit device Setting data Bit Comparison 16 bit 32 bit 64 bit 16 bit 32 bit 64 bit Calculation p floating Coasting floating conditional conditional integer integer 1 integer integer type point expression expression type L type K H Usable Setting data setingdaa Description Datatypofresut data Description Data type of result D1 First No of the intelligent function module 000H to FFOH First address of the buffer memory which writes 22 data 9 Start device No which writing data are stored w Number of words to be written 1 to 256 Functions 1 A part for n words of data from device specified with S are written to since address specified with D2 of the buffer memory in the intelligent function module controlled by the self CPU specified with D1 D1 Intelligent function module buffer memory write the data Device memory of a part for n words 4 02 2 First No of the module set by system setting is specified by D1 X Q03UD Q173D QX40 Q64AD Q64DA amp CPU CPU 5 First First First 55 VON
27. If the complete status storage device D2 is omitted an error is not detected and operation becomes No operation Complete status 9 Error factor Corrective action Error code H 0010 Instruction request to Motion CPU from PLC CPU exceeds the permissible Confirm a program value and correct it to a HN correct PLC 2204 Axis No set by D P CHGV instruction is wrong Note 0000H Normal The diagnostic error flag 5 is turned on an operation error in the case shown below and an error code is stored in the diagnostic error register SDO Not 5 Error code The target CPU module specified is wrong 1 The reserved CPU is specified 2 The uninstalled CPU is specified 3 The first I O number of the target CPU 16 n1 is outside the range of to Confirm program It cannot be executed to the specified target CPU module and correct it to a 1 The instruction name is wrong correct PLC 2 The instruction unsupported by the target CPU module is specified program The device that cannot be used by the instruction specified is specified The character string that cannot be handled by the instruction specified is 432 The number of devices for instruction specified is wrong specified Note 0 Normal 3 MOTION DEDICATED PLC INSTRUCTION Program example Program which changes the positioning speed to 20000 for Axis 1 of the Motion CPU CPU No 2 when MO
28. Number of multi execute programs Up to 256 Number of multi active steps Up to 256 steps all programs Normal task Execute in main cycle of Motion CPU Execute in fixed cycle Event task Fixed cycle T 0 88ms 1 77ms 3 55ms 7 11ms 14 2ms Execute specification Execution z Executed Hh b External Execute when input ON is set among interrupt module QI60 task interrupt 16 points masked PLC interrupt Execute with interrupt instruction D P GINT from PLC CPU Execute when input ON is set among interrupt module QI60 NMI task 16 points Number of operation control programs 1 OVERVIEW 1 2 3 Operation control transition control specifications 1 Table of the operation control transition control specifications Returns a numeric result Calculation expression Expressions for calculating indirectly specified data using constants D100 1 SIN D100 etc and word devices Expression Bit conditional Returns a true or false result MO MO M1 MO NE n Conditional expiession Expression for judging ON or OFF of bit device M1 M2 M3 M4 etc Comparison expression Expressions for comparing indirectly specified data and calculation D100 100 ditional 906 expressions using constants and word devices D10 lt D102 D10 etc expression The input X output Y are Accessibility Usable tasks Description written with the actual input example PX actual output PY Device Symbol Inpu
29. 0 81 52 Tele 5139 _ than or equal to 3 Rough calculation expression of single program for operation control transition program 2 1 Total number of basic steps in 1 block Number of 32 bit constants 1 block 1 Number of 64 bit constants 1 block x 3 x Number of blocks steps 1 step 7 2 bytes 1 OVERVIEW 1 2 4 Positioning dedicated devices 1 Positioning dedicated devices The following section describes the positioning dedicated devices A range of up to 32 axes is valid in Q173DCPU and a range of up to 8 axes is valid in Q172DCPU Refer to the Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL Q173DCPU Q172DCPU Motion controller SV22 Programming Manual VIRTUAL for details of the positioning dedicated devices a Table of the internal relays Overall configuration 0 User device MO User device 2000 points to 2000 points M t to M2000 Common device M2000 Common device 320 points to 320 points M2320 Unusable M2320 Unusable to 80 points to 80 points M2400 M2400 Axis status Axis status 20 points x 32 axes 20 points x 32 axes to Real mode Each axis Virtual mode Output module M3040 Unusable M3040 Unusable to 32 points to 32 points Common device Command signal M3072 Common device Command signal 64 points to 64 points Unusable Unusa
30. 4 Complete Interlock device Program which continuously executes the servo program No 10 toward Axis 1 of the Motion CPU CPU No 2 and the servo program No 20 toward Axis 2 when MO turned ON U3E1 DP SVST H3E1 Ji K10 Instruction Start accept execution flag of CPU command No 2 Axis 1 G516 1 DP SVST H3E1 J2 20 Start accept flag of CPU No 2 Axis 2 RST Instruction execution command 3 MOTION DEDICATED PLC INSTRUCTION 3 2 3 Current value change instruction from the PLC CPU to the Motion CPU D P CHGA PLC instruction D P CHGA Usable devices Unit access o Internal devices File reaister 5 Link direct device 5 i i vi onstan 2 System User 9 E JOG 5 S i5 E 8 g 5 pad Word a 2 g 5 z E 3 8 9 8 95 BS 5 Qo Qo a x 7 o r c n1 e 51 2 D1 A A Note 1 Note 2 Note 2 D2 A Note 1 Note 2 Note 2 Usable A Usable partly Note 1 Omission possible with both of D1 and D2 omission Note 2 Local devices cannot be used Note 3 Setting data n1 to D2 Index qualification possible Instruction Condition co DP CHGA 4 E
31. 5 13 Other Instructions 5 13 1 Event task enable El Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device Apple een floating Coasting 188 SAN floating calculation conditional conditional integer integer integer integer type expression n ipm point expression expression type type L type K H Usable Setting data There are no setting data Functions 1 The execution of an event task is enabled 2 This instruction is usable with a normal task only Errors 1 An operation error will occur if This instruction is used with other than a normal task Program examples 1 Enables the execution of an event task 5 OPERATION CONTROL PROGRAMS FIFS 5 13 2 Event task disable DI Fomt Number of basic stops Usable data Usable Data Setting bi bi Bit Comparison 16 bit 32 bit Sabit 16 bit 32 bit 64 bit Calculation P data Bit device floating Coasting floating conditional conditional integer integer oint mer integer integer type sint expression expression expression type F type K Usable Setting data There are no setting data Functions 1 The execution of an event task is disabled 2 If an external interrupt or PLC interrupt occurs after execution of the DI instruction
32. C Documents and Settings Administrator My Documents Workspace Project Workspace path name Project name Workspace name Folder C Documents and Settings Administrator My Documents Browse Update Workspace Project List Workspace L workspace Workspace Name Workspace Project Name Project Title 11 1 11 USER FILES 11 2 User File List User file list is shown below Workspace path Workspace folder User defined setting Multiple projects can be set Project folder User defined setting User defined setting 3 Project file Project mt2 Project file 4 Data base file hdb Data base file of project data 5 Information files checkout xml Information files dataprotection xml history xml label xml labellink xml projectdatalist xml securitylevel xml storedhistory xml user xml 7 E REX File list of project names stored 6 Project name list file projectlist xml 77 in workspace folder 7 Workspace name list file Workspacelist xml List file of workspace names 1 Double clicking on the Project file Project mt2 opens a project 2 Workspace folder and Workspace list file Workspacelist xml that composes a system should be stored in the same workspace path folder 3 The procedure for using a project stored in Workspace folder on another PC is shown bel
33. COS COS S Number of basic steps Usable data Usable Data Bit device Setting bi bi 3 Bit Comparison 46 bit 32 bit 64 bit 16 bit 32 bit 64 bit Calculation pa floating Coasting j floating conditional conditional integer integer _ integer integer type expression MU timer i expression expression type type L type K H L Usable data Setting data Setting data Data type of result Angle data on which COS cosine operation will 5 Floating point type be performed Functions 1 COS cosine operation is performed on the data specified with S 2 The data specified with S is in an angle degree unit 3 If S is an integer type it is converted into a floating point type before operation is performed Errors 1 An operation error will occur if S isan indirectly specified device and its device No is outside the range Program examples 1 Program which performs the COS operation of DO and substitutes the result to 0F COS DO 3 2 PK Wes MD ape wf 6 5 OPERATION CONTROL PROGRAMS FIFS 5 6 3 Tangent TAN TAN S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculation data Bit device 16 bit pit floating Coasting M bit Sedit floating conditional conditional integer integer point timer integer integer type expression int expres
34. CPU No No 1 3E0 No 2 3E1 No 3 3E2 No 4 CPU No that is lager than the number of Multiple CPU cannot be set LO to L8191 BO to B1FFF Note 1 p indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU Refer to Chapter 2 of the Q173DCPU Q172DCPU Motion controller Programming Manual COMMON for the user setting area points of the Multiple CPU high speed transmission area 4 MOTION SFC PROGRAMS Instructions Always pair a transition with a motion control step one for one If the step following WAITON WAITOFF is not a motion control step the Motion SFC program error 16102 will occur and the Motion SFC program running will stop at the error detection An error will not occur if the jump destination immediately after WAITON WAIT OFF is a motion control step Left below A pointer may exist immediately after WAITON WAITOFF Right below ON MO Gn E BR Kn If the servo program specified with a motion control step could not be started due to a major minor error the Motion SFC program continues running and execution shifts to the next independently of the WAITON WAITOFF bit device status To stop the Motion SFC program at error detection provide an error detection condition at the next transition transition condition The following instructions can be used in the motion control step used combining th
35. D1 Self CPU device is made to turn on by the writing completion Functions 1 A part for n words of data since the device specified with S of the self CPU module are written to since the CPU shared memory address specified with D of the self CPU module After writing completion of the device data the complete bit device specified with 01 turns on CPU shared memory address CPU shared Self CPU operation memory of the 5 data area self CPU Write the data Device memory 200H D X H0000 ofa part for S H0000 System area 0005 n words 0005 This area can be H000A gt HOOOA User setting area used at users area 5 1000H pooo 1 59069 Unusable 2710H Multiple CPU high speed transmission 5FOFH area 2 Doresetting of the complete bit device by the user program 5 OPERATION CONTROL PROGRAMS 3 Another MULTW instruction cannot be processed until MULTW instruction is executed and a complete bit device is turned on When MULTW instruction was executed again before MULTW instruction is executed and complete bit device is turned on the MULTW instruction executed later becomes an error 4 The word devices that may be set at D S n and D1 are shown below Note 1 5 Note 1 Note 2 Setting Word devices Bit devices ds esum en vc Note 1 The device No cannot be specified indir
36. Functions 1 The data specified with S1 is shifted to the left by the number of times specified with S2 2 0 enters the least significant bit of the left shift result 3 When S1 is a 16 bit integer type and S2 is a negative number or not less than 16 the result is O 4 When S1 is a 32 bit integer type and S2 is a negative number or not less than 32 the result is O Errors 1 An operation error will occur if S1 or 52 is an indirectly specified device and its device No is outside the range Program examples 1 Program which shifts 0 one bit position to the left and substitutes the result to DO DO 0 lt lt K1 15 DO o o pe 5 OPERATION CONTROL PROGRAMS F FS 5 5 7 Sign inversion Complement of 2 Number of basic steps Usable data Usable Data Bit device bi bi Bit Comparison 16 bit 32 bit 16 bit 32 bit 64 bit Calculation floating Coasting floating conditional conditional integer integer type expression point expression expression Setting data integer integer point timer type type L type K H K H L yp ype L type F ype K H type K Leo d d o d o 0 Usable Setting data Setting data Data type of result Data whose sign will be inverted Data type of S Functions 1 The sign inverted value of the data specified with S is found Errors 1 An operation erro
37. Program which uses the complete device and complete status MO DP CHGA H3E1 C1 K10 M100 0100 Instruction execution r command RST MO Instruction execution command M100 M101 Normal complete program Complete device Abnormal complete program 3 MOTION DEDICATED PLC INSTRUCTION 3 2 4 Speed change instruction from the PLC CPU to the Motion CPU D P CHGV PLC instruction D P CHGV Usable devices Unit access o Internal devices File reaister 5 Link direct device 5 i i vi onstan 2 System User 9 E JOG 5 i t5 ki D pad Word D g S 5 E 8 6 gl 8 o 5 x c 5 Ds e Sax Qo Qo 7 o r c n1 e 51 2 D1 A A Note 1 Note 2 Note 2 D2 A Note 1 Note 2 Note 2 Usable A Usable partly Note 1 Omission possible with both of D1 and D2 omission Note 2 Local devices cannot be used Note 3 Setting data n1 to D2 Index qualification possible Instruction Condition DP CHGV 4 DP CHGV Command DP CHGV nf 51 Command l D CHGV Command D CHGV n1 81 3 MOTION DEDICATED PLC INSTRUCTION Setting data Setting d
38. X Mt 11 1 112 MM EE 11 2 12 ERROR CODE LISTS 12 1 to 12 14 12 1 Reading Procedure for Error Codes 0 eccecceeseeneeeeeeeeeeeeeeaeeeaeseaeeeaeeeaeseaeeeaeeeaeeeaeecaeesateeaeeeaneaeesatenas 12 1 12 2 Motion Error Related Devices sssssssssssssssseeeeeeenen nennen nnnm 12 2 12 3 Motion SF C Eror Coda List 25 ap inn ee LA P ELS 12 5 12 4 Motion SFC Parameter Errors nennen rennen nre nn rennen rennen nnns 12 14 APPENDICES APP 1 to APP 31 APPENDIX 1 Processing TiMes cecccecseceeeceeeeeeeeeeeeseeeceeeseeeseneeeeeseeesaeseeeseeeseeeseeeseeesenesenesenetenseneeaes APP 1 APPENDIX 1 1 Processing time of operation control Transition instruction APP 1 APPENDIX 1 2 Processing time of Motion dedicated PLC APP 12 APPENDIX 2 Sample Program sss nennen neret APP 13 APPENDIX 2 1 Motion control example by Motion SFC APP 13 APPENDIX 2 2 Continuation execution example at the subroutine re start by the Motion SFC program Sube MM e Ae Lx e Oe eT APP 23 APPENDIX 2 3 Continuation execution example after the stop by the Motion SFC program APP 27 About Manuals The following manuals are also related to this product In necessary o
39. at the completion Setting range 1 Setting of cam axis to execute the current value change within 1 cam shaft revolution The cam axis to execute the current value change within 1 cam shaft revolution set as 51 sets C cam axis No in a character sequence _ 81 range Q173DCPU 1 to 32 Q172DCPU The number of axes which can set are only 1 axis Set C in a capital letter and use the axis No set in the system setting as the axis No to start Refer to the Q173DCPU Q172DCPU Motion controller Programming Manual COMMON for system settings 2 Setting of the current value to change n2 usable range 2147483648 to 2147483647 3 MOTION DEDICATED PLC INSTRUCTION Errors The abnormal completion in the case shown below and the error code is stored in the device specified with the complete status storage device D2 If the complete status storage device D2 is omitted an error is not detected and operation becomes No operation Complete status N Error factor Corrective action rror code 0010 Instruction request to Motion CPU from PLC CPU exceeds the permissible value A Motion dedicated PLC instruction that does not correspond with the Confirm a program operating system of the Motion CPU was executed 7 and correct it to a correct PLC program Axis No En was specified by operating system software except SV22 There are 65 or more simultaneous D
40. c PLC interrupt The Motion SFC program is executed when the D P GINT instruction is executed in the PLC program Example 1 Operation for fixed cycle task 3 55 ms Number of consecutive transitions is set to 2 Program 1 Program SFCS PLC program 3 55ms Event task END operation End lt 1 gt 2 gt lt 3 gt END operation Continue lt 1 gt 2 3 1 Do not execute Execute the number of When END operation is set as program before the consecutive transition for continuation continuation event task starting every event occurrence operation is executed Note When making it When stopping it is make to always execute execute CLR by other programs set as automatic starting 9 OPERATION FOR MOTION AND PARAMETER Example 2 Operation for PLC interrupt by D P GINT Number of consecutive transitions is set to 2 Program name x 20 1 F1 E F2 2 F3 END PLC program EI DI status by other programs sie eee Event processing by external interrupt 1 i Starting of the GINT event task is accepted C 0 2 3 gt Event occurrence during DI status Event task is not executed is memorized and executed during DI status Except NMI task E
41. mm 01 inch Error setting data 10 degree 1 0 None Fixed at 0 11 PLS information Virtual servo motor axis 11 Fixed at PLS Valid when only the unit of error setting data is valid L gt Unit of error setting data 00 None 01 Axis unit Output module unit At output module error occurrence 10 Control unit Address data Radius specified allowable error range for circular interpolation 11 Control unit Speed data Error setting data 0 No data 1 Data Unusable Error setting data 0 None Fixed at 0 Setting data in error cause 2 Motion error detection flag M2039 Refresh cycle Scan time The Motion error detection flag M2039 turns on when any of the errors detected by the Motion CPU occurs At error occurrence data are set to the error devices in the following procedure a Set the error code to each axis or error devices b Turns on the error detection signal of each axis or error c Set the error information to the above Motion error history devices 8640 to 8735 d Turns on the Motion error detection M2039 In the user program reset the Motion error detection flag M2039 after reading the error history at the Motion error detection flag M2039 After that Motion error detection flag M2039 turns on again at occurrence of a new error 1 Resetting the Motion error detection
42. the corresponding event task is executed once at the execution of the EI instruction If two or more external interrupts or PLC interrupts occur during DI the corresponding event task is executed only once at the execution of the instruction 3 During DI a fixed cycle event task is not executed 4 The execution of an NMI task cannot be disabled b The DI status is established at power on or reset of the Multiple CPU system Errors 1 An operation error will occur if This instruction is used with other than a normal task Program examples 1 Program which disables the execution of an event task 5 OPERATION CONTROL PROGRAMS FIFS 5 13 3 No operation NOP Number of basic steps Usable data Usable Data Bit device Setting data bi bi Bit Comparison 16 bit 32 bit 16 bit 32 bit 64 bit Calculation A pa floating Coasting floating conditional conditional oint timer integer integer type oint expression expression P type K H K H L integer integer type type L type F type K Usable Setting data There are no setting data Functions 1 This is a no operation instruction and does not affect the preceding operations Errors 1 There are no operation errors for no operation NOP 5 OPERATION CONTROL PROGRAMS FIFS 5 13 4 Block transfer BMOV BMOV D S n Number of basic steps 6 Usab
43. 4L 4L 2 Positioning speed 2 K151 Real 1 INC 2 Axis 1 OPLS Axis 2 2PLS Vector speed 4PLS s G156 Did you turn on PX4 IPX4 When is on the linear interpolation control of the 1 axis and 2 axis is executed at a double speed in the action the opposition direction after the linear interpolation control of the 1 axis and 2 axis in position check And stands by to PX4 is OFF APP 18 END Positioning address the indirect designation of the speed Positioning address the indirect designation of the speed APPENDICES 3 System setting data of the Motion CPU System setting is shown below System Structure tt SSCNET Structure a Module setting 1 Motion module setting Manual pulse generator interface module Q173DPX Slot 3 Description Manual pulse generator Synchronous encoder INC P2 Manual pulse generator Synchronous encoder INC response time 0 4 ms 2 PLC module setting Module Occupied response Points Base Slot No type No time Output 16 oror mansas 2 APP 19 APPENDICES b Basic setting Basic Setting Basic Setting Base Setting ystem Basic Setting Base Setting Multiple CPU Setting No of CPU Operating Modef Operation Cycle Operation at STOP to RUN 2 gt module s Error operation mode at the stop of CPU C D4ms M2000 is turned on by switching from STOP to
44. 5 There is a limitation for number of simultaneous instruction execution simultaneous acceptance in the Motion dedicated PLC instruction Exchange a large amount of data through the CPU shared memory n1 3E1H 52 Device memory D1 Device memory DO i 51 1 51 1 10 words 10 words D9 S141 MOVP K10 D101 n1 S1 S2 D1 D2 DP DDWR H3E1 D100 DO W10 M100 M Outline operation between CPUs at the DP DDWR instruction execution is shown below PLC program END D P DDWR ONY execution DP DDWR instruction Request data set CPU dedicated transmission 0 88ms cycle Response data set Target CPU DP DDWR accept Complete device D2 0 ON Abnormal completion only Status display device D2 1 at the completion 3 MOTION DEDICATED PLC INSTRUCTION Errors The abnormal completion in the case shown below and the error code is stored in the device specified with the complete status storage device 50 0 Complete status 799 Error factor Corrective action Error code H Instruction request to Motion CPU from PLC CPU exceeds the permissible 0010 value 2001 The specified device cannot be used in the Motion CPU or it is outside the Confirm a program device range and correct it to a 2080 Number of writing
45. 5 OPERATION CONTROL PROGRAMS 4 How to specify data There are the following six different data usable in each instruction Data usable in each instruction Numerical data Integer data 16 bit integer type data 32 bit integer type data 64 bit floating point type data Bit data Batch bit data Logical data a 16 bit integer type data The 16 bit integer type data is 16 bit integer value data Word devices are used in increments of 1 point Data ranges are shown below Decimal representation Hexadecimal representation Data range K 32768 to K32767 H0000 to HFFFF b 32 bit integer type data The 32 bit integer type data is 32 bit integer value data Word devices are used in increments of 2 points specified device No specified device 1 Data ranges are shown below Decimal representation Hexadecimal representation Data range K 2147483648L to K2147483647L H00000000L to HFFFFFFFFL c 64 bit floating point type data The 64 bit floating point type data is IEEE formatted 64 bit floating point value data Word devices are used in increments of 4 points specified device No specified device 1 specified device 2 specified device 3 1 The internal bit locations are shown below b63b62 152 51 bO b51 to bO 52 bits Decimal field b62 to b52 11 bits Bias exponent field b63 1 bit
46. Axis No Error code Error occurrence time Year month Error occurrence time Day hour Error occurrence time Minute second Error setting data information Unusable Error setting data The contents of Motion error history device error information are shown in Table 12 2 12 2 12 ERROR CODE LISTS Table 12 2 Motion error history device error information Description Signal name Motion SFC control errors Conventional errors 0 to 255 Motion SFC program No in error 1 Independent of Motion SFC program Error Motion SFC program No Minor major error Minor major error virtual servomotor shaft SV22 Minor major error synchronous encoder shaft SV22 20 F FS Error detected in the servo amplifier 21 6 Servo program setting error 22 K or other Mode change error SV22 not any of F FS G and SFC chart 9 Manual pulse generator axis setting error 23 Motion SFC chart 10 Test mode request error 11 WDT error 13 Self diagnostic error Error code 10000 or less 14 System setting error Error type 3 4 or 7 0 to 4095 Servo program No FFFFH JOG operation 0 to 4095 F FS G K program No FFFEH Manual pulse generator Error program No 0 to 255 GSUB program No FFFDH Test mode Home position return servo diagnosis 1 Independent of F FS G K GSUB servo startup FFOOH Others Error type except 3
47. D2 or status display device D2 1 at the completion a Complete device It is turned on by the END processing of scan which the instruction completed and turned off by the next END processing b Status display device at the completion It is turned on off according to the status of the instruction completion e Normal completion OFF e Abnormal completion It is turned on by the END processing of scan which the instruction completed and turned off by the next END processing Error code is stored in control data 51 0 Complete status 3 MOTION DEDICATED PLC INSTRUCTION 5 There is a limitation for number of simultaneous instruction execution simultaneous acceptance in the Motion dedicated PLC instruction Exchange a large amount of data through the CPU shared memory m E E MITSUBISHI n1 D1 Device memory 52 Device memory DO Read W10 511 4 51 1 10 words 10 words D9 W19 Operation Outline operation between CPUs at the DP DDRD instruction execution is shown below PLC program D P DDRD ON execution DP DDRD instruction Request data set CPU dedicated transmission Transfer 0 88ms cycle 0 88ms Response data set Target CPU DP DDRD accept processing processing Self CPU storin
48. DO 0 True q ___ 5 OPERATION CONTROL PROGRAMS FIFS 5 11 2 Not equal to S1 2 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device 16 bit 2296 floating Coasting Mu 32 bit floating Calculation conditional conditional integer integer oint timer integer integer type point expression expression expression type type L Raha type 80 ol iem 62 _ o lololol olo lolol a Usable Setting data Setting data Data type of result 51 TR 52 Data which will be compared Logical type true false Functions 1 The data specified with S1 and the data specified with 52 are compared and the result is true if they are not equal 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before comparison is performed Errors 1 An operation error will occur if S1 or 52 is an indirectly specified device and its device No is outside the range Program examples 1 Program which compares whether 0 and DO are unequal or not 0 DO 0 True lt po 2 5 OPERATION CONTROL PROGRAMS FIFS 5 11 3 Less than lt 1 92 Number of basic steps Usable data Usable Data Bit device Setting data Bit Comparison 16 bit 32 bit Em 1
49. El Event task enable was executed at except for execution error the normal task 46302 Event task disable DI Event task disable was executed at except for execution error the normal task Block transfer BMOV execution error Time to wait TIME execution error Same data block transfer FMOV execution error The cam data of the cam No specified with D or S is not yet registered to the Motion controller The resolution of the cam No specified with D or S differs from the number of transferred words specified with n 5 to S n 1 is outside the device range D to D n 1 is outside the device range n is 0 or a negative number S is a bit device and the device number is not a multiple of 16 D is a bit device and the device number is not a multiple of 16 PX PY is set in S to S n 1 PX PY is set in D to D n 1 The device No which indirectly specifies S is illegal The S data is outside the range 0 to 2147483647 D to D n 1 is outside the device range n is 0 or a negative number S is a bit device and the device number is not a multiple of 16 D is a bit device and the device number is not Correct the program so that cam data is that of the already registered cam No Correct the program to match n with the cam resolution Change so that the block transfer range is within the device range Change
50. Error code The target CPU module specified is wrong 1 The reserved CPU is specified 2 The uninstalled CPU is specified 3 The first number of the target CPU 16 n1 is outside the range of to Confirm program It cannot be executed to the specified target CPU module and correct it to a 1 The instruction name is wrong correct PLC 2 The instruction unsupported by the target CPU module is specified program The device that cannot be used by the instruction specified is specified The character string that cannot be handled by the instruction specified is 432 The number of devices for instruction specified is wrong specified Note 0 Normal 3 MOTION DEDICATED PLC INSTRUCTION Program example Program which changes the current value to 10 for synchronous encoder axis 1 of the Motion CPU CPU No 2 when MO turned ON Example 1 Program which omits the complete device and complete status MO DP CHGA H3E1 E1 K10 4 Instruction execution command RST MO H Instruction execution command lt Example 2 gt Program which uses the complete device and complete status MO DP CHGA H3E1 E1 10 M100 D100 RST H Instruction execution command Instruction execution command M100 M101 Normal complete program H Complete device M101 Abnormal complete program 3 MOTION DEDICATED PLC INSTRUC
51. IFEm 1 JMP IFEm IFT2 SFT CALL Fn JMP IFEm IFEm SFT CALL Kn PABm PAT1 SFT Gn 1 PAT1 CALL Fn JMP PAEm 1 PAT2 CALL PAEm 1 PAEm 1 JMP PAEm PAT2 CALL CALL Kn PAEm PAEm SFT After a selective branch a selective branch can be performed The two selective coupling points for selective branch selective branch can be the same Note that in the Motion SFC chart this type is displayed in order of a selective coupling a selective coupling as shown on the left In this case a pointer Pn cannot be set between the selective coupling point IFEm 1 and the selective coupling point IFEm After a parallel branch a parallel branch can be performed A parallel branch can be nested up to four levels The two parallel coupling points for parallel branch parallel branch can be the same Note that in the Motion SFC chart this type is displayed in order of a parallel coupling a parallel coupling as shown on the left In this case a pointer Pn cannot be set between the parallel coupling point PAEm 1 and the parallel coupling point PAEm 4 MOTION SFC PROGRAMS List Name Motion SFC chart symbol 3 Function representation Selective coupling IFEm Parallel branch Parallel coupling PAEm
52. IIcondition of PX3 is off RST MO SET IM1 Condition was stored in M1 last time lof PX3 RST M1 SET M1 PX3 Nhen is ON OFF to ON of PX3 is detected it transition to the next steps MO K150 Real 1 INC 1 Axis 1 Speed 1000000 PLS 500000 PLS s 6151 Did you turn on PX4 PX4 Detection for leading edge of bit device PX3 Condition was memorized in M1 last time and OFF to ON of PX3 was detected G152 Did you finish a programming operation mode PX2 PX1 F150 0L 1000000 1 axis positioning address Iset 2L 2000000 2 axes positioning address Iset 4L 500000 Positioning speed G153 waits 1000 ms after the motion control completion TIME K1000 K152 Real 1 INC 1 Axis Speed 2 2000000 PLS 1000000 PLS s 6155 Waits for the motion control Icompletion When OFF to ON of PX3 is detected 1000 ms after 1 axis positioning completion stands by and the positioning of 2 axes is executed and stands by to the positioning completion of 2 axes K151 Real 1 INC 2 Axis 1 OPLS Axis 2 2PLS Vector speed 4PLS s 6154 Did you turned on 1 axis and 2 axis lin position M2402 M2422 F151 0L 0L 1 axis positioning address sign linversion 2L 2L 2 axes positioning address sign linversion
53. No 20 Main Main F20 3110070 Continuation point 0 G20 SM502 Did you release a forced listop F110 SET M2042 All axis servo ON command 6105 M2415 M2435 Did a thing during servo 1 axis 2 axes Restart continuation G21 ISM502 Did you turn on a forced listop continuation F25 DOUT PY10 H0000 PY10 to PY1F 116 points OFF EHE 0 is set on the continuation point 100 as an initial value The subroutine starts No 160 Restart continuation after all axis servo are turned on and servo on of 1 axis and 2 axes is confirmed when a forced stop is released Because the next step is a shift it becomes a subroutine start and the next step is executed at the same time with subroutine practice too No 160 Restart continuation is made to stop by the forced stop and real output PY is turned off Note 1 The program that a subroutine was started is made to stop if necessary when a subroutine start program is added because it does not stop Note 2 Actual output is turned off if necessary Note 3 The occurrence detection of Servo error and so on is added to the stop condition with forced stop if necessary When a forced stop is released it is the structure which starts the program which does motion control from the
54. Po fo 0 sn Sgn version xs AJA ALARA TR IA aa __ __ 563 554 uci EA __ __ REA ACOS 5 6 5 ATAN _ Arctanget 5 SORT squareroot loe 2 5 Standard function LN Naualogatm kno 2 EXP Exponential operation Exe ___ _ gt 2 gt folo ABS JAxouevaue 1 1 les 2 sem gt Q L N o EA o m RND Rouso NS ___ _ gt 2 gt sen FX Round down sy SF FLOAT signed data and convert into 64 FLOAT S 2 bit floating point type UFLOAT Regard as unsigned data and convert into UFLOAT S 2 64 bit floating point type zT None normally open contact _ _ 2 fol Bit device status OFF normally closed contact 2 N SET D SET Device set SET D conditional expression Bit device control RST Beviceteset RST D conditional expression DOUT Device output DIND S OUT D conditional Bit device output 7 ondona expression 1 OVERVIEW Table of the operation control transition instruction Usable Usable step Classification Symbol Function Format Basic steps conditional reference expression
55. Raha type sehe naan ae ae ae Se zm Usable Setting data Setting data Data type of result S1 TR 52 Data which will be compared Logical type true false Functions 1 The result is true if the data specified with 51 is less than or equal to the data specified with S2 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before comparison is performed Errors 1 An operation error will occur if S1 or 52 is an indirectly specified device and its device No is outside the range Program examples 1 Program which compares whether 0 is less than or equal to DO or not 0 lt DO lt True lt po 2 5 OPERATION CONTROL PROGRAMS FIFS 5 11 5 More than gt 51 gt 52 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device 16 bit salt floating Coasting Mu 32 bit floating Calculation conditional conditional integer integer oint timer integer integer type point expression expression expression type type L Raha type sehe naan ae ae ae Se zm Usable Setting data Setting data Data type of result S1 TR 52 Data which will be compared Logical type true fa
56. conditional expression block Example 1 J lBitdevice ON Example 2 D0 K100 Data register DO is not K100 lt Logically negated automatically generated program conditional expression block Example 1 device OFF Example 2 D0 K100 Data register DO is K100 Refer to Section 1 2 3 2 Table of the operation control transition instruction for the instructions usable in the conditional expressions of Shift Y N or WAIT Y N transition programs 4 MOTION SFC PROGRAMS 3 Instructions for the Motion SFC charts Any Motion SFC chart that will be meaningless to or conflict with the definition of Y N transitions will result in an error at the time of editing or Motion SFC chart conversion Their patterns and instructions will be given below a When Shift Y N or WAIT Y N is connected as a selective branch or parallel branch Error Shift Y N used as selective branch WAIT Y N used as selective branch 1 x ESTEE SESS E Shift Y N and WAIT Y N used as Shift or WAIT Y N used with other parallel branch step transition as parallel branch or selective branch L x x L AE b When a coupling precedes Shift Y N or WAIT Y N Provide coupling branch continuation in between Direct coupling with Shift Y N WAIT _ Provide coupling branch continuation in Y
57. control OFF Normally closed 1x100 SA Completion of condition F 1U3E1 G10000 0 MO M1 X100 x101 1 5 35 U3E41G10000 0 U3E 12 10000 1 1 X100 X101 Logical OR 1 _____ 90 O U3E1 G10000 0 U3E1 G10000 1 D800 D801 U3E1 G10000 U3E1 G10001 OL H2L Equal to D800L D802L Completion of condition U3E1 G10000L U3E1 G10002L OF H4F D800F D804F U3E1 G10000F U3E1 G10004F 901 1 D800 D801 U3E1 G10000 U3E1 G10001 OLI 2L Not equal to io DB00LI D802L Completion of condition U3E1 G10000L U3E1 G10002L D800F D804F U3E1 G10000F U3E1 G10004F lt 1 1 33 D800 lt D801 U3E1 G10000 lt U3E1 G10001 0 421 Less than D800L lt D802L Logical AND Completion of condition APP 9 APPENDICES Processing time of operation instructions Continued Q173DCPU Q172DCPU Classifications Symbol Instruction Operation expression Unit us D800 lt D801 U3E1 G10000 lt U3E1 G10001 OL lt H2L Less than or equal to D800L lt D802L Completion of condition U3E1 G10000L lt U3E1 G10002L OF lt 4F 1 92 D800 lt D804F U3E1 G10000F lt U3E1 G10004F 0 gt 1 D800 D801 U3E1 G10000 gt U3E1 G10001 OL gt 2L oe D800L gt D802L Completion of condition U3E1 G10000L gt U3E1 G10002L HOF DWAR D800F gt D804F 2 11 U3E1 G10000F gt U3E1 G10004F 0 gt 1 D800 gt D801 U3E1 G10000 gt U3E1 G10001 OL gt H2L More than or equal to si D8
58. hi AN dr EH A HR MORI 5 20 5 5 4 Bit exclusive logical OR A a stent E itte tnnt 5 21 5 5 5 Bit right Shift 9 identi andi indie indivi n eei md editum d edite qe 5 22 5 5 6 Bit deseaes 5 23 5 5 7 Sign inversion Complement of 2 oo ee eee eee 5 24 5 6 Standard FUNCUONS i cedet etre eee Fe eer COP er t eter oe Helena 5 25 5 6 1 Sine SIN ted me utes tein eii d eta va ct etin i e 5 25 5 62 Cosine COS tedio rb tite ba estie ie tet hate te b c LE Lek a PLU 5 26 5 6 9 Tangent LANs i b A A E 5 27 5 6 4 Arcsinie ASIN a entente etus EE s de 5 28 5 6 5 Arccosirie ed unc edu uet uni utu eu mainte tating tthe 5 29 5 6 6 Arctangent ueni itcr ln ed di d e d e d d E d e e dL E Foe de do e dL e d ae oe 5 30 5 6 7 9quare Toot SORT ese eee t eim b e t ttm a a fe fce t ic o M 5 31 5 6 8 Natural logarithm vaca cio tiem em Pede EP eO Pp emi epe 5 32 5 6 9 Exponential operation 5 33 56 10 Absolute value s ABS ime Sun beat tb md fid ib dfe d tes tbe els 5 34 5 61 1 RND x3 ihre tr eer Cer P Cere P re e e Pe ete ee RP 5 35 5 6 12 Round down FIX tede ste Hi ian elo
59. initials again by sample program Therefore it is the system example that motion control is resumed when a forced stop release is executed after it stops forced for while APP 25 APPENDICES b No 160 Restart continuation Restart continuation 8 a continuation point 0 G191 100 10 Is a continuation 10 ERN 6192 100 20 Is a continuation 20 P2 __ 6193 100 30 Is a continuation 30 6151 Did you turn on PX4 PX4 F189 31100710 Continuation point 10 vV The process is started corresponding to the value of 100 continuation point from each point of PO to P30 For the continuation from P10 K150 Real 1 ABS 2 Axis 1 0PLS Axis 2 0PLS Vector speed 500000 PLS s The motion control step executed absolute posi tioning to application when to start again after it stops on the way K151 Real 1 ABS 2 Axis 1 0PLS Axis 2 2PLS Vector speed 4 PLS s G195 Did you turn on 1 axis and 2 axes positioning completion M2401 M2421 F190 100 20 Continuation point 20 6154 Did you turn on 1 axis and 2 axes in position signal M2402 M2422 F150 0L 1000000 1 axis positioning 5 set 21 2000000 2 axes positioning laddress set 4L 500000
60. n to a positive number When S or D is a bit device set the device number to be multiple of 16 When S or D is a bit device do not set PX PY Correct the program so that the device No which indirectly specifies S is proper Correct the program so that the S data is within the range of 0 to 2147483647 Change n so that the block transfer range is within the device range When S or D is a bit device set the device number to be multiple of 16 When S or D is a bit device do not set The block processing on executing is stopped and the next block is executed a multiple of 16 PX PY is set in S PX PY is set in D to D n 1 PX PY Speed change request CHGV execution error Torque limit value change request CHGT execution error Assignment execution error ion execution nder execution error Device set SET execution error Device reset RST execution error Device set ion error Device reset RST execution error Device output DOUT execution error Device input DIN execution error Bit device output OUT execution error The specified axis No is outside the range The 5 data is outside the range of the data type of D The device No which indirectly specifies D is illegal The divisor is 0 The device No which indirectly specifies D is illegal 0 is a device which is write d
61. range Program examples 1 Program which sets M100 when MO is ON 1 and program which resets M100 when MO is OFF 0 OUT M100 2 Program which sets M100 when MO and M1 are both on and resets M100 except it OUT M100 MO M1 3 Program which sets M100 when DO is equal to D2000 and resets M100 when D is not equal to D2000 OUT M100 DO D2000 5 54 5 OPERATION CONTROL PROGRAMS FIFS 5 10 Logical Operations 5 10 1 Logical acknowledgement None S Number of basic steps __ ___ Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device Apple een floating Coasting 188 32 pit floating calculation conditional conditional integer integer oint ti r integer integer type oint expression expression expression type type L 5 type K H L 6 Lod o o Usable Setting data Setting data Data type of result Data which will be logically acknowledged Logical type true false Functions 1 Whether the logical type data specified with S is true or false is returned unchanged Logical acknowledgement Errors 1 An operation error will occur if S isan indirectly specified device and its device No is outside the range Program examples 1 Program which sets M100 when either of MO and is ON 1 MO False cu LS 100 gt xo T True 5 OPERA
62. transition to next step is possible without waiting for positioning completion Motion SFC program that responds and executes it at high speed for interrupt input from external source can be set Motion SFC program executed in the fixed cycle 0 88ms 1 77ms 3 55ms 7 11ms 14 2ms by synchronizing to the Motion operation cycle can be set 1 OVERVIEW 1 2 2 Performance specifications 1 Basic specifications of Q173DCPU Q172DCPU a Motion control specifications Q173DCPU Q172DCPU Number of control axes Up to 32 axes Up to 8 axes 0 44ms 110 6 axes 0 88ms 7 to 18 axes 1 77ms 19 to 32 axes 0 44ms 1to 4 axes 0 88ms 5 to 12 axes 0 44ms 1 to 4 axes 1 77ms 13 to 28 axes 0 88ms 5 to 8 axes 3 55ms 29 to 32 axes Linear interpolation Up to 4 axes Circular interpolation 2 axes Interpolation functions ARM Helical interpolation 3 axes to Point control Speed control Speed position control Fixed pitch feed 0 44ms 1 to 6 axes 0 88ms 7 to 8 axes Operation cycle default Control modes Constant speed control Position follow up control Speed control with fixed position stop Speed switching control High speed oscillation control Synchronous control SV22 deceleration control S curve acceleration deceleration Programming language Motion SFC Dedicated instruction Mechanical support language SV22 Servo program capacity 14k steps Number of positioning 3200 points points Positioning d
63. 2 7 Read device data of other CPU to the device of self CPU D P DDRD PLC instruction D P DDRD Usable devices Unit access Internal devices Link direct device File register device Constant System User 9 JOG Note 2 Word Indirect specified Index register Setting data Digit Decimal specified Hexadecimal K H Real character ot ot 20 lt 26 M o o Usable A Usable partly Note 1 Local devices cannot be used Note 2 Setting data n1 to D2 Index qualification possible Instruction Condition c DP DDRD 4 I _ DP DDRD Command Setting data Setting data Setby Data type First I O No of the target CPU 16 Value to specify actually is the following E User 16 bit binary CPU No 2 3E1H CPU No 3 3E2H CPU No 4 3E3H Note Motion CPU cannot be set as CPU No 1 in the Multiple CPU configuration 91 Start device of the self CPU where control data is stored Start device of the target CPU where reading data is stored Word POINT Data can be read from device like a motion register etc of Motion Character CPU outside the range in the PLC CPU that executes this instruction by setting it by a character sequence D1 Start de
64. 20n Feed current value roller cycle Feed current value D1 20n speed 02 20n Real current value Real current value D3 20n D4 20n 69 Deviation counter value Deviation counter value 05 20n D6 20n D7 20n D8 20n i Monitor device Home position return re travel D9 20n Hold value D10 20n Travel value after proximity dog Hold D11 20n ON D12 20n Execute program No Di3 2m D14 20n Torque limit value Torque limit value Data set pointer for constant D15 20n speed control D16 20n Unusable Note 1 Unusable Note 1 D17 20n 018 20 Real current value at stop input Hold Monitor device D19 20n Note 1 It can be used as the travel value change register The travel value change register can be set to the device optionally in the servo program Refer to Section 6 15 of the Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL for details 1 n in the above device No shows the numerical value which correspond to axis No Q173DCPU Axis No 1 to No 32 n 0 to 31 Q172DCPU Axis No 1 to No 8 0 to 7 2 The device area more than 9 axes as an user device in the Q172DCPU However when the project of Q172DCPU is replaced with Q173DCPU this area cannot be used 1 OVERVIEW 2 Table of the control change registers SV13 SV22 D640 Axis 1 JOG speed D672 Axis 17 JOG speed D642 Axis 2 JOG speed D674 Axis 18 JOG
65. COMMON for system settings 2 Setting of the torque limit value to change n2 usable range 1 to 1000 3 MOTION DEDICATED PLC INSTRUCTION Errors The abnormal completion in the case shown below and the error code is stored in the device specified with the complete status storage device D2 If the complete status storage device D2 is omitted an error is not detected and operation becomes No operation Complete status 9 Error factor Corrective action Error code H 0010 Instruction request to Motion CPU from PLC CPU exceeds the permissible Confirm a program value and correct it to a AC correct PLC 2205 Axis No set by D P CHGT instruction is wrong Note 0000H Normal The diagnostic error flag SMO is turned on an operation error in the case shown below and an error code is stored in the diagnostic error register SDO Not 5 Error code The target CPU module specified is wrong 1 The reserved CPU is specified 2 The uninstalled CPU is specified 3 The first I O number of the target CPU 16 n1 is outside the range of to Confirm program It cannot be executed to the specified target CPU module and correct it to a 1 The instruction name is wrong correct PLC 2 The instruction unsupported by the target CPU module is specified program The device that cannot be used by the instruction specified is specified The character string that cannot be handle
66. D n 1 S is a bit device and the device number is not a multiple of 16 0 is a bit device and the device number is not a multiple of 16 when n specified is a 5 OPERATION CONTROL PROGRAMS Program examples 1 Program which batch transfers a contents for 5 words from DO to all data for 5 words from 10 BMOV 10 D0 K5 10 DO 141 Batch transfer D1 12 m 13 D3 14 D4 2 Program which batch transfers a contents for 2048 words from 0 to the data area of cam No 2 resolution 2048 BMOV N2 0 K2048 Cam data of cam No 2 Oth stroke ratio First stroke ratio Second stroke ratio 2047th stroke ratio Cam stroke ratio is set within 0 to 7FFFH 3 Program which batch transfers a contents for 4 words from XO to all data for 4 words from 20 BMOV 20 K4 615 bO X0 20 0 01 0 01 1 1 00 0 01 1 11 o 0 1 0 04 1 10 0 00 1111 b15 X1F X10 21 10 b15 22 00 b15 23 1 1 5 OPERATION CONTROL PROGRAMS FIFS 5 13 5 Same data block transfer FWOV FMOV D S n Number of basic steps 6 Usable data Usable Data Bit device Setting data Bit Comparison 16 bit 32 bit 64 bit 16 bit 32 bit 64 bit Calculation floating Coasting floating conditional conditional integer integer int finer integer int
67. External interrupt make selection from those set values of these parameters to NMI task turn PLC ready flag M2000 Multiple interrupt can be set from among 10 11 12 off 13 14 15 I6 17 18 19 110 111 112 113 114 and 115 Number of 1 to 10 consecutive Set the number of consecutive transitions toward the transitions program set to the event or NMI task End continue END Set the operation mode of the END step toward the operation program set to the event or NMI task None Bit device Set the bit device turned ON while executing Motion SFC program to X1FFF Executing flag YO to Y1FFF MO to M8191 BO to B1FFF ULTG10000 0 to ULNG 10000 p 1 Self CPU only Note 1 p indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU F Note 1 9 OPERATION FOR MOTION AND PARAMETER 1 The settings of END operation are invalid for the subroutine called program END operation is controlled as end 2 Refer to Chapter 2 of the Q173DCPU Q172DCPU Motion controller Programming Manual COMMON for the user setting area points of the Multiple CPU high speed transmission area 1 Start setting Description The following control is changed by automatically started or not setting Program run by normal task When automatically started When not automatically started In the main cycle after PLC ready flag The pr
68. FFOH 82 First address of the buffer memory which it will be read Number of words to be read 1 to 256 Functions 1 A part for n words of data are read from the address specified with 52 of the buffer memory in the intelligent function module controlled by the self CPU specified with 51 and are stored since the device specified with 52 S1 Intelligent function Device memory icone module buffer memory H0000 S2 n word H000A q H000A H0000 H0000 2 First No of the module set by system setting is specified by 01 Q03UD Q173D CPU CPU No 00H No 10H No 20H m a 3 a 5 o a module D1 sets 20H by the system setting when a TO instruction is executed in the D A conversion module Q64DA 5 OPERATION CONTROL PROGRAMS 3 The word devices that may be set at D 51 52 and n are shown below 1 7 Note 1 Note 2 Setting Word devices Bit devices omen Dn wn spn e 5 Note 1 The device No cannot be specified indirectly Note 2 Specify a multiple of 16 as the device number of bit data Note 3 PX and PY cannot be set 4 Adjust an executive task the number of transfer word referring to the operation processing time so that this instruction may not obstruct the execution of the motion operation because processing time becomes long in argument t
69. FLOAT U3E1 G10004L OF UFLOAT 4 1 39 Converted OF UFLOAT 4L 1 69 APP 4 APPENDICES Processing time of operation instructions Continued 173DCPU Q172DCPU Classifications Symbol Instruction Operation expression d dene u SET M1000 MO ON normally open SET M1000 X100 contact ion SET M1000 PXO Completion of condition Bit device SET M1000 U3E1 G10000 0 status SET M1000 MO OFF normally closed SET M1000 X100 2 98 contact sign SET M1000 Completion of condition SET M1000 U3E1 G10000 0 SET M1000 Y100 SET Device set SET SET U3E1 G11000 0 RST M1000 1 74 RST Y100 RST Device reset RST PYO RST U3E1 G11000 0 DOUT 0 2 70 DOUT MO OL DOUT Y100 0 Device output DOUT DOUT Y100 0L 4 00 DOUT PY0 0 DOUT PY0 0L DIN 0 M0 DIN 0L M0 DIN 40 X0 DIN Device input Bit device control DIN 40L XO DIN 0 4 32 DIN 0L PX0 OUT M1000 MO OUT YO Bit device output OUT MO OUT U3E1 G10000 0 MO SET M1000 1 SET M1000 100 101 Logical AND SET M1000 1 SET M1000 U3E1 G10000 0 U3E1 G10000 1 SET M1000 MO M1 1000 100 101 Logical SET M1000 1 SET M1000 U3E1 G10000 0 U3E1 G10000 1 5 APPENDICES Processing time of operation instructions Continued 173DCPU Q172DCPU Classifications Symbol
70. M5239 M5240 to M5259 M5260 to M5279 M5280 to M5299 M5300 to M5319 M5320 to M5339 M5340 to M5359 M5360 to M5379 M5380 to M5399 M5400 to M5419 M5420 to M5439 Signal name Axis 17 command signal Axis 18 command signal Axis 19 command signal Axis 20 command signal Axis 21 command signal Axis 22 command signal Axis 23 command signal Axis 24 command signal Axis 25 command signal Axis 26 command signal Axis 27 command signal Axis 28 command signal Axis 29 command signal Axis 30 command signal Axis 31 command signal Axis 32 command signal 1 OVERVIEW Details of each axis M4800 20n Stop command 4801 20n Rapid stop command M4802 20n Forward rotation JOG start command M4803 20 Reverse rotation JOG start command 4804 20n Complete signal OFF command Error reset command M4814 20n Unusable M4815 20n M4816 20n M4817 20n M4818 20n M4819 20 FIN signal 1 n in the above device No shows the numerical value which correspond to axis No Q173DCPU Axis No 1 to No 32 n 0 to 31 Q172DCPU Axis No 1 to No 8 0 to 7 2 The unused axis areas in the mechanical system program can be used as an user device 1 19 1 OVERVIEW 5 Table of the synchronous encoder axis statuses SV22 only Device No Signal name M4640 M4641 M4642 M4643 M4644 M4645 M4646 M4647 M4648 M4649 M4650 M4651 M4652 M4653 M4654
71. MOTION CPU PROGRAM Motion CPU programs is created in the Motion SFC of flowchart format The motion control of servomotors is performed using the real mode servo programs specified by motion control steps in a Motion SFC program in SV13 SV22 real mode Virtual servomotors in a mechanical system program are controlled using the virtual mode servo programs specified by motion control steps so as to enable synchronous control 2 in SV22 virtual mode Refer to the documents below for the details of Motion SFC programs motion control in real mode and motion control in virtual mode Motion SFC program Section 4 in this manual Motion control in SV13 SV22 real mode Q173DCPU Q172DCPU Motion controller Servo program SV13 SV22 Programming Manual REAL MODE Motion control in SV22 virtual mode Q173DCPU Q172DCPU Motion controller SV22 Mechanical system program Programming Manual VIRTUAL MODE 2 STRUCTURE OF THE MOTION CPU PROGRAM 2 1 Motion Control in SV13 SV22 Real Mode 1 System with servomotor is controlled directly using the servo program in SV13 SV22 real mode 2 Setting of the positioning parameter and creation of the servo program Motion SFC program are required 3 The procedure of positioning control is shown below 1 Motion SFC program is requested to start using the D P SFCS instruction of the PLC program Motion SFC program can also be started automatically by parameter setting t 2 Exec
72. None Logicalacknowedgment __________ o o 510 Pulp ee er EE Conditional expression EFE Conditional expression 5403 conditional expression Conditional expression L I OR 5 10 4 je 00 conditional expression Equal to Conditional expressions 4 5414 conditional expression Not equal to Conditional expression l 5112 conditional expression Conditional expression Less than PA Comparison conditional expression Logical operation Logical AND 5 11 3 operation Condi lt 4 lt Less than or equal to Conditional expression 5 11 4 conditional expression More than Conditional expression gt 5415 conditional expression Conditional expression gt conditional expression Motion dedicated Speed request CHGV S1 ES function Fofo Tee Ei Eventtaskenable ari e 1 BVOV Bockvanfer Bmvoem ___ e 5134 FMOV Same data block transfer e 5135 Write device data to CPU shared memory MULT ofthe self CPU ee e lofo ES Read device data from CPU shared MULTR MULTR D S1 S2 E memory of the other CPU es ee Write device data to intelligent function TO D1 D2 S n 5138 module FROM LEON paa data from intelligent function
73. Positioning speed set This program is judged by using the positioning completion signal whether it was stopped during the positioning on the way When it stops on the way a switchover is stopped in this program clear step stop complete For the continuation from P20 APP 26 ee PENES 6195 Did you turn on 1 axis and 2 axes positioning completion M2401 M2421 S F191 31100730 Continuation point 30 6156 Did you turn on PX4 IPX4 F193 100 0 Continuation point 0 For the continuation from P30 0 is set on 100 Continuation point and it jumps in PO APPENDICES APPENDIX 2 3 Continuation execution example after the stop by the Motion SFC program 1 The explanation of the operation The program example that the Motion SFC program is stopped by external input signal ON for the forced stop from the input module and it is executed continuously by external signal OFF for the stop is shown below The servo is turned on by the forced stop release and the positioning control of the 2 axes liner interpolation is executed when PX4 is ON in this program One cycle operation is completed after confirmation that PX4 became OFF When PX5 turns ON during the positioning operating the positioning operation is stopped by the stop instruction and it is resumed from the interrupted positioning operation at turning PX5 on The transition to the next step is
74. Setting data Setting data Data type of result Data type of S S BCD data which will be converted into BIN data Integer type Functions 1 The BCD data specified with S is converted into BIN data 2 If S is a 16 bit integer type the data range is 0 to 9999 3 If S is a 32 bit integer type the data range is 0 to 99999999 Errors 1 An operation error will occur if A value other than 0 to 9 is in any digit of S or S isan indirectly specified device and its device No is outside the range Program examples 1 Program which converts the BCD data of DO into BIN data and substitutes the result to 0 BIN 9999 BCD 9999 Y Y Y Y Thousands Hundreds Tens Units 5 OPERATION CONTROL PROGRAMS FIFS 5 6 15 BIN BCD conversion BCD BCD S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculation data Bit device 16 bit pit floating Coasting M bit Sedit floating conditional conditional integer integer point timer integer integer type expression int expression expression type L type i type F type K 9 ilo lo o Usable Setting data Setting data Data type of result Data type of S S BIN data which will be converted into BCD data Integer type Functions 1 The BIN data specified with
75. TH ary pee Weber 7 13 7 MOTION CONTROL PROGRAMS 7 2 Servomotor Virtual Servomotor Shaft Current Value Change The current value of the specified axis is changed in the real mode The current value of the specified virtual servomotor shaft is changed in the virtual mode Items set using MT Developer Parameter block at stop input Allowable error range for circular interpolation Dwell time Control unit S curve ratio Servo Positioning Number of instruction method Control axes Parameter block No Address travel Command speed Torque limit value Auxiliary point Central point Speed limit value Acceleration time Deceleration time Torque limit value Deceleration processing FIN acceleration deceleration o c 2 nd o o o 2 o S a 14 mew n __ see Item which must be set A Item which is set when required Controls Control using CHGA instruction 1 Executing the CHGA instruction changes the current value in the following procedure a The start accept flag M2001 to M2008 M2001 to M2032 corresponding to the specified axis is turned on b The current value of the specified axis is changed to the specified address c Start accept flag is turned off at completion of the current value change 2 The current value of the specified axis is changed in the real mode 3 The current value of the specified virt
76. The 64 bit floating point type data are used for addition and the result is converted into the 32 bit integer type and then substituted 5 13 5 OPERATION CONTROL PROGRAMS FIFS 5 4 3 Subtraction 1 92 Number of basic steps Usable data Usable Data Bit device Setting data Bit Comparison 16 bit 32 bit pes Em 16 bit 32 bit 64 bit Calculation p floating Coasting floating conditional conditional integer integer integer integertype point timer point expression expression type type L type F type K H KH L type K qm xoc peo 62 _ o o l l o l ue cese I O Usable Setting data Setting data Data type of result S1 Minuend data Data type of S1 or S2 S2 Subtracted data which is greater Functions 1 The data specified with S2 is subtracted from the data specified with S1 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before operation is performed Errors 1 An operation error will occur if S1 52 15 an indirectly specified device and its device No is outside the range Program examples 1 Program which substitutes the result of subtracting 0 from K123 to WO WO 123 0 123 3 0 456 2 Program which su
77. an FS step toa transition scans are executed during waiting for the completion of transition condition of the jump destination 2 Coupling jump When a jump to the other route within a parallel branch takes place after the parallel branch a coupling jump takes place and execution waits at the jump destination 4 MOTION SFC PROGRAMS Combining the basic type branches couplings provides the following application types which are defined as in the basic types List Name Motion SFC chart symbol 3 Function representation Selective branch Parallel branch Parallel coupling Selective coupling Parallel branch Selective branch Selective coupling Parallel coupling CALL Kn IFBm IFT1 SFT Gn PABm PAT1 CALL Fn JMP PAEm PAT2 CALL Fn JMP PAEm PAEm JMP IFEm IFT2 SFT Gn CALL JMP IFEm IFEm SFT Gn SFT Gn PABm CALL Fn IFBm IFT1 SFT Gn CALL Fn JMP IFEm IFT2 SFT Gn CALL Fn JMP IFEm 2 CALL Fn CALL Kn JMP PAEm PAEm After a selective branch a parallel branch can be performed The selective coupling
78. automatically started When not automatically started At occurrence of a valid event after PLC The program is started by the Motion SFC start instruction ready flag M2000 ON the program is D P SFCS from the PLC or by a subroutine call start GSUB made executed from the initial first step in from within the Motion SFC program accordance with the number of consecutive e When started by the D P SFCS instruction transitions of the corresponding program At occurrence of a valid event after execution of the ID P SFCS instruction the program is run from the initial first step in accordance with the number of consecutive transitions of the corresponding program When subroutine started At occurrence of a valid event after execution of GSUB the program is executed from the first step in accordance with the number of consecutive transitions of the corresponding program When subroutine called The program is executed immediately from the first step After that the program is executed continuously by the number of consecutive transitions of the corresponding program at occurrence of a valid event Start control END control END As specified for END operation Errors None In the case of the program which is executed by the normal task write the program so that it is not ended by but it returns to the starting step by a jump when starting of the automatically fr
79. bi Calculation data Bit device 51 SOME floating Coasting TUM n floating conditional conditional integer integer type point expression expression type KH L type K integer integer tine type L point timer yp yp type F yl Lo 9 o Usable Setting data Setting data Data type of result Waiting time 0 to 2147483647 ms Logical type true false Functions 1 A wait state continues for the time specified with S The result is false when the elapsed time is less than the preset time or the result is true and execution transits when the preset time has elapsed 2 When a 16 bit integer type word device is used to specify any of 32768 to 65535 ms at S convert it into an unsigned 32 bit integer value with ULONG Refer to the program example Errors 1 An operation error will occur if S isan indirectly specified device and its device No is outside the range or The data device data at indirect specification specified with S is outside the range of 0 to 2147483647 Program examples 1 Program which sets a wait of 60 seconds when constant is specified TIME K60000 2 Program for a case where there may be a wait of 32768 to 65535 ms for 16 bit integer type indirect designation 0 TIME ULONG 0 3 Program which SETS RSTs a bit device when the specified time has elapsed SET M100 TIME K60000 5
80. by selecting the Convert button Online change is possible to the operation control transition program during execution A program that the online change was made is executed from the next scan Operation Control Program Transition Program Editor F100 Command SET Y100 X0 M100 Convert button Word device description Device No n designated Device description 32 bit 64bit 16 bit integer floating integer n point even n even Aen 9101 QI73D Q172D Operations for which made the online change to the operation control transition program during execution in the following conditions are shown below Be careful to execute the online change in the following conditions Online change of the FSn operation After completion of online change the control program is executed during FSn repeats the operation control FSn execution in the state of program that the online change was waiting for the completion of made until the completion of condition condition for Gn for Gn Online change of the Gn program After completion of online change the is executed in the state of waiting for Gn does not transit to the next step the completion of condition for Gn until the completion of condition for The conditional sentences of program that the online change was program to write are except the made TIME instruction Onli
81. by the PC diagnosis of GX Developer Refer to the GX Developer operation manual for the GX Developer operation procedure 12 1 12 ERROR CODE LISTS 12 2 Motion Error Related Devices 1 Motion error history devices 8640 to 8735 Eighth in the past Seventh in the past to latest error information are stored as a history 8724 to 8735 are latest errors All errors including the Motion SFC control errors and the conventional minor major servo servo program setting and mode changing errors are stored At error occurrence the Motion error detection flag M2039 is also set Motion error history is backed up Use the Motion error history clear request flag M2035 or MT Developer to clear the Motion error history Also the self diagnostic errors of error code 10000 or less are stored in the Motion error history Refer to the following manuals for details of each error Error type Minor error Q173DCPU Q172DCPU Motion controller SV13 SV22 Major error Programming Manual REAL MODE Servo error Q173DCPU Q172DCPU Motion controller SV22 Programming Servo program setting error Manual VIRTUAL MODE Q173DCPU Q172DCPU Motion controller Programming Manual Self diagnosis error COMMON Table 12 1 Motion error history device Error information Seventh Signal name Latest in past Error Motion SFC program No Error type Error program No Error block No Motion SFC list Line No
82. change is not made This change is made only during a stop If a current value change is made while the specified axis is starting a minor error Note 101 start accept signal of the corresponding axis is ON occurs and the current value change is not made If the servo of the corresponding axis is not READY a major error Note 1004 occurs and the current value change is not made If the corresponding axis is a servo error a major error 1005 occurs and the current value change is not made For SV22 The current value change of specified axis is executed in the real mode and the current value change of specified servomotor axis is executed in the virtual mode Set the current value change program of the virtual servomotor shaft within the virtual mode program No range set in program mode assignment Set the current value change program of the servomotor output shaft within the real mode program No range If a virtual servomotor shaft current value change is executed in the real mode a Servo program setting error Note 903 occurs and the current value change is not made If a servomotor output shaft current value change is executed in the virtual mode a servo program setting error Nars 904 occurs and the current value change is not made current value change is made during mode changing a servo program setting error 799 907 real mode virtual mode changing or 908
83. comparison is performed Errors 1 An operation error will occur if S1 or 52 is an indirectly specified device and its device No is outside the range Program examples 1 Program which compares whether 0 is greater than or equal to DO or not 0 gt DO 0 True q gt po 5 5 OPERATION CONTROL PROGRAMS FIFS 5 12 Motion Dedicated Functions CHGV CHGT 5 12 1 Speed change request CHGV CHGV S1 S2 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculati data Bit device a bit bit floating Coasting 16 floating PME n conditional conditional integer integer integer integer type expression n type type L point timer type K H KH L point expression expression type F type K Lg 565 9 o Usable Setting data Setting data Data type of result E given S2 Specified speed Functions 1 A speed change is made in the following procedure a The speed changing flag M2061 to M2092 correspond to the axis specified with 51 is turned ON b The speed of the axis specified with S1 is changed to the speed specified with S2 c The speed changing flag is turned OFF 2 The axis No that may be set at 51 is within the following range Q172DCPU Q173DCPU 11032 For interpolation control
84. data points set by D P DDWR instruction is wrong correct PLC There are 65 or more simultaneous D P DDRD D P DDWR sum table program instruction requests to the Motion CPU from the PLC CPU therefore the Motion CPU cannot process them Note 0000H Normal The diagnostic error flag SMO is turned on an operation error in the case shown below and an error code is stored in the diagnostic error register SDO Error code 4101 Number of writing data exceeded the range of storage device The target CPU module specified is wrong 1 The reserved CPU is specified 2 The uninstalled CPU is specified 3 The first number of the target CPU 16 n1 is outside the range of to 3E3H Confirm a program It cannot be executed to the specified target CPU module and correct it to a 1 The instruction name is wrong correct PLC 2 The instruction unsupported by the target CPU module is specified program 4352 The number of devices for instruction specified is wrong 4353 The device that cannot be used by the instruction specified is specified 4354 The character string that cannot be handled by the instruction specified is specified 4355 Number of writing data is outside the range of 1 to20 Note 0 Normal 3 MOTION DEDICATED PLC INSTRUCTION Program example Example 1 Program which stores data for 10 words from DO of the self CPU to W10 or later of the CPU No 2 when turned ON
85. device and its device No is outside the range Program examples 1 Program which finds the natural logarithm of DOF and substitutes the result to 0F LN DOF 3 2 1 D2 D1 0 D3 DO 2 3025850929940 10 0 5 OPERATION CONTROL PROGRAMS FIFS 5 6 9 Exponential operation EXP EXP S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculation data Bit device 16 bit pit floating Coasting M bit Sedit floating conditional conditional integer integer point timer integer integer type expression int expression expression type type L type i type F type K 6 a d is aoa 6 6 0 i Usable Setting data Setting data Data type of result Data on which exponential operation will be d Floating point type performe Functions 1 Exponential operation is performed on the base e data specified with S 2 If S is an integer type it is converted into a floating point type before operation is performed Errors 1 An operation error will occur if S isan indirectly specified device and its device No is outside the range Program examples 1 Program which performs exponential operation of DOF and substitutes the result to 0F EXP DOF 3 1 2 D1 2 0 D3 D1 DO 2142413 39200892 lt _ 10 5 OPERATION CONTROL PROGRAMS
86. direct device 5 i i vi onstan 2 System User 9 E JOG 5 i t5 ki D id Word D g S 5 E 8 6 gl 8 o 5 x c 5 Ds e Sax Qo Qo 7 o r c n1 e 51 2 D1 A A Note 1 Note 2 Note 2 D2 A Note 1 Note 2 Note 2 Usable A Usable partly Note 1 Omission possible with both of D1 and D2 omission Note 2 Local devices cannot be used Note 3 Setting data n1 to D2 Index qualification possible Instruction Condition Command DP SVST 4 DP SVST DP SVST n1 S1 Command 3 MOTION DEDICATED PLC INSTRUCTION Setting data Setting data Setby Data type First No of the target CPU 16 Value to specify actually is the following PV User 16 bit binary CPU No 2 3E1H CPU No 3 CPU No 4 Note Motion CPU cannot be set as CPU No 1 in the Multiple CPU configuration 5 Axis No Jn to start T Character ser e Q173DCPU J1 to J32 Q172DCPU J1 to J8 sequence Servo program No to execute 16 bit binary Complete devices D1 0 Device which make turn on for one scan at accept completion of instruction System D1 1 Device which make turn on for one scan at accept abnormal
87. e in e LI Ede den 5 36 5 60 19 RoundeupEUDP ca a dete aee ete a 5 37 5 6 14 BCD BIN conversion BIN 5 38 5 6 15 BIN conversion eene tha dta eth nahen tns 5 39 5 7 Type COnverSlons ao rte Re tu aa ca Wenig tef eed eee e eub ad eee 5 40 5 7 1 Signed 16 bit integer value conversion SHORT sssssssseseeeeeeeeeeren nennen 5 40 5 7 2 Unsigned 16 bit integer value conversion USHORT ssesseeeeeen enne 5 41 5 7 3 Signed 32 bit integer value conversion 5 42 5 7 4 Unsigned 32 bit integer value conversion ULONG ssseeenenenen nemen 5 43 5 7 5 Signed 64 bit floating point value conversion FLOAT 5 44 5 7 6 Unsigned 64 bit floating point value conversion UFLOAT seme 5 45 5 8 Bit Device Sta SOS eae r t ap erena anaetoa En a E ACELA AE LAEE RE te inen nnns 5 46 5 8 1 ON Normally open contact None nnne nnns 5 46 5 8 2 OFF Normally closed contact ssssssssssssseseeneenenne nennen ren nenne nennen 5 47 5 9 ESI INO 5 48 5 91 Device Sety axi adu b Ue ttt teeth ul dr I uie LM EA 5 48 5 9 2 Device reset RS Tz ute oou up MI Mni UM 5 50 5 9 3 DOUT nie te e te HI d LU e
88. en E e Le e te d La e 5 52 5 9 Device Input certet tu e tette ast fe n oan 5 53 5 9 5 Bit device o tput OUT retener pe terme ie Eo pe e e TR ge 1485 5 54 5 TO Logical Operations emend up ee per grt Re d er 5 55 5 10 1 Logical acknowledgement None nennen nre 5 55 5310 2 Logical d cit et t gt tg o spe gu ad date 5 56 5 10 9 it re e e e o i fob e fis 5 57 5 10 4 Logical iini iid eid Ls oleh sca edet aden a aae 5 58 5 11 Comparison Operations nennen nnn 5 59 5 59 5 11 2 Not equabto 5 60 5 1123 bess th n is 5 61 5414 Less than or equal to lt te ua Du e La ET Reo LaL 5 62 5 11 5 More thani zou t b t E e te b ete ite orto utet cioe muc 5 63 5 11 6 More than or equal to gt S nisnin terrse tenen nene 5 64 5 12 Motion Dedicated Functions CHGV CHGT ssessssssssseeeeeennen nemen nre nnne nnns 5 65 5 12 1 Speed change request 5 65 5 12 2 Torque limit value change request CHGT cccccceceecceeeeeeeeeeeeeeeseaeeceaeeseaeeesceeeeaeeesaeeeeneeeeeess 5 71 5 13 Other INStructions 5 73
89. executed toward the same axis of same Motion CPU the torque is changed to specified value by last instruction n1 3E1H MITSUBISHI Change request of torque limit value to 10 toward Axis 1 of Motion CPU nt 51 n2 D 02 Change request Axis No 1 of Motion CPU S1 Torque limit value 10 n2 DP CHGT 1 J4 K10 M100 D100 3 MOTION DEDICATED PLC INSTRUCTION Operation Outline operation between CPUs at the DP CHGT instruction execution is shown below PLC program ON D P CHGT execution DP CHGT instruction Request data set CPU dedicated transmission Transfer pem 0 88ms cycle 0 88ms Response data set Torque limit value change lt Torque limit value change processing Complete device 01 0 Status display device D1 1 at the completion Setting range 1 Setting of axis to execute the torque limit value change The axis to execute the torque limit change set as 51 sets J axis No ina character sequence _ St usable range Q173DCPU 1 to 32 Q172DCPU The number of axes which can set are only 1 axis Set J in a capital letter and use the axis No set the system setting as the axis to start Refer to the Q173DCPU Q172DCPU Motion controller Programming Manual
90. floating Coasting floating conditional conditional integer integer integer integer type expression expression expression type L type K H O Usable Note 1 PX is write disabled and cannot be used at D Note 2 M2001 to M2032 cannot be used at D Setting data Setting data Description Data type of result Do Bit data for device set Bit logical type Condition data which determines whether device S true false set will be performed or not 1 If the data specified with S is true the bit data specified with D is set Functions 2 S can be omitted At this time the format is SET D and device set is made unconditionally 3 When this instruction is set as a transition condition in the last block of a transition program whether the data specified with S is true or false is returned as logical type data In this case S cannot be omitted Errors 1 An operation error will occur if e D or S is an indirectly specified device and its device No is outside the range 5 OPERATION CONTROL PROGRAMS Program examples 1 Program which sets M100 when either of MO and XO is 1 SET M100 9 M100 4 x 2 Program which sets M100 when 0 is equal to DO SET M100 0 DO M100 True Do 3 Program which sets YO unconditionally n 4 lt v 13 5 OPERATION CONTROL P
91. in order to the bit devices headed by the one specified with D Errors 1 An operation error will occur if e D or S is an indirectly specified device and its device No is outside the range e D is an indirectly specified device and its device No is not a multiple of 16 Program examples 1 Program which outputs the data of DO to YO YF DOUT YO DO 5 OPERATION CONTROL PROGRAMS FIFS 5 9 4 Device input DIN DIN D S Number of basic steps Usable data Usable Data Bit device Setting data Bit Comparison 16 bit 32 bit Em 16 bit 32 bit 64 bit Calculation p floating Coasting floating conditional conditional integer integer integer integertype 7 ae point expression expression type type L type K H Usable Setting data Setting data Data type of result Input destination data Data type of D RE Input source bit data Integer type Functions 1 The bit data specified with S is input to the data specified with D 2 Specify a multiple of 16 as the device No of the bit data specified with S 3 Ifthe type of D is a 16 bit integer type 16 points of the D data starting at the least significant bit are input in order to the bit devices headed by the one specified with S 4 Ifthe type of D is a 32 bit integer type 32 points of the D data starting at the least significant bit are input
92. in order to the bit devices headed by the one specified with S Errors 1 An operation error will occur if e D or 5 is an indirectly specified device and its device No is outside the range S isan indirectly specified device and its device No is not a multiple of 16 Program examples 1 Program which inputs the data of to DO DIN DO X0 5 OPERATION CONTROL PROGRAMS FIFS 5 9 5 Bit device output OUT OUT D S Number of basic steps Usable data Usable Data Bit device Setting data bi bi Bit Comparison 16 bit 32 bit 16 bit 32 bit 64 bit Calculation pa floating Coasting floating conditional conditional i i expression integer integer a integer integer type point p expression expression type type L type K H Usable Setting data D Bitdevice for device output logical type true false Functions 1 If the data specified with S is true the bit data specified with D is set and if the data specified with S is false the bit data specified with D is reset 2 When this instruction is set as a transition condition in the last block of a transient program whether the data specified with S is true or false is returned as logical type data 3 In this case S cannot be omitted Errors 1 An operation error will occur if e D or S is an indirectly specified device and its device No is outside the
93. is performed on the TAN value data specified with S to find an angle 2 The operation result is in an angle degree unit 3 If S is an integer type it is converted into a floating point type before operation is performed Errors 1 An operation error will occur if S is an indirectly specified device and its device No is outside the range Program examples 1 Program which performs the TAN A arctangent operation of DOF and substitutes the result to ATAN DOF 3 D D1 DO 5 OPERATION CONTROL PROGRAMS FIFS 5 6 7 Square root SQRT SORT S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculation data Bit device 16 bit pit floating Coasting n 32 bit floating conditional conditional integer integer point timer integer integer type expression int expression expression type type L type i type F type K 6 a d is aoa 6 6 0 i Usable Setting data Setting data Data type of result Data on which square root operation will be S Floating point type Functions 1 The square root of the data specified with S is found 2 Only a positive number may be specified with S Operation cannot be performed with a negative number 3 If S is an integer type it is converted into a floating point type before o
94. making it When stopping it is make to always execute execute CLR by other programs set as automatic start Points a NMI task has the highest priority among the normal event and NMI tasks b If the event task is disabled DI by the normal task the interruption of the NMI task is executed without being masked Errors The motion control step is executed during NMI task If the motion control step is executed during NMI task the Motion SFC program error 16113 occurs and stops the Motion SFC program 9 OPERATION FOR MOTION AND PARAMETER 9 3 Execution Status of The Multiple Task Execution status of each Motion SFC program when the Motion SFC program is executed multiple tasks is shown below 3 55ms NMI interrupt NMI interrupt NMI task execute program O 3 55ms event task execute program Normal task execute program When there programs which executed by the NMI task 3 55ms fixed cycle even task with a program to run by the NMI task and the normal task like a chart 1 The 3 55ms fixed cycle event task is executed at intervals of 3 55ms 2 The NMI task is executed with the highest priority when an NMI interrupt is input and 3 The normal task is executed at free time as shown above Points One Motion SFC program can be executed partially by another task by setting the area to be executed by another task as a subrouti
95. modules power supply modules base modules SH 080483ENG extension cables memory card battery and others 13JR73 Optional QCPU User s Manual Function Explanation Program Fundamentals This manual explains the functions programming methods and devices and others to create programs SH 080484ENG with the QCPU 13JR74 Optional QCPU User s Manual Multiple CPU System This manual explains the functions programming methods and cautions and others to construct the SH 080485ENG Multiple CPU system with the QCPU 13JR75 Optional QCPU Q Mode QnACPU Programming Manual Common Instructions This manual explains how to use the sequence instructions basic instructions application instructions and SH 080039 micro computer program 13JF58 Optional QCPU Q Mode QnACPU Programming Manual PID Control Instructions This manual explains the dedicated instructions used to exercise PID control Optional QCPU Q Mode QnACPU Programming Manual SFC This manual explains the system configuration performance specifications functions programming SH 080041 debugging error codes and others of MELSAP3 13JF60 Optional Module Type Building Block User s Manual This manual explains the specifications of the I O modules connector connector terminal block SH 080042 conversion modules and others 13JL99 Optional 3 Servo amplifier Manual Name Manual Number Model Code MR J3 L B Servo amplifier Instruction Manu
96. not executed during PX5 is ON in the WAIT transition When the forced stop is executed during the positioning operating the positioning operation is interrupted and the servomotor is stopped It is resumed from the interrupted positioning operation when the forced stop was released next Continuation execution of the stop and stop after is executed by this program example by the following processing a While PX5 turns it on it is made to turn on a stop command 200 20 and an internal relay M100 for the stop b While PX5 turns it off it is made to turn off a stop command M3200 20n and an internal relay M100 for the stop c A motion control step does absolute position to cope with it when it is resumed after it stops on the way of the positioning d A positioning completion signal 2401 20 is used for the decision whether it is stopped during the positioning on the way e The motion control step is resumed after it waits to turn it off when it was stepped during positioning f The internal relay M100 for the stop turn off is substituted for the WAIT transition condition that you must stop APP 27 APPENDICES 2 Contents of processing SFC program SFC program list Program Automatic Contents of processing name ie This program starts automatically at the time of RUN of Q173DCPU and it is always executed The initials condition of the internal relay M100 f
97. oint expression expression expression type type L Kaha type K H K H L P Lis o o 32 _ olol o lolol Usable Setting data Setting data Data type of result Data type of S1 or S2 Data which will be ORed bit by bit which is greater Integer type Functions 1 The bit by bit logical add of the data specified with 51 and the data specified with S2 is found 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before operation is performed At this time note that signed data is converted Errors 1 An operation error will occur if S1 or 52 is an indirectly specified device and its device No is outside the range Program examples 1 Program which ORs 0 and 1 and substitutes the result to DO DO 0 17H o Pre e DO pooo moona 5 OPERATION CONTROL PROGRAMS FIFS 5 5 4 Bit exclusive logical OR S1 NS2 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device 16 bit 2296 floating Coasting Meu 32 bit floating Calculation conditional conditional integer integer oint timer integer integer type point expression expression expression type type L Kaha o o 32
98. on the way execute the motion control step 1 2 or 5 again 3 Until an internal relay M100 for the stop turns it on it does not move to the next step of the above 1 1 and 7 APP 28 APPENDICES a No 20 Main C Main 7 20 The internal relay M100 for the stop SET M100 Stop ON Initials set turn on Stop x The subroutine starts 170 stop and 150 Programming operation Programming operation 2 620 The subroutine that motion control was SM502 Did you release a forced executed at the time of the forced stop listop 7 did not stop and which started it for a When a forced RA all axis while goes on and it is executed by F110 servo on command are turned on this sample program SET M2042 All axes servo ON command Moticn controlis Il is ON OFF is detected at the time of the 4 Real output PY is turned off at the ee ot the G21 me ol ine forced Stop Resuming of the motion control is Note 1 A subroutine during the start i p cid you turn on forced te stop 5 executed after all the axis servo ON 50 Note 2 Actual output is turned off if command were turned omn this necessary program and the detection of servo ON Eur PY40 HO000 PY10 to PY1F Note 3 The occurrence
99. operating execution If not the iComnicton Y pue completion of transition condition transits to the right of condition SFT Gn 9 connected step When just before is subroutine call or starting step transits to the next step by the completion of transition condition without waiting for the operating of subroutine completion If not formation of transition condition transits to the right connected step IFBm JMP IFEm 4 MOTION SFC PROGRAMS Symbol Classification Name List representation Function Code size byte When just before is the motion control step waits for the motion operating completion and then transits to the next step by formation of transition condition Gn IFBm GO to G4095 If not completion of transition condition IFT1 transits to the right connected step ii WAIT Gn When just before is the operation control step transits completion to the next step by the completion of transition Sa ae ot condition JMP IFEm condition after operating execution If not the iti Gn j N IFT2 completion of transition condition transits to the right Completion Y of condition WAIT Gn connected step Same operation as Shift JMP IFEm When just before is subroutine call or starting step IFEm waits for the operating completion of subroutine and then transits to the next step by the completion of transition condition If not formation of transition conditio
100. point can be the same as the coupling point of a parallel coupling for selective branch parallel branch Note that in the Motion SFC chart this type is displayed in order of a parallel coupling a selective coupling as shown on the left In this case a pointer Pn cannot be set between the parallel coupling point PAEm and the selective coupling point IFEm After a parallel branch a selective branch can be performed The parallel coupling point can be the same as the coupling point of a selective coupling for parallel branch selective branch Note that in the Motion SFC chart this type is displayed in order of a selective coupling a parallel coupling as shown on the left In this case a pointer Pn cannot be set between the selective coupling point IFEm and the parallel coupling point PAEm 4 MOTION SFC PROGRAMS List Name Motion SFC chart symbol gt Function representation Selective branch Selective branch Selective coupling Selective coupling Parallel branch Parallel branch Parallel coupling Parallel coupling CALL Kn IFBm IFT1 SFT Gn IFBm 1 IFT1 SFT Gn JMP IFEm 1 IFT2 JMP IFEm 1
101. points of QI60 turns on 9 2 Number of Consecutive Transitions and Task Operation 9 2 1 Number of consecutive transitions With execution of active step judgment of next transition condition transition processing performed when condition enables transition of active step defined as a single basic operation of the Motion SFC program execution control in the execution cycle of the corresponding task this operation is performed for the number of active steps to terminate processing once And the same operation is processed continuously in the next cycle In this case the transition destination step is executed in the next cycle when the transition condition enables Consecutive transition control indicates that transition destination steps are executed one after another in the same one execution cycle when their transition conditions have enabled single basic operation is performed consecutively In this case set the number of consecutive transitions Control exercised is common to the Motion SFC programs executed by normal tasks Set the number of consecutive transitions to the Motion SFC programs executed by event and NMI tasks for every program 9 OPERATION FOR MOTION AND PARAMETER COO CK H H 9 2 2 Task operation 1 Normal task operation Operations The Motion SFC program is executed in the main
102. program m Transits to next when the start axis stops in the servo program K1 start a accept flag turns OFF and condition is completed set at transition G1 Starts servo program K2 1 The above start accept flag of the axis started in the next servo program K2 is not included in interlocks To use it as an interlock the user should set it in the transition condition G1 2 WAIT must be set to proceed to the next step on operation completion However when there are specifically no conditions to be set as interlocks set NOP No Operation in the transition program Gn 4 MOTION SFC PROGRAMS ___ 4 9 2 Selective branch selective coupling 1 Selective branch Executes only the route which condition was judged to have enabled first among the conditions of multiple transitions connected in parallel Transitions must be all Shifts or WAITs Example WAIT After start axis in the servo K1 Starts the servo program K1 program K1 has stopped start accept flag turns OFF the conditions of transitions G1 to SSE eee uec m aan G255 are judged and execution transits to route K2 K3 K4 K255 which condition is completed Max number of selective branches 255 1 Transition condition judgment is not always executed from left to right 2 Using Shift and WAIT together will cause a parallel branch 2 Selective coupling Recouplin
103. range Program examples 1 Program which divides K456 by 0 and substitutes a quotient to WO WO K456 0 456 wos ee 0 123 2 Program which divides 0F by 10 and substitutes a quotient to DOL DOL 0F 10 3 2 1 0 __12345 789 D1 Do 100 3722683 Wo 7237 The 64 bit floating point type data are used for division and the quotient is converted into the 32 bit integer type and then substituted 5 16 5 OPERATION CONTROL PROGRAMS FIFS 5 4 6 Remainder 96 S1 S2 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device 16 bit 2296 floating Coasting Meu 32 bit floating Calculation conditional conditional integer integer int timer integer integer type oint expression expression expression type type L Kaha type K H K H L P Lis o o 32 _ olol o lolol Usable Setting data Setting data Data type of result Dividend data Data type integer type of 51 52 which is greater Functions 1 The data specified with S1 is divided by the data specified with 52 to find a remainder 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before operation is performed Errors 1 An operation error will occur if
104. set any one of the interpolation axes When linear interpolation control is exercised a speed change varies as described below with the positioning speed designation method set in the servo program Positioning speed designation Operation method Speed change is made so that vector speed Vector speed designation becomes the speed specified with 52 Speed change is made so that longest axis Longest axis designation speed becomes the speed specified with 52 d Speed change is made so that the reference axis Reference axis speed designation speed becomes the speed specified with S2 5 OPERATION CONTROL PROGRAMS 3 Operation varies with the sign of the specified speed set at S2 Sign of specified speed Speed change E cue Temporary stop 4 The specified speed that may be set at S2 is within the following range a Real mode BM inch 3 Speed change Oto x 10 0 to x 10 0 to X iy Oto PLS s request 600000000 mm min 600000000 inch min 2147483647 pou 2147483647 3 Feet x 10 103 Ato i 2 E 600000000 mm min 600000000 inch min 2147483647 ENT 2147483647 Note 1 When the speed control 10 X multiplier setting for degree axis is set to valid in the fixed parameter the unit is X 10 degree min b Virtual mode ELE _ Speed change Oto PLS 1to Return request 2147483647 PLS s 5 The speed changed by CHGV ins
105. specified Motion SFC program name or create the specified Motion SFC program No specified program The Motion SFC program specified with the Stop to execute the Motion SFC clear step does not exist applicable Motion SFC program No No setting of operation The program Gn specified with the transition For the subroutine called expression conditional does not have a conditional expression program the call source expression setting program also stops to pee Fn FSn program code Internal code error in the operation control execute The Motion SFC program code is corrupted error program Fn FSn Turn PLC ready flag M2000 OFF and write Internal code error in the transition program the Motion SFC program again Gn Or replace the external battery if it passed over 16207 Specified the invalid The invalid device T C or shared device Correct the program which does set the device outside range in the program is set effective device Be sure to set a conditional expression in the last block of the transition program 16206 Gn program code error 12 7 12 ERROR CODE LISTS 4 Operation control transition execution errors 16300 to 16599 Error Processing Corrective Action Event task enable may be executed in the normal task only Correct the program Event task disable may be executed in the normal task only Correct the program Error Error factor code Description 46301 Event task enable
106. speed D644 Axis 3 JOG speed D676 Axis 19 JOG speed D646 Axis 4 JOG speed D678 Axis 20 JOG speed D648 Axis 5 JOG speed D680 Axis 21 JOG speed D650 Axis 6 JOG speed D682 Axis 22 JOG speed D653 setting register D685 setting register D655 setting register D687 setting register D657 setting register D689 setting register D659 setting register D691 setting register D661 setting register D693 setting register D663 setting register D695 setting register D665 setting register D697 setting register D667 setting register D699 setting register D669 setting register D701 setting register Axis 16 JOG speed Axis 32 JOG speed D671 setting register D703 setting register 1 The range of axis No 1 to 8 is valid in the Q172DCPU 2 The device area more than 9 axes as an user device in the Q172DCPU However when the project of Q172DCPU is replaced with Q173DCPU this area cannot be used 1 OVERVIEW MEMO 1 OVERVIEW 3 Table of the virtual servomotor axis monitor devices SV22 only D800 D960 to Axis 1 monitor device to Axis 17 monitor device D809 D969 D810 D970 to Axis 2 monitor device to Axis 18 monitor device D819 D979 D820 D980 to Axis 3 monitor device to Axis 19 monitor device D829 D989 D830 D990 to Axis 4 monitor device to Axis 20 monitor device D839 D999 D840 D1000 to Axis 5 monitor device to Axis 21 monitor device D849 D1009 D850 D1010 to Axis 6 monitor device to Axis 22 monitor device D859 D1019 D
107. step which stopped on the way when it re started after stopping the subroutine program with the clear step during the motion control is running The servo is turned on by the forced stop release and the positioning control of the 2 axes liner interpolation is executed when PX4 is ON in this program One cycle operation is completed after confirmation that PX4 became OFF When the forced stop is executed during the positioning operating the positioning operation is interrupted and the servomotor is stopped It is resumed from the interrupted positioning operation when the forced stop was released next Continuation execution of the subroutine re start is executed by this program example by the following processing a While motion control with the subroutine is executed it is memorized whether the positioning of which motion control step was completed in the user device b The subroutine re start is resumed from the motion control step of stopping the information memorized by the above a c A motion control step should locate absolute to cope with it when it is resumed after it stops on the way of the positioning d A positioning complete signal 2401 20 is used for the decision whether servomotor is stopped during the positioning APP 23 APPENDICES 2 Contents of processing the Motion SFC program Motion SFC program list Automatic Program name Task Contents of processing This program starts automat
108. string from after to a block end is a comment Errors 1 There are no operation errors for comment Program examples 1 Example which has commented a substitution program DO D1 Substitutes the DO value 16 bit integer data to D1 5 OPERATION CONTROL PROGRAMS MEMO 96 6 TRANSITION PROGRAMS 6 TRANSITION PROGRAMS 6 1 Transition Programs 1 Transition programs a Substitution operation expressions motion dedicated functions bit device control commands and transition conditions can be set in transition programs b Multiple blocks can be set in one transition program c There are no restrictions on the number of blocks that may be set in a single transition program Note that one program is within 64k bytes d The maximum number of characters in one block is 128 e Transition condition must be set in the last block of a transition program Transition program is repeated until the transition condition enables and when the transition condition has enabled it shifts to the next step Transition condition can be set only in the last block f As a special transition program a program which only no operation NOP is set in one block can be created This program is used when it is not set as interlock to process to next step with completion of servo program Refer to Section 4 9 Branches Couplings for details A transition program example is shown below 1 block 0 D0 D1
109. that does not correspond with the operating system of the Motion CPU was executed e 5 Number of writing data points set by D P DDWR instruction is wrong Number of reading data points set by D P DDRD instruction is wrong el The interrupt pointer No set in the D P GINT instruction is outside the range of 0 to 15 D P SFCS instruction use There are 65 or more simultaneous D P SFCS instruction requests to the Motion CPU from the PLC CPU therefore the Motion CPU cannot process them D P SVST D P CHGA instruction use There are 65 or more simultaneous D P SVST D P CHGA sum table instruction requests to the Motion CPU from the PLC CPU therefore the Motion CPU cannot process them D P GINT instruction use There are 33 or more simultaneous D P GINT instruction requests to the Motion CPU from the PLC CPU therefore the Motion CPU cannot process them D P DDRD D P DDWR instruction use There are 65 or more simultaneous D P DDRD D P DDWR sum table instruction requests to the Motion CPU from the PLC CPU therefore the Motion CPU cannot process them 2 2 2 a 5 Note The error code is dedicated with the Motion CPU e 3 MOTION DEDICATED PLC INSTRUCTION Ex H HA SS SSE 5 Order of instruction execution Methods to control using execution data after it is transmitted from the PLC CPU to the Motion CPU are show
110. the CPU module base unit and motion module with the correct combinations listed in the instruction manual Other combinations may lead to faults If safety standards ex robot safety rules etc apply to the system using the Motion controller servo amplifier and servomotor make sure that the safety standards are satisfied Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system In systems where coasting of the servomotor will be a problem during the forced stop emergency stop servo OFF or power supply OFF use dynamic brakes Make sure that the system considers the coasting amount even when using dynamic brakes In systems where perpendicular shaft dropping may be a problem during the forced stop emergency stop servo OFF or power supply OFF use both dynamic brakes and electromagnetic brakes Z CAUTION The dynamic brakes must be used only on errors that cause the forced stop emergency stop or servo OFF These brakes must not be used for normal braking The brakes electromagnetic brakes assembled into the servomotor are for holding applications and must not be used for normal braking The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max speed Use wires and cables tha
111. the JOG mode completion KIPX1 IPX2 F122 11 2 axis forward reverse rotation JOG start command is reset Forward rotation reverse rotation JOG status of 1 2 axis is RST M3202 turned off at the time of the JOG mode completion not to continue a JOG movement after it moves to other mode of the RST M3203 safet RST M3222 E RST M3223 END d No 130 Manual pulse generator Manual pulse generator F130 N D720 100 1 pulse input magnification of 1 axis D721 100 1 pulse input magnification of 2 axes The setup of the following is executed to do manual pulse generator operation of P1 with 1 axis P2 with 2 axis D714L H00000001 is controlled Setting of 1 pulse input magnification of the 1 axis and 2 11 axis axis eR DIT 2 is controlled Manual pulse generator axis No setting register is setup to SEF control of P1 with 1 axis P2 with 2 axis P 9 Manual pulse generator axis enable flag of P1 P2 is llenable flag is ON turned on SET M2052 P2 Manual pulse generator lenable flag is ON 6130 Y IPX2 PX1 Did you complete a manual pulse generator mode F131 RST M2051 P1 Manual pulse generator lenable flag is OFF RST M2052 P2 Manual pulse generator lenable flag is OFF __7 1 2 axis Manual pulse generator enable flag turned off at time of the JOG mode completion not
112. the SRAM built in Motion CPU during the positioning control 7 segment LED Steady RUN display Program correction and a check of operation can be executed repeatedly at the Multiple CPU system start Data in which online change is possible are shown below Applicable data Online change System setin _ System setting data y 9 Servo setting data NE UN NR Motion SFC parameter Online change is possible for the Motion SFC chart only program during stop Motion SFC program Operation control step F FS l o Transition G Online change of mode Servo program K AAA assignment setting is not possible Mechanical system program 5 22 eo Cam data 5722 NE ENS E Possible X Not possible 10 ONLINE CHANGE IN THE MOTION SFC PROGRAM 1 2 Program writing is executed during the positioning control in the online change Be safely careful enough for work Programs writing to the SRAM built in Motion CPU at the mode operated by ROM in the online change If the online change is executed at the mode operated by ROM it returns to the contents of program written in the FLASH ROM built in Motion CPU by the next power ON or reset of the Multiple CPU system If the online change is executed simultaneously to one Motion CPU from the multiple personal computers a program writing may not be executed Please do not perform If the online changes are executed by other personal computer during the fo
113. the program has been subroutine started as shown on the left a When the started program MAIN is cleared Even if the subroutine SUB is running the started program SUB MAIN stops running but the started subroutine SUB i continues processing Shift END When the subroutine SUB is cleared If the subroutine SUB is running only the subroutine SUB stops running END p 6 When the servo program started from the specified program is starting the servo program continues processing Errors 1 When the Motion SFC program specified with the clear step does not exist the Motion SFC program error 16203 will occur Instructions 1 When the Motion SFC program specified with the clear step is not starting an error does not occur specifically and this step is ignored 2 If the Motion SFC program running is stopped by the clear step the output is held 4 14 4 MOTION SFC PROGRAMS 4 6 Transitions You can describe conditional and operation expressions at transitions The operation expression described here is repeated until the transition condition enables as at the scan execution type operation step Refer to Chapter 6 TRANSITION PROGRAMS for the conditional operation expressions that can be described in transition conditions 1 Combinations with motion control steps a Motion control step Shift
114. the range or an odd number motion device n F read error ndirect specified 16 bi data register D n read error The indirectly specified device No is outside the range Correct the program so that the indirectly specified device No is proper ndirect specified 32 bi data register D n L read error The indirectly specified device No is outside ndirect specified 64 bi the range or an odd number data register D n F read error ndirect specified 16 bi ink register W n read The indirectly specified device is outside the range RARA error The block processing in ndirect specified 32 bi execution is stopped and ink register W n L the next block is executed read error The indirectly specified device No is outside ndirect specified 64 bit the range or an odd number ink register W n F read error ndirect specified The indirectly specified device No is outside SM SM n read error the range Direct specified Multiple CPU area device bit specified for CPU No 1 U3E0 G10000 0 to read error Direct specified Multiple CPU area device bit specified for CPU No 2 U3E1 G10000 0 to C tth that Multiple CPU Tead eror Multiple CPU area device number is outside the adim 3 at area device number is within the range set in the Direct specified Multiple range set in the parameter parameter CPU area device bit specified for CPU No 3 U3E2 G
115. to M3539 M3540 to M3559 M3560 to M3579 M3580 to M3599 M3600 to M3619 Device No M3200 to M3219 M3220 to M3239 M3240 to M3259 M3260 to M3279 M3280 to M3299 Axis 1 command signal Axis 2 command signal Axis 3 command signal Axis 4 command signal Axis 5 command signal Axis 6 command signal Axis 7 command signal Axis 8 command signal Axis 9 command signal Axis 10 command signal Axis 11 command signal Axis 12 command signal Axis 13 command signal Axis 14 command signal Axis 15 command signal Axis 16 command signal 1 14 Axis 17 command signal Axis 18 command signal Axis 19 command signal Axis 20 command signal Axis 21 command signal Axis 22 command signal Axis 23 command signal Axis 24 command signal Axis 25 command signal Axis 26 command signal Axis 27 command signal Axis 28 command signal Axis 29 command signal Axis 30 command signal Axis 31 command signal Axis 32 command signal 1 OVERVIEW Details of each axis M3201 20 Rapid stop command M3202 20n Forward rotation JOG start command M3203 20n Reverse rotation JOG start command M3204 20 Complete signal OFF command Speed position switching enable Speed position switching enable command command Unusable Error reset command Error reset command Servo error reset command Servo error reset command External stop input disable at start command command Feed current
116. value update request Feed current value update request command command command Unusable Cam reference position setting Servo OFF command Gain changing command Unusable Control loop changing command FIN signal M3205 20n M3206 20n M3207 20n M3208 20n M3209 20n M3210 20n M3211 20 M3212 20 M3213 20 M3214 20 M3215 20 M3216 20 M3217 20 M3218 20 M3219 20 1 n in the above device No shows the numerical value which correspond to axis No Q173DCPU Axis No 1 to No 32 n 0 to 31 Q172DCPU Axis No 1 to No 8 0 to 7 2 The device area more than 9 axes as an user device in the Q172DCPU However when the project of Q172DCPU is replaced with Q173DCPU this area cannot be used 1 15 1 OVERVIEW 3 Table of the virtual servomotor axis statuses SV22 only M4000 M4320 to Axis 1 status to Axis 17 status M4019 M4339 M4020 M4340 to Axis 2 status to Axis 18 status M4039 M4359 M4040 M4360 to Axis 3 status to Axis 19 status M4059 M4379 M4060 M4380 to Axis 4 status to Axis 20 status M4079 M4399 M4080 M4400 to Axis 5 status to Axis 21 status M4099 M4419 Axis 6 status Axis 22 status Axis 7 status Axis 23 status Axis 8 status Axis 24 status Axis 9 status Axis 25 status Axis 10 status Axis 26 status Axis 11 status Axis 27 status Axis 12 status Axis 28 status Axis 13 status Axis 29 status Axis 14 status Axis 30 status Axis 15 status Ax
117. virtual mode real mode changing occurs and the current value change is not made Note Refer to the Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE Q173DCPU Q172DCPU Motion controller SV22 Programming Manual VIRTUAL MODE for minor error major error and servo program setting error 7 MOTION CONTROL PROGRAMS 7 3 Synchronous Encoder Shaft Current Value Change Control SV22 only The current value of the specified synchronous encoder shaft is changed in the virtual mode Items set using MT Developer Common Parameter block Others Jdol 5 2 9 2 2 2 2 al 5215 5 2 4 6 9 5 8 gt 0 5 2 2 gt 2 5 gt cl gt login 8 g 9 2 s 9 zZ 2 6 S 9 5125 5555 gt Servo Positioning Number of a 1514 ES 5 5 S 3 8 Speed o ks x o o 2 5 T instruction method Control axes 2 g E 5 2 lglg 55 o change olol ol Sls IL I EIS w 9 lt 5 JE o S 2 e 5 5 8 S e 5 El z c o iL 1 loop see Item which must be set A Item which is set when required Controls Control using CHGA E instruction 1 Executing the CHGA E instruction changes the current value of the synchronous encoder
118. when the servo program which makes the CHGA instruction toward the synchronous encoder axis is executed in the S P SVST instruction n1 3E1H MITSUBISHI x Change request of current value to 10 toward synchronous encoder axis No 1 of Motion CPU n1 51 n2 D1 D2 H Change request Synchronous encoder axis No 1 of Motion CPU J pP cucA H3E1 E1 K10 M100 D100 Current value 10 3 MOTION DEDICATED PLC INSTRUCTION Operation Outline operation between CPUs at the DP CHGA instruction execution by specifying En as Axis No is shown below PLC program ON D P CHGA execution DP CHGA instruction Request data set CPU dedicated transmission 0 88ms cycle Response data set Synchronous encoder axis Current value change current value change processing T T Complete device D1 0 i 1 1 ON Abnormal completion only Status display device D1 1 at completion Setting range 1 Setting of synchronous encoder axis to execute the current value change The synchronous encoder axis to execute the current value change set as S1 sets E synchronous encoder axis No in a character sequence __ St usable range Q173DCPU 1 to 12 Q172DCPU The number of axes which can set are onl
119. which sets 2 Initial value to 50797 and uses SM797 as an interlock when DP DDWR Number of blocks used 2 is executed MO SM797 DP SFCS H3E1 4 Instruction execution command RST MO H Instruction execution command M1 M797 MOVP K10 D101 H Instruction execution command DP DDWR 1 D100 DO W10 M100 H RST Instruction execution command Example 2 Program which sets 1 to 50797 and uses SM797 as an condition when D P DDWR D P DDRD is not executed SM402 move K1 SD797 At 1 scan CPU No 2 after RUN MO SM797 DP SFCS H3E1 K10 Instruction execution command RST MO Instruction execution command M1 M797 H3E1 1 K11 M100 0100 Instruction execution command RST M1 Instruction execution command 3 MOTION DEDICATED PLC INSTRUCTION c CPU dedicated instruction transmission area If the size of the CPU dedicated instruction transmission area is insufficient it can be increased changing the system area size The size of the CPU dedicated instruction transmission area is decided depending on the number of CPU modules used and selected system area size as follows Refer to the Q173DCPU Q172DCPU Motion controller Programming Manual COMMON for details of the system area size change Number of Multiple CPU modules 2 Selected system Number of CPU dedicated instruction transmission area area size for each tar
120. with S1 differ from the P 9 j module controlled by the self CPU 16423 intelligent function intelligent function module controlled by the self IDs ented wih the bufer execution error The address specified with S2 is outside the memory range Correct the program so that start device No D which stores the reading data number of words n to be read is within the device range When D is a bit device set the device number to be multiple of 16 When D is a bit device do not set PX PY range buffer memory Start device No D which stores the reading data number of words n to be read is outside the device range D is a bit device and the device number is not a multiple of 16 PX PY is set in D to D n 1 12 11 12 ERROR CODE LISTS Error Error factor Error Processing Corrective Action code 46441 ndirect specified 16 bit The indirectly specified device No is outside SD SD n read error the range ndirect specified 32 bi SD SD n L read error The indirectly specified device No is outside ndirect specified 64 bi the range or an odd number SD SD n F read error noreg AOI jod ol The indirectly specified device No is outside 16462 motion device n the range read error ndirect specified 64 bi 16463 motion device n L read error The indirectly specified device No is outside ndirect specified 64 bit
121. with each word 1 to 20 Controls 1 A part for the number of writing data of the control data specified with S1 1 of data since the device specified with S2 of the self CPU are stored to since the word device specified with D1 of the target CPU n1 in the Multiple CPU system 2 Figure specification of the bit device is possible for S2 and D1 However figure specification is 4 figures and a start bit device number is only the multiple of 16 becomes MULTI COM ERROR Error code 4353 when other values are specified 3 Data can be written in device like a motion register etc of Motion CPU outside the range in the PLC CPU that executes this instruction by setting D1 by a character sequence 4 D P DDWR instruction accepting and normal abnormal completion can be confirmed with the complete device D2 or status display device D2 1 at the completion a Complete device It is turned on by the END processing of scan which the instruction completed and turned off by the next END processing b Status display device at the completion It is turned on off according to the status of the instruction completion e Normal completion OFF e Abnormal completion It is turned on by the END processing of scan which the instruction completed and turned off by the next END processing Error code is stored in control data 51 0 Complete status 3 MOTION DEDICATED PLC INSTRUCTION Operation
122. 0 JOG OFF ON 130 Manual pulse generator ON OFF 140 Home position return ON ON 150 Programming operation APP 15 APPENDICES No 120 JOG JOG F120 I1 axis JOG operation speed 100000PLS s D640L K100000 2 axes JOG operation speed 100000PLS s D642L K100000 When each signal of PX3 to PX6 is turned on off which the G120 1 axis forward rotation JOG start correspondences JOG command device is SET RST IISET RST It makes forward rotation JOG start of the same axis and a SET M3202 PX3 1M3203 reverse rotation JOG start from making turned on at the same RST M3202 PX3 time 1 axis reverse rotation JOG start Signal name Correspond with JOG command device IISETIRST PX3 M3202 1 axis forward rotation JOG SET M3203 PX4 1M3202 PX4 M3203 1 axis reverse rotation JOG RST M3203 PX4 PX5 M3222 2 axis forward rotation JOG 112 axis forward rotation JOG start PX6 M3223 2 axis reverse rotation JOG IISET RST SET M3222 PX5 1 3223 Note The ON OFF distinction of each signal can be RST 3222 1 5 described with Y N transition But processing time can 2 axes reverse rotation JOG start IISETIRST be shortened more the number of steps when it was SET M3223 PX6 1M3222 described as the following in the case of the processing RST M3223 PX6 which could be described only with SET RST because it is made low 115 repeated to
123. 1 RST M100 3 100 0 4 True x 1 2 Program which resets M100 when 0 is equal to DO RST M100 0 DO 19 100 0 I True Do 7230 3 Program which resets YO unconditionally RST YO v 3 5 OPERATION CONTROL PROGRAMS 5 9 3 Device output DOUT DOUT D S Number of basic steps Usable data Usable Data Bit device Setting data bi bi Bit Comparison 16 bit 32 bit 16 bit 32 bit 64 bit Calculation pa gt floating Coasting floating conditional conditional integer integer integer integertype point point expression expression type L type K H Usable Note 1 PX and special relay cannot be used at D Note 2 Range including M2000 to M2127 cannot be used at D Setting data Setting data Data type of result Output destination bit data E o RM o Output source data Functions 1 The data specified with S is output to the bit data specified with D 2 Specify a multiple of 16 as the device No of the bit data specified with D 3 Ifthe type of S is a 16 bit integer type 16 points of the S data starting at the least significant bit are output in order to the bit devices headed by the one specified with D 4 Ifthe type of S is a 32 bit integer type 32 points of the S data starting at the least significant bit are output
124. 1 is shifted to the right by the number of times specified with S2 2 If the most significant bit of S1 is 1 1 enters the most significant bit of the right shift result If the most significant bit of S1 is 0 0 enters the most significant bit of the right shift result 3 When S1 is a 16 bit integer type and S2 is a negative number or not less than 16 the result is O 4 When S1 is a 32 bit integer type and S2 is a negative number or not less than 32 the result is O Errors 1 An operation error will occur if S1 or 52 is an indirectly specified device and its device No is outside the range Program examples 1 Program which shifts 0 two bit positions to the right and substitutes the result to DO oo o 5 22 5 OPERATION CONTROL PROGRAMS FIFS 5 5 6 Bit left shift 81 lt lt 2 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device 16 bit salt floating Coasting Nau 32 bit floating Calculation conditional conditional integer integer oint timer integer integer type oint expression expression expression type type L Raha type K H K H L n i 32 _ olol olo lol Usable Setting data Data type of result 51 Data to be left shifted Data type of S1 S2 Number of left shifts Integer type
125. 10000 0 to read error Direct specified Multiple CPU area device bit specified for CPU No 4 U3E3 G10000 0 to read error 12 12 12 ERROR CODE LISTS Error Error factor Error Processing Corrective Action code ndirect specified input relay X n read error ndirect specified output relay Y n read error ndirect specified internal relay M n read error The indirectly specified device No is outside the range ndirect specified link 16489 relay B n read error Annunciator F n read error ndirect specified 16 bit batch input relay X n read error ndirect specified 32 bit batch input relay X n read error ndirect specified 16 bit batch output relay Y n read error ndirect specified 32 bit batch output relay Y n read error The block processing in Correct the program so that the indirectly execution is stopped and the specified device No is proper next block is executed ndirect specified 16 bit batch internal relay M n read error ndirect specified 32 bi batch internal relay The indirectly specified device No is outside M n read error the range or is not a multiple of 16 ndirect specified 16 bi batch internal latch relay B n read error ndirect specified 32 bi batch internal latch relay B n read error ndirect specified 16 bi batch annunciator F n read error ndi
126. 16 bit integer value range LONG execution error value range ithin the signed 32 bit integer value range Unsigned 32 bit integer 16383 value conversion The 5 data is outside the unsigned 32 bit the program so that the S data is ULONG execution integer value range ithin the signed 32 bit integer value range error Tangent TAN S is 90 180 n execution error n is an integer ASIN ion error Correct the program so that S is within the S is outside the range of 1 0 to 1 0 i range of 1 0 to 1 0 46400 ACOS execution error 16402 Square root SQRT S ga negative number Correct the program so that S is a positive execution error number BIN i Correct th that each digit of S i 16403 BCP BIN conversion Ahy digit of S has a value other than 0 to 9 orent the program sg that each digit ol 9 s BIN execution error 0109 the program so that S is not n is an integer BCD execution error data can be converted into BCD data the next block is executed Within the range The block processing on 46404 BIN BCD conversion The S value is outside the range where BIN executing is stopped and Correct the program so that the S value is Natural logarithm LN execution error Write device data to CPU shared memory of the self CPU MULTW execution error S is 0 or a negative number Number of words n to be written is outside the ra
127. 2 The uninstalled CPU is specified 3 The first number of the target CPU 16 n1 is outside the range of 3EOH to 3E3H Confirm a program and correct a PLC It cannot be executed to the specified target CPU module rogram The instruction name is wrong prog The instruction unsupported by the target CPU module is specified 4352 The number of devices for instruction specified is wrong 4353 The device which cannot be used for the instruction specified is specified Note 0 Normal 3 MOTION DEDICATED PLC INSTRUCTION Program example Program which starts the Motion SFC program of the Motion CPU CPU No 2 when MO turned ON Example 1 Program which omits the complete device and complete status MO DP SFCS H3E1 K10 Instruction execution command RST MO Instruction execution command lt Example 2 gt Program which uses the complete device and complete status DP SFCS H3E1 K10 M100 0100 Instruction execution command RST MO H Instruction execution command M100 M101 Normal complete program ompiele M101 vice Abnormal complete program 3 MOTION DEDICATED PLC INSTRUCTION 3 2 2 Servo program start request from the PLC CPU to the Motion CPU D P SVST PLC instruction D P SVST Usable devices 2 Unit access o Internal devices File reaister 5 Link
128. 4 or 7 1 0 to 8191 F FS G program s block No line No when error type is 1 or 2 Error block NE 1 to 32 Corresponding axis No when error type is any of 3 to 0 to 8188 Motion SFC list line No when error Motion SFC list e type is 2 1 Others 1 Independent of block when error type is 1 or error type is 1 or 2 line No axis No Conventional error code less than 16000 when error type is any of 3 to 6 anc later e Error code stored in SD517 when error type is 7 Error code Refer to Chapter 12 ERROR CODE LISTS e Error code stored in SD504 when error type is 8 1 when error type is 9 or 10 Error code stored in 50512 when error type is 11 Error code stored in 500 when error type is 13 or 14 Year month Day The clock data at error occurrence SD210 SD211 SD212 are set hour BCD code year in its lower 2 digits Minute second 12 3 12 ERROR CODE LISTS Description Signal name Motion SFC control errors Conventional errors 61161009 b8 b7 b6 65 4 b3 b2 b1 bO 234 e Speed control 10 multiplier setting for degree axis 0 Invalid 1 Valid The status at error occurrence is set when the unit of error setting data is set to 11 Control unit spedd data and the control unit is set to 10 degree gt Control unit 00
129. 4 5 Steps 4 5 1 Motion control step Starts the servo program Kn Motion control step Specified range to K4095 Operations 1 Turns on the start accept flag of the axis specified with the specified servo program Kn n 0 to 4095 running 2 Starts the specified servo program Kn n 0 to 4095 Completion of transition condition Start accept flag M200n v 7 Errors 1 When the specified servo program Kn does not exist the Motion SFC program error 16200 will occur and stops to execute the Motion SFC program at the error detection Instructions 1 When the current value change is executed in the Motion SFC program running specify the CHGA instruction in the servo program and call it at the motion control step 2 If the servo program has stopped due to major minor error which occurred at or during a start of the servo program specified with the motion control step the Motion SFC program continues executing When the Motion SFC program is stopped at error detection provide an error detection condition at the transition transition condition 4 MOTION SFC PROGRAMS 4 5 2 Operation control step Operations Errors Instructions Operation Executes the operation control program Fn FSn F 7 control step CT Specified range FO to FA095 FSO to FS4095 1 Once execution type operation control step Fn In the case of Fn executes the speci
130. 5 13 1 Event task enable nennen nemen ntn terre tnter tinet nins nnne 5 73 5 19 2 Event task disable Dl tuno etes aee ate atu tesa 5 74 5 13 3 No operation nennen nnn 5 75 5 13 4 Block transfer ine eene ae doeet re E Eo Re se De 5 76 5 13 5 Same data block transfer FMOV sssssssssssssseeeeenee nennen nennen nnn nnns 5 79 5 13 6 Write device data to CPU shared memory of the self CPU 5 81 5 13 7 Read device data from CPU shared memory of the other CPU 5 84 5 13 8 Write device data to intelligent function module 5 87 5 13 9 Read device data from intelligent function module FROM see 5 90 14 5 13 10 Time to Walt TIME n tere er echec e ect ree ee ned Eee ex Aree ee deco ra a a gend 5 93 5 14 Comment Statement c cecccccceccesccsecesnccsecestcnseceencnsecntensecesnensecestenseeeteneecaguensecestenseeestenseeeetenseeeazenses 5 95 6 TRANSITION PROGRAMS 6 1106 2 61 Transition Programs etie tinm o EE e E e e 6 1 7 MOTION CONTROL PROGRAMS 7 1to 7 22 4 1 Servo Instrtctlori MISES 5 ir aa edd abetted aides 7 1 7 2 Servomotor Virtual Servomotor Shaft Current Value Change eene 7 14 7 3 Synchronous Encoder
131. 6 bit 32 bit 64 bit Calculation pa floating Coasting floating conditional conditional integer integer integer integer type uno type 1 point timer type K H K H L point expression expression m m type F type K coge 2 soe m xoc peo qo speci ee see 62 _ o l o l o l o lo l o lol o I O Usable Setting data Setting data Data type of result S1 S2 Data which will be compared Logical type true false Functions 1 The result is true if the data specified with S1 is less than the data specified with S2 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before comparison is performed Errors 1 An operation error will occur if S1 52 15 an indirectly specified device and its device is outside the range Program examples 1 Program which compares whether 0 is less than DO or not 0 lt DO lt True po 2 5 OPERATION CONTROL PROGRAMS FIFS 5 11 4 Less than or equal to lt 91 lt 92 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device 16 bit 2296 floating Coasting Mu 32 bit floating Calculation conditional conditional integer integer oint timer integer integer type point expression expression expression type type L
132. 860 D1020 to Axis 7 monitor device to Axis 23 monitor device D869 D1029 D870 D1030 to Axis 8 monitor device to Axis 24 monitor device D879 D1039 D880 D1040 to Axis 9 monitor device to Axis 25 monitor device D889 D1049 D890 D1050 to Axis 10 monitor device to Axis 26 monitor device D899 D1059 D900 D1060 to Axis 11 monitor device to Axis 27 monitor device D909 D1069 D910 D1070 to Axis 12 monitor device to Axis 28 monitor device D919 D1079 D920 D1080 to Axis 13 monitor device to Axis 29 monitor device D929 D1089 D930 D1090 to Axis 14 monitor device to Axis 30 monitor device D939 D1099 D940 D1100 to Axis 15 monitor device to Axis 31 monitor device D949 D1109 D950 D1110 to Axis 16 monitor device to Axis 32 monitor device D959 D1119 1 30 1 OVERVIEW Details of each axis D800 10n Feed current value D801 10n D802 10n D803 10n D804 10n Execute program No D805 10n M code D807 10n shaft s differential gear 1 n in the above device No shows the numerical value which correspond to axis No Q173DCPU Axis No 1 to No 32 n 0 to 31 Q172DCPU Axis No 1 to No 8 0 to 7 2 The unused axis areas in the mechanical system program can be used as an user device 1 31 1 OVERVIEW 4 Table of the synchronous encoder axis monitor devices SV22 only D1120 to Axis 1 monitor device D1129 D1130 to Axis 2 monitor device D1139 D1140 to Axis 3 monitor device
133. 9 M2500 M2820 to Axis 6 status to Axis 22 status M2519 M2839 M2520 M2840 to Axis 7 status to Axis 23 status M2539 M2859 M2540 M2860 to Axis 8 status to Axis 24 status M2559 M2879 M2560 M2880 to Axis 9 status to Axis 25 status M2579 M2899 M2580 M2900 to Axis 10 status to Axis 26 status M2599 M2919 M2600 M2920 to Axis 11 status to Axis 27 status M2619 M2939 M2620 M2940 to Axis 12 status to Axis 28 status M2639 M2959 M2640 M2960 to Axis 13 status to Axis 29 status M2659 M2979 M2660 M2980 to Axis 14 status to Axis 30 status M2679 M2999 M2680 M3000 to Axis 15 status to Axis 31 status M2699 M3019 M2700 M3020 to Axis 16 status to Axis 32 status M2719 M3039 1 12 1 OVERVIEW Details of each axis M2400 20n Positioning start complete M2404 20n Speed controlling Zero pass signal Error detection signal External M2413 20n signals STOP signal Torque limiting signal Virtual mode continuation operation disable M2418 20n warning signal SV22 M2419 20n M code outputting signal 1 n in the above device No shows the numerical value which correspond to axis No Q173DCPU Axis No 1 to No 32 n 0 to 31 Q172DCPU Axis No 1 to No 8 n 0 to 7 2 The device area more than 9 axes as an user device in the Q172DCPU However when the project of Q172DCPU is replaced with Q173DCPU this area cannot be used 1 13 1 OVERVIEW 2 Table of the axis command signals SV13 SV22 M3520
134. A X E c gt e e e T gt n c O A A c ITI A o o o o T gt gt p c o Z c o 5 2 8 Eb 5 5 2g A m c m Q e 2 x 70 c c O A e e e e r X 2 U G C EN z A o e e gt 00 n e e D Z p 9 e A 5 48 0F COS 4F 4 31 5 46 0F TAN 4F 5 80 Tangent D804F 5 48 U3E1 G10004F 6 70 0F ASIN 4F 13 49 Arcsine D800F ASIN D804F 11 27 14 37 OF ACOS 4F 10 11 Arccosine ACOS D804F 10 18 11 24 OF ATAN 4F 4 44 Arctangent ATAN D804F 4 49 5 64 OF SQRT 4F 2 13 3 18 OF LN 4F 5 75 Natural logarithm D800F LN D804F 4 68 LN U3E1 G10004F 5 49 OF EXP 4F 4 06 Exponential operation D800F EXP D804F 3 65 U3E1 G10004F 4 59 OF ABS 4F 1 74 Absolute value D800F ABS D804F 2 03 U3E1 G10004F 3 03 OF RND 4F 2 55 Round off 2 49 3 57 OF FIX 4F 2 18 5 um FIX U3E1 G10004F 3 18 0F FUP 4F 2 49 Round up FUP D804F 2 42 U3E11G10004F 3 42 APP 3 c 4 ITI A o m A z c ITI EA ET n T x
135. A interpolation CCW INH x Incremental central point specified helical interpolation CW 2 Incremental central point specified helical interpolation CCW Central point specified 7 MOTION CONTROL PROGRAMS Positioning data Number of steps 10 to 27 uonisod 4 euin dois uonisod pexi4 peeds He aes uonipuoo uonejodiejul Je noJro 40 e qewolv jndui dojs BuisseooJud enbJo Parameter block euin uoneJejeoeq euin uoneJejeoov enjeA peeds d MEME EBEN A if required O Must be set 1 Only reference axis speed specification 2 B indicates a bit device 7 MOTION CONTROL PROGRAMS Table 7 2 Servo Instruction List continued Positioning data Arc Helical Dwell time Instruction symbol Auxiliary point Processing Parameter block No Address travel value Command speed Torque limit value Positioning control Virtual enable Number of steps Number of indirect words 1 axis fixed pitch feed start 2 axes linear interpolation fixed pitch feed start 3 axes linear interpolation fixed pitch feed start Speed control I forward rotation start Bd fol fol Fixed pitch feed Spee
136. According to each instruction manual When coupling with the synchronous encoder or servomotor shaft end do not apply impact such as by hitting with a hammer Doing so may lead to detector damage Do not apply a load larger than the tolerable load onto the synchronous encoder and servomotor shaft Doing so may lead to shaft breakage When not using the module for a long time disconnect the power line from the Motion controller or servo amplifier Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store When storing for a long time please contact with our sales representative Also execute a trial operation NCAUTION Correctly and securely wire the wires Reconfirm the connections for mistakes and the terminal screws for tightness after wiring Failing to do so may lead to run away of the servomotor After wiring install the protective covers such as the terminal covers to the original positions Do not install a phase advancing capacitor surge absorber or radio noise filter option FR BIF on the output side of the servo amplifier Correctly connect the output side terminal V W Incorrect connections will lead the servomotor to operate abnormally Do not connect a commercial power supply to the servomotor as this may lead to trouble Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control signal output of brake Servo am
137. Changes for the Better MITSUBISHI ELECTRIC MOTION CONTROLLERS MOTION CONTROLLER Qseries SV13 SV22 Motion SFC Uu Programming Manual SAFETY PRECAUTIONS Please read these instructions before using this equipment Before using this product please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly These precautions apply only to this product Refer to the Q173DCPU Q172DCPU Users manual for a description of the Motion controller safety precautions In this manual the safety instructions are ranked as DANGER and CAUTION A Indicates that incorrect handling may cause hazardous D A N G E R conditions resulting in death or severe injury Indicates that incorrect handling may cause hazardous AN CA U conditions resulting in medium or slight personal injury or physical damage Depending on circumstances procedures indicated by CAUTION may also be linked to serious results In any case it is important to follow the directions for usage Please save this manual to make it accessible when required and always forward it to the end user enn em For Safe Operations 1 Prevention of ele
138. Command DP CHGT n1 51 Command ______ D CHGT n1 81 3 MOTION DEDICATED PLC INSTRUCTION Setting data Setting data Setby Data type First No of the target CPU 16 Value to specify actually is the following PV User 16 bit binary CPU No 2 3E1H CPU No 3 CPU No 4 Note Motion CPU cannot be set as CPU No 1 in the Multiple CPU configuration 2 Axis No Jn Note 2 t6 execute torque limit value change U Character ser ey Q173DCPU J1 to J32 Q172DCPU J1 to J8 sequence Torque limit value to change 16 bit binary Complete devices D1 0 Device which make turn on for one scan at accept completion of instruction System D1 1 Device which make turn on for one scan at accept abnormal completion of instruction 1 0 also turns on at the abnormal completion Complete status storage device Note 1 Omission possible with both of D1 and D2 omission Note 2 n shows the numerical value correspond to axis No Q173DCPU Axis No 1 to No 32 1 to 32 Q172DCPU Axis No 1 to No 8 n 1 to 8 Controls 1 The torque limit value of axis specified with 51 is changed to the value specified with n2 regardless of while being operating or stopping 1n the real mode 2 There is not an interlock signal for status of axis torque change When the multiple instructions are
139. Complete device Abnormal complete program 3 MOTION DEDICATED PLC INSTRUCTION 3 3 Precautions 1 CPU shared memory address used in Motion dedicated instruction a Start accept flag The status of each flag is stored in the following address CPU shared m Description memory address The start accept flag for 32 axes are stored corresponding to each bit Set flag Q173DCPU J1 to J32 Q172DCPU J1 to J8 OFF Start accept flag enable 204H 516 ON Start accept flag disable 615 614 62 61 bO 205H 517 204H 516 address J16 J2 J1 205H 517 address 32 The start accept flag is set after instruction acceptance of by the Motion CPU as follows END END PLC program D P SVST execution DP SVST instruction Request data set Transfer T Start accept flag System area CPU dedicated transmission 0 88ms cycle Servo program Complete device D1 0 Status display device D1 1 at the completion 3 MOTION DEDICATED PLC INSTRUCTION The start accept flag does not turn ON until the instruction accepting of instruction is completed by the Motion CPU after instruction execution by the PLC CPU Therefore use a user device created interlock as required to prevent the execution of the next Motion dedicated PLC instruction and avoid a same axis double start error Program example
140. D1149 D1150 to Axis 4 monitor device D1159 D1160 to Axis 5 monitor device D1169 D1170 to Axis 6 monitor device D1179 D1180 to Axis 7 monitor device D1189 D1190 to Axis 8 monitor device D1199 D1200 to Axis 9 monitor device D1209 D1210 to Axis 10 monitor device D1219 D1220 to Axis 11 monitor device D1229 D1230 to Axis 12 monitor device D1239 1 32 1 OVERVIEW Details of each axis D1120 10n Current value D1121 10n D1122 10n 01123 10 01124 10 01125 10 Unusable D1126 10n Current value after synchronous encoder axis D1127 10n main shaft s differential gear 01128 10n Error search output axis No 01129 10n Unusable 1 n in the above device No shows the numerical value which correspond to axis No Q173DCPU Axis No 1 to No 32 n 0 to 31 Q172DCPU Axis No 1 to No 8 0 to 7 2 The device area more than 9 axes as an user device in the Q172DCPU However when the project of Q172DCPU is replaced with Q173DCPU this area cannot be used 1 33 1 OVERVIEW 5 Table of the cam axis monitor devices SV22 only D1240 to D1249 D1250 to D1259 D1260 to D1269 D1270 to D1279 D1280 to D1289 Axis 1 monitor device Axis 2 monitor device Axis 3 monitor device Axis 4 monitor device Axis 5 monitor device Axis 6 monitor device Axis 7 monitor device Axis 8 monitor device Axis 9 monit
141. D2 5 Substitution expression four arithmetic operations W0 F SIN 10F Substitution expression standard function CHGV K2 K10 Motion dedicated function SET M100 M0 X0 Bit device control SET 1 program RST M10 D100 gt K10 Bit device control RST DIN DO X0 Bit device control DIN DO gt K100 Standby until transition condition enables Comment Transition condition 6 TRANSITION PROGRAMS What can be set as a transition condition in the last block are bit conditional expressions comparison conditional expressions and device set SET device reset RST which return logical data values true false In the case of device set SET device reset RST whether the bit or comparison conditional expression specified at S is true or false is a transition condition and when the transition condition enables device set reset is executed and execution shifts to the next step Transition condition description examples are given below Classification Description example MO Bit conditional expression 10 M100 Comparison conditional expression DO gt K100 D100L K20L Device set SET SET YO M100 Device reset RST RST M10 D0 K100 1 A transition program differs from an operation control program in that a transition condition is set in the last block Other settings are the same as those of the operation control program 2 When setting device set SET device reset RST in the last block
142. D9 of CPU No 2 to W10 to SET M100 _ _ RST MO M100 M101 Normal complete program Complete device M101 Abnormal complete program Example 3 Program which stores data for 10 words from DO of the CPU No 2 to 10 or later of the self CPU when turned ON Stores the number of reading data 10 l move K10 D101 to the number of reading data points Instruction S141 setting device D101 execution fate 4 _ Stores DO to D9 of CPU No to 10 to command DP DDRD H3E1 D100 0 W10 M100 19 of self CPU M100 M101 Normal complete program Complete device 1 r e 1 Abnormal complete program 3 MOTION DEDICATED PLC INSTRUCTION 3 2 8 Interrupt instruction to the other CPU D P GINT PLC instruction D P GINT Usable devices Unit access Internal devices Link direct device File register System User JONG Note 3 device Constant Word Indirect specified Index register Setting data Digit specified Decimal Hexadecimal K H Real character om o Usable A Usable partly Note 1 Omission possible with both of D1 and D2 omission Note 2 Local devices cannot be used Note 3 Setting data n1 to D2 Index qualification possible Instruction Conditi
143. FC errors is set and the initial value is controlled Error code Error cause Error processing Corrective action Note Contents The number of consecutive Event task transitions of the consecutive Motion SFC program transition count started by the event id task is outside the Turn PLC ready flag M2000 off range 1 to 10 The initial value make correction to set the value The number of of 1 is controlled of within the range and write it to consecutive the CPU NMI task consecutive transitions of the Motion SFC program started by the NMI task is outside the transition count error range 1 to 10 Note 0 normal 9 OPERATION FOR MOTION AND PARAMETER 4 END operation Description Set the operation at execution of the END step toward the program executed by the event or NMI task This varies the specifications for the following items Program run by NMI task When ended When continued Control at Ends the self program Ends to execute the self program with this event interrupt execution Restarted at occurrence of the next event interrupt and run from Again the program is started by the Motion the initial first step in accordance with the number of Restart after SFC start instruction D P SFCS from the consecutive transitions of the corresponding program execution PLC or by a subroutine call start GSUB After that at occurrence
144. FOR MOTION AND PARAMETER 2 Interrupt setting Description Set whether 16 interrupt input points IO to 115 of the QI60 interrupt module loaded in the motion slot are used as NMI or event task inputs Setting can be made freely per point All points default to event tasks Errors None 9 OPERATION FOR MOTION AND PARAMETER 9 12 Program Parameters Set the following parameters for every Motion SFC program Setting range Initial value Remark Start setting Automatically started or not Not setting It is only one of normal event and NMI tasks Normal task When you have set the event task further set the event which will be enabled Always set any one of the following 1 to 3 1 Fixed cycle It is one of 0 88ms 1 77ms 3 55ms 7 11ms and 14 2ms or none 2 External interrupt make selection from those set to event task Multiple interrupt can be set from among 10 11 12 13 14 15 I6 17 18 19 110 111 112 113 114 and 115 Execute task 3 PLC interrupt Multiple interrupt can be set from among 10 11 12 13 14 15 I6 17 18 19 110 111 112 113 114 and 115 The abouve 1 to 3 Multiple setting is possible These parameters are The same event can be shared among multiple Motion imported at leading edge of SFC programs PLC ready flag M2000 and When you have set the NMI task further set the used for control there after interrupt input which will be enabled When setting changing the 1
145. For CPU No 2 CPU dedicated transmission Transfer Transfer 0 88ms cycle 0 88ms Operation example When multiple D P DDWR instructions 5 word or more each are executed simultaneously before turning on each complete device in the 2 Multiple CPUs If the number of blocks used for each item is set as follows Number of CPU dedicated instruction transmission area 47 blocks Initial value Multiple CPU high speed bus block information SD797 2 Initial value D P DDWR number of blocks used And when 23 D P DDWR instructions are issued within the Multiple CPU high speed transmission cycle 0 88 ms the number of blocks used is as follows 23 D P DDWR instructions X 2 blocks each 46 Total blocks used Therefore the number of empty blocks is as follows 47 Number of CPU dedicated instruction transmission area 46 Total blocks used 1 Number of empty blocks 3 MOTION DEDICATED PLC INSTRUCTION 1 Number of empty blocks 2 Multiple CPU high speed bus maximum number of blocks SD797 In the above case the number of empty blocks is less than the Multiple CPU high speed bus maximum number of blocks SD797 therefore Multiple CPU high speed bus block information SM7979 turns on If a new instruction is executed while in this status it will be more than the permissible number of executions However this can be avoided by using SM797 as an interlock Program example Example 1 gt Program
146. GT K1 U3E1 G10000L request I Event task enable El Event task disable NOP NOP BMOV 0 100 K10 BMOV D800 D100 K10 7 26 BMOV Block transfer Others FMOV Same data block transfer I 5 56 Write device data to CPU MULTW shared memory of the self CPU 23 46 APP 7 APPENDICES Processing time of operation instructions Continued 173DCPU Q172DCPU Classifications Symbol Instruction Operation expression M deve u Write device data to MULTW H800 0 K256 M0 57 80 MULTW shared memory of the self MULTW H800 D800 K256 MO 57 69 MULTW H800 U3E 11G10000 K256 M0 151 28 MULTR 0 H3E0 H800 K1 21 00 MULTR D800 H3E0 H800 K1 20 10 MULTR U3E1 G10000 H3E0 H800 K1 21 82 MULTR 40 H3E0 H800 K10 30 20 MULTR D800 H3E0 H800 K10 30 07 MULTR U3E1 G10000 H3E0 H800 K10 31 14 MULTR 0 H3E0 H800 K100 140 74 the other CPU 411 57 18 07 Write device data to intelligent function module FROM D800 H0 D800 K1 15 24 Read device data from intelligent function module 407 29 TIME K1 TIME 0 TIME to wait TIME D800 TIME U3E1 G10000 APP 8 APPENDICES 2 Transition conditional expressions Processing time of transition condition expressions 173DCPU Q172DCPU Classifications Symbol Instruction Operation expression Q Q Unit us M ON Normally open X100 d 7 0 283 Completion of condition i 288 U3E1 G10000 0
147. IN value data on which SIN 7 arcsine operation S Floating point type will be performed Functions 1 SIN at arcsine operation is performed on the SIN value data specified with S to find an angle 2 The SIN value specified with S must be within the range 1 0 to 1 0 3 The operation result is in angle degree unit 4 If S is an integer type it is converted into a floating point type before operation is performed Errors 1 An operation error will occur if 5 15 outside the range 1 0 to 1 0 S isan indirectly specified device and its device number is outside the range Program examples 1 Program which performs the SIN Al arcsine operation of DO and substitutes the result to 0F 0F ASIN DO 3 2 1 0 E 5 OPERATION CONTROL PROGRAMS FIFS 5 6 5 Arccosine ACOS ACOS S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculation data Bit device 35 i i floating Coasting ue bit eee floating conditional conditional integer integer _ integer integer type point timer point expression expression type type L type K H K H L type F type K Hasie o9 6 6 16 Hl H Usable Setting data Setting data Data type of result COS value data on which COS arccosine S Floating point
148. Instruction Operation expression Q 1a Unit us 1 SET M1000 0 SET M1000 D800 D801 SET M1000 U3E1 G10000 U3E1 G10001 SET M1000 0L 2L Equal to SET M1000 D800L D802L Completion of condition SET M1000 U3E1 G10000L U3E 1 G10002L 4 49 SET M1000 0F 4F SET M1000 U3E1 G10000F U3E1 G10004F 01 41 3 52 I D801 3 80 I U3E11G10001 4 35 OLI 2L 3 52 I D802L 3 73 I U3E11G10002L 4 45 1 4F 4 04 4 63 I U3E11G10004F 5 87 3 47 3 85 4 36 3 55 Less than SET M1000 U3E1 G10000F lt U3E1 G10004F 5 84 SET M1000 0 lt 1 3 39 SET M1000 D800 D801 3 76 SET M1000 U3E11G10000 U3E 11810001 4 46 SET M1000 0L lt 2L 3 46 Less than or equal to ___ M1000 D800L D802L Completion of condition SET M1000 U3E1 G10000L lt U3E1 G10002L SET M1000 0F lt 4F SET M1000 D800F lt D804F SET M1000 U3E1 G10000F lt U3E1 G10004F SET M1000 0 gt 1 SET M1000 D800 gt D801 SET M1000 U3E1 G10000 gt U3E1 G10001 SET M1000 0L gt 2L More than ___ SET M1000 D800L gt D802L Completion of condition SET M1000 U3E1 G10000L gt U3E1 G10002L SET M1000 0F gt 4F SET M1000 D800F gt D804F SET M1000 U3E1 G10000F gt U3E1 G10004F 92 e o m m Ex EI O o o e e c m 9 A e e n m E Not equal to Completion of condition
149. L gt Operation END END Program end end pu et The above Motion SFC program to be started performs the following operations 1 The step FO is activated and the operation specified with the step FO is executed positioning ready A step in such an active state is called an active step 2 Whether the condition specified with the transition GO has enabled or not whether the positioning program can be started or not is checked The active step FO is deactivated at the completion of condition and the next step KO is activated servo program KO is started 3 The operating completion of the step KO positioning completion of the servo program KO is checked and control transits to the next step at operating completion completion of condition 4 With the transition of the active step as described in above 1 to 3 control is executed and ends at END Refer to Section 9 2 2 Task operation for details of the execution timing of the Motion SFC program such as above The number of steps which can be active steps simultaneously is up to 256 with those of all Motion SFC programs combined Excess of 256 will result in the Motion SFC Program error 16120 Each symbol of the Motion SFC program is as follows F FS Operation control K Positioning control G Judgment SET YO X0 X10 D100 W0 W100 Y0 M100 ABS 1 Axis1 D100 Speed 10000 1X0 4 MOTION SFC
150. LC program ON D P SFCS execution DP SFCS instruction Request data set CPU dedicated transmission 0 88ms cycle Response data set Motion SFC program Complete device D1 0 1 ON Abnormal completion only Status display device D1 1 at the completion 3 MOTION DEDICATED PLC INSTRUCTION Setting range Errors Complete status Error code H 1 Setting of Motion SFC program n2 usable range 0 to 255 The abnormal completion in the case shown below and the error code is stored in the device specified with the complete status storage device D2 If the complete status storage device D2 is omitted an error is not detected and operation becomes No operation Error factor Corrective action 0010 Instruction request to Motion CPU from PLC CPU exceeds the permissible value There are 65 or more simultaneous D P SFCS instruction requests to the confirm a program Motion CPU from the PLC CPU therefore the Motion CPU cannot process them and correct a PLC program 2200 The Motion SFC program No to start is outside the range of 0 to 255 Note 0000H Normal The diagnostic error flag SMO is turned on an operation error in the case shown below and an error code is stored in the diagnostic error register SDO Note Error code 0 Error factor Corrective action The target CPU module specified is wrong 1 The reserved CPU is specified
151. M4655 M4656 M4657 M4658 M4659 M4660 M4661 M4662 M4663 M4664 M4665 M4666 M4667 M4668 M4669 M4670 M4671 M4672 M4673 M4674 M4675 M4676 M4677 M4678 M4679 M4680 M4681 M4682 M4683 M4684 M4685 M4686 M4687 Error detection ernal signal TREN Virtual mode continuation operation disable warning usable Error detection x signal TREN Virtual mode continuation operation disable warning usable 23 Error detection ernal signal TREN Virtual mode continuation operation disable warning usable Error detection x ernal signal TREN Virtual mode continuation operation disable warning usable a Error detection ernal signal TREN Virtual mode continuation operation disable warning usable c Error detection ernal signal TREN Virtual mode continuation operation disable warning usable Error detection ernal signal TREN Virtual mode continuation operation disable warning e 2 usable Error detection ernal signal TREN Virtual mode continuation operation disable warning usable c Error detection ernal signal TREN Virtual mode continuation operation disable warning usable 23 Error detection ernal signal TREN Virtual mode continuation operation disable warning usable ei Error detection ernal signal TREN Virtual mode continuation operation disable warning
152. N is not allowed between x O gt 4 caca th 4 25 4 MOTION SFC PROGRAMS c The following patterns may be set End END from Shift Y N or WAIT Y N Jump from Shift Y N or WAIT Y N Continuation from Shift Y N or WAIT Y N to Shift Y N or WAIT Y N selective branch selective branch When there are two or more connection lines from Y N side of Shift Y N or WAIT Y N selective branch continues to selective branch or parallel branch ui O 4 26 4 MOTION SFC PROGRAMS G DOSAUauawlU UUUOU EEEEU 4 11 Motion SFC Comments A comment can be set to each symbol of the step transition in the motion SFC chart Comments are shown in the Motion SFC chart by changing the display mode to Comment display on the Motion SFC program edit screen Since the Motion SFC comments are stored into the CPU code area performing read from PC displays the Motion SFC chart with comments L Classification Comment Settin Program name name START Program start end Comment setting cannot be made END END Motion control step Once execution type operation control step Scan execution type operation control step
153. NTROL PROGRAMS Program examples 1 Program which changes the positioning speed of axis 2 CHGV K2 K10 2 Return program which changes the positioning speed of axis 1 to a negative value CHGV K1 K 1000 The following operation will be performed when a return request is made in constant speed control Servo program Locus CPSTART2 Axis 1 Axis2 Axis 2 Speed 1000 P1 ABS 2 P2 ______ F3 Axis1 10000 Axis2 0 P2 ABS 2 Axis1 10000 Axis2 10000 P3 ABS2 Starting point P1 axis Axis1 20000 Axis2 10000 Negative speed change CPEND Start request Start accept M2001 n Speed change request CHGV New speed X 1000 X 1000 Vector speed E Tu yit Leu p IE Retum operation to point Command in position OFF Speed change 0 accepting flag If a speed change to a negative speed is made during execution of positioning to P2 as shown above the axis returns to P1 along the program specified locus and waits at P1 5 OPERATION CONTROL PROGRAMS Precautions at speed change 1 A speed change may be invalid if the speed change is executed until the positioning start complete signal status changes to ON at servo program start request When making a speed change at almost the same timing as a start create a program to execute speed change after the positioning start complete signal has turned on 2 When the r
154. No Q173DCPU Axis No 1 to No 12 1 to 12 Q172DCPU Axis No 1 to No 8 n 1 to 8 3 MOTION DEDICATED PLC INSTRUCTION e When axis No Jn is specified with S1 Controls 1 The current value change of axis stopped axis specified with S1 is changed to the current value specified with n2 2 It is necessary to take an inter lock by the start accept flag and user device of CPU shared memory so that multiple instructions may not be executed toward the same axis of same Motion CPU 3 The current change value is also possible when the servo program which makes the CHGA instruction toward an axis is executed in the D P SVST instruction n1 3E1H MITSUBISHI Change request of current value to 10 toward Axis No 1 of Motion CPU Change request i i n 81 n2 D1 D2 1 Axis No 1 of Motion CPU Current value 10 J pP cHGA H3E1 J4 K10 M100 D100 Refer to Section 3 3 Precautions for details of the start accept flag 3 MOTION DEDICATED PLC INSTRUCTION Operation Outline operation between CPUs at the DP CHGA instruction execution by specifying Jn as Axis No is shown below PLC program D P CHGA execution DP CHGA instruction Request data set ON Start accept flag System area CPU dedicated transmission 0 88ms cycle N Response data set Cur
155. No 1 by DP DDWR Ladder PLC CPU side MO _ DMOVP K10000 DO Instruction Servo program execution K10 position command command DMOVP K100000 D2 Servo program K10 position command Move K4 051 HH Number of writing data points DP DDWR H3E1 050 DO 03000 M50 USE1 G516 0 DP SVST H3E1 Ji K10 M100 D100 H Start accept flag of CPU No 2 Axis 1 r RST Instruction execution command Servo program Motion CPU side K10 REAL 1 INC 1 Axis 1 03000 m 03002 mm min 4 MOTION SFC PROGRAMS 4 MOTION SFC PROGRAMS Refer to Chapter 12 ERROR CODE LISTS for details of Motion SFC program error 4 1 Motion SFC Program Configuration The Motion SFC Program is constituted by the combination of start steps transitions end and others are shows below Operation Start Program presses START Entry of program Positioning FO Step operation control step The specified operation ready 777 control program is executed at active status v Positioning GO Transition shift Condition to transit to the next step ready check Positioning KO Step motion control step The specified servo execution program is executed at active status Positi Complete p Transition WAIT Condition to transit to the next step check L
156. OPERATION CONTROL PROGRAMS 1 When the waiting time setting is indirectly specified with a word device the value imported first is used as the device value for exercising control The set time cannot be changed if the device value is changed during a wait state 2 The TIME instruction is equivalent to a conditional expression and therefore may be set on only the last line of a transition G program 3 When the transition program Gn of the same number having the TIME instruction setting is used in multiple Motion SFC programs avoid running them at the same time If they are run simultaneously the waiting time in the program run first will be illegal 4 Another transition program Gn can executed a time of instruction by multiple Motion SFC program simultaneously Multi active step less than 256 5 While time by TIME instruction waits the wait time can not be stopped 5 OPERATION CONTROL PROGRAMS FIFS 5 14 Comment Statement Numberofbasicsteps Usable data Usable Data Bit device Setting data bi bi Bit Comparison 16 bit 32 bit etal 16 bit 32 bit 64 bit Calculation pa floating Coasting floating conditional conditional oint timer integer integer type oint expression expression type K H KH L integer integer type type L type F type K Usable Setting data There are no setting data Functions 1 A character
157. P SVST D P CHGA sum table instruction requests to the Motion CPU from the PLC CPU therefore the Motion CPU cannot process them 2203 Axis No set by D P CHGA instruction is wrong Note 0000H Normal The diagnostic error flag SMO is turned on an operation error in the case shown below and an error code is stored in the diagnostic error register SDO Not Error code The target CPU module specified is wrong 1 The reserved CPU is specified 2 The uninstalled CPU is specified 3 The first number of the target CPU 16 n1 is outside the range of to Confirm program It cannot be executed to the specified target CPU module and correct it to a 1 The instruction name is wrong correct PLC 2 The instruction unsupported by the target CPU module is specified program The device that cannot be used by the instruction specified is specified The character string that cannot be handled by the instruction specified is 432 The number of devices for instruction specified is wrong specified Note 0 Normal 3 MOTION DEDICATED PLC INSTRUCTION Program example Program which changes the current value to 10 for Axis 1 of the Motion CPU CPU No 2 when MO turned ON Example 1 Program which omits the complete device and complete status MO DP CHGA H3E1 Ci K10 Instruction execution command RST MO Instruction execution command Example 2
158. PLC CPU after instruction execution Table 3 2 Number of blocks used for Motion dedicated PLC instruction Number of blocks used D P GINT Note When the number of transmitted data is 4 words or less number of blocks used is 1 Operation example Below is an example when 12 D P SVST instructions and 12 D P DDWR instructions 5 word or more each are executed simultaneously The number of blocks used is as follows 12 D P SVST instructions X 1 block each 12 D P DDWR instructions X 2 blocks each 36 Total blocks used b Permissible number of executions for dedicated instructions on the Multiple CPU high speed bus When the number of blocks being used to communicate with each CPU in the Multiple CPU dedicated instruction transmission area exceeds the set value for maximum number of blocks used for dedicated instruction in the Multiple CPU high speed bus setting special registers SD796 to SD799 of PLC CPU the system enters a state where the Motion dedicated PLC instruction is not accepted permissible number of executions exceeded state At the time of Motion dedicated instruction execution towards the target CPU on the Multiple CPU high speed bus an abnormal complete status 0010H is set in the complete status device If the complete device is omitted no operation occurs at all An interlock can be created using special relays containing block use information SM796 to SM799 of the PLC CPU so that the per
159. PROGRAMS 4 2 Motion SFC Chart Symbol List Parts as Motion SFC program components are shown below The operation sequence or transition control is expressed with connecting these parts by directed lines in the Motion SFC program Symbol 5 Classification Name List Representation Function Code size byte Indicates an entry of program as a program name Program name Specify this program name at a subroutine call Only one program name for one program Indicates an end exit of program When a subroutine call was carried out returns to the END call source program Multiple program names or no symbols for one program 0 8 Motion control Kn sie CALL Kn Starts a servo program Kn KO to K4095 8 Fn 8 8 Program start end Once execution type operation control step Execute once the operation control program Fn FO to CALL Fn F4095 Repeats an operation control program FSn FSO to CALL FSn m FS4095 until the next transition condition enables When the next of GSUB is WAIT performs subroutine call and transits control to the specified program Scan execution type operation control step Control returns to the call source program at END execution GSUB program name When the next of GSUB is except WAIT performs subroutine start and starts the specified program and Subroutine Program name call start st
160. Program which executes continuous start of servo program No 11 for Axis 1 of the Motion CPU CPU No 2 while is ON U3E1 516 0 M10 DP SVST H3E1 Ji K11 M100 D100 Instruction Start accept Interlock execution flag of CPU r SET M10 command No 2 Axis 1 Interlock M100 RST M10 Complete Interlock device b Fixed at 0 area The following area which is used in Q173HCPU Q172HCPU Q173CPU N Q172CPU N is not used in Q173DCPU Q172DCPU and is therefore Fixed at 0 for these processor The following interlocks are not used in new Q173DCPU Q172DCPU ladder program CPU shared memory address Description Decimal address Q173HCPU Q172HCPU Q173CPU N Q172CPU N 30H 48 Fixed at 0 To self CPU high speed interrupt accept flag from CPU1 31H 49 Fixed at 0 To self CPU high speed interrupt accept flag from CPU2 32H 50 Fixed at 0 To self CPU high speed interrupt accept flag from CPUS 33H 51 Fixed at 0 To self CPU high speed interrupt accept flag from CPUA 206H 518 Fixed at 0 Speed changing flag Axis1 to 16 207H 519 Fixed at 0 Speed changing Axis17 to 32 208H 520 Fixed at 0 Synchronous encoder current value changing flag Axis1 to 12 20CH 524 Fixed at 0 Current value within 1cam shaft revolution changing flag Axis1 to 16 20DH 525 Fixed at 0 Current value within 1cam shaft revolution changing flag Axis17 to 32 3 MOTION DEDICATED PLC INSTRUCTION 2 CPU dedicat
161. ROGRAMS F FS 5 9 2 Device reset RST RST D S Number of basic steps Usable data Usable Data Bit device bi bi 3 Bit Comparison 46 bit 32 bit 64 bit 16 bit 32 bit 64 bit Calculation p floating Coasting j floating conditional conditional integer integer integer integer type expression point timer point expression expression type type L type F type K H L type K Usable Setting data Note 1 PX is write disabled and cannot be used at D Note 2 M2001 to M2032 cannot be used at D Setting data Setting data Data type of result Bit data for device reset Bit logical type Condition data which determines whether device S true false reset will be performed or not 1 If the data specified with S is true the bit data specified with D is reset Functions 2 S can be omitted At this time the format is RST D and device reset is made unconditionally 3 When this instruction is set as a transition condition in the last block of a transition program whether the data specified with S is true or false is returned as logical type data In this case S cannot be omitted Errors 1 An operation error will occur if D or S is an indirectly specified device and its device No is outside the range 5 OPERATION CONTROL PROGRAMS Program examples 1 Program which resets M100 when either of MO and XO is
162. RUN C 0 8ms C M2000 is tumed on by switching from STOP to RUN Please set the number of and setting 1 in the set register Multiple CPU All station stop by stop error of CPU2 C 1 7ms Forced Stop 35ms G Nothing CM T 4 Multiple CPLI high speed transmission area setting x zd CPU specific send range C 142ms User setting area Automatic refresh Automatic Setting Points End Latch R G10000 617167 6468 G10000 G16467 Latch 1 Latch 1 Latch 2 Latch 2 pem a Start End Start End Intemalrelay M Oto 8191 7 r SEN Link relay B Oto 1FFF 14k Points Advanced settings O to 2047 The total number of points is up to 14k Automatic refresh setting Data register D 0108191 Push the automatic refresh button to set the automatic refresh of the send range Link register Latch 1 It is possible to clear using the remote operation Multiple CPU synchronous startup settina latch clear 1 latch clear 1 2 Latch 2 It is possible to clear using the remote operation latch clear 1 2 7 Settings should be set as same when using multiple CPU 1 Multiple CPU setting Setting items No of CPU Operating mode station stop by stop error of CPU 1 2 MIB GPL Set CPU 1 2 to synchronous startup startup setting 2 Multiple CPU high speed transmission area setting CPU specific send range OInts rse
163. S is converted into BCD data 2 If S is a 16 bit integer type the data range is 0 to 9999 3 If S is a 32 bit integer type the data range is 0 to 99999999 Errors 1 An operation error will occur if The data is other than 0 to 9999 when 5 is 16 bit integer type The data is other than 0 to 99999999 when S is 32 bit integer type S isan indirectly specified device and its device No is outside the range Program examples 1 Program which converts the BIN data of DO into BCD data and substitutes the result to 0 0 BCD DO BCD 9999 BIN 9999 soi b15 Y Y Y Y Thousands Hundreds Tens Units 5 OPERATION CONTROL PROGRAMS FIFS 5 7 Type Conversions 5 7 1 Signed 16 bit integer value conversion SHORT SHORT S Number of basic steps Usable data Usable Data Bit device Setting 64 bit 64 bit Bit Comparison 16 bit 32 bit A 16 bit 32 bit bit Calculation i pa floating Coasting 1 floating conditional conditional integer integer integer integer type expression n point timer point expression expression type type L type K H KH L type F type K Usable data Setting data Setting data Data type of result Data which will be converted into signed 16 bit 2 S 16 bit integer type integer value 1 The data specified with S is converted into a signed 16 bit integer value Functions
164. Setting data Data type of result S Data whose fractional portion will be rounded down Data type of S Functions 1 The largest integer not greater than the data specified with S is found 2 If the S value is positive the absolute value will be smaller and if it is negative the absolute value will be greater 3 If S is an integer type its value is returned unchanged with no conversion processing performed Errors 1 An operation error will occur if S is an indirectly specified device and its device No is outside the range Program examples 1 Program which finds the rounded down fractional portion value of DOF and substitutes the result to 0F FIX DOF 3 01 pit TEC 2 Program which finds the rounded down fractional portion value of DAF and substitutes the result to when D4F is a negative number 0F FIX D4F 3 2 D5 D4 EC E WE Ij 5 OPERATION CONTROL PROGRAMS FIFS 5 6 13 Round up FUP FUP S Number of basic steps Usable data Usable Data Bit device Setting bi bi 3 Bit Comparison 46 bit 32 bit 64 bit 16 bit 32 bit 64 bit Calculation p floating Coasting j floating conditional conditional integer integer _ integer integer type expression MU timer i expression expression type type L type K H L Usable data Setting data Setting data Data
165. Shaft Current Value Change Control SV22 7 17 7 4 Cam Shaft Within One Revolution Current Value Change Control SV22 7 20 7 5 Programming Instructions eicere eere eee deett eee deed ee dee ette dene daa dee na do dados 7 22 AON Cancels Start ent E einer tt b cre eels 7 22 7 5 2 Indirect designation using motion devices ssssseeeneeenneneennenemeenennnes 7 22 8 MOTION DEVICES 8 1t08 4 8 1 Motion Registers 0 to 8735 sse nnns 8 1 8 2 Coasting Timer silted a 8 4 9 OPERATION FOR MOTION SFC AND PARAMETER 9 1to 9 18 9 1 Task Definitions 9 1 9 2 Number of Consecutive Transitions and Task Operation 9 1 9 2 1 Number of consecutive transitions nnns 9 1 9 2 2 Task operation rete e n ne Uv e UP UP ee dad 9 2 9 3 Execution Status of The Multiple Task ssssssssssssssssseseeeeeneenneren nennen nentes 9 6 9 4 How to Start The Motion SFC Program ssssssssesseeeeeeeneen nennen nnne rennen enne enne 9 7 94 1 Automiaticstart oot tee
166. TION e When axis Cn is specified with 51 Controls 1 The current value within 1 cam shaft revolution specified with 51 is changed to the current value specified with n2 in the virtual mode 2 There is not an interlock signal for status of current value within 1 cam shaft revolution change When the multiple instructions are executed toward the same cam axis of same Motion CPU the current value is changed to specified value by last instruction 3 The current change value is also possible when the servo program which makes the CHGA instruction toward the cam axis is executed in the S P SVST instruction MITSUBISHI P alla Change request of current value to 10 toward cam axis No 1 of Motion CPU Change request i i S1 n2 D 02 1 Cam Axis No 1 of Motion CPU 51 Current value 10 r pP cHGA H3E1 C1 K10 M100 D100 3 MOTION DEDICATED PLC INSTRUCTION Operation Outline operation between CPUs at the DP CHGA instruction execution by specifying Cn as Axis No is shown below PLC program ON D P CHGA execution DP CHGA instruction Request data set CPU dedicated transmission Transfer Transfer 0 88ms cycle 0 88ms Response data set Current value change Complete device D1 0 Status display device D1 1
167. TION CONTROL PROGRAMS F FS 5 10 2 Logical negation Number of basic steps Usable data Usable Data Setting bi bi Bit Comparison 16 bit 32 bit Sabit 16 bit 32 bit 64 bit Calculation P data Bit device floating Coasting floating conditional conditional expression integer integer type point expression expression integer integer oint mer P type K H L type F type K 9 Usable Setting data Setting data Data type of result Data which will be logically negated Logical type true false Functions 1 The data specified with S is logically negated Errors 1 An operation error will occur if S is an indirectly specified device and its device No is outside the range Program examples 1 Program which sets M100 when either of MO and XO is not ON 1 when MO and XO are both OFF 0 SET M100 MO False True False Ea M100 4 0 5 OPERATION CONTROL PROGRAMS FIFS 5 10 3 Logical AND 1 S2 Number of basic steps Usable data Usable Data Bit device Setting data bi bi Bit Comparison 16 bit 32 bit 16 bit 32 bit 64 bit Calculation pa 5 floating Coasting floating conditional conditional integer integer integer integertype 7 type L point
168. The motion control step executed absolute positioning to application with it when to start again after it stops on the way Ipositioning completion M2401 M2421 6154 Did you turn on 1 axis and 2 axes llin position signal M2402 M2422 F150 0L 1000000 1 axis positioning lladdress set 2L 2000000 2 axes positioning 5 set 4L 500000 Positioning speed set K151 Real 1 ABS 2 Axis 1 OPLS Axis 2 8 2PLS Vector Speed 4PLS s 6200 Did 1 axis and 2 axes execute completion M2401 M2421 6156 Did you turn on PX4 and turn loff a stop IPX4 IM100 The motion control step executed absolute positioning to application with it when to start again after it stops on the way G202 1M100 Did you turn off a stop P10 This program substitutes The internal relay M100 for the stop turns off into the AND status in WAIT transition which wants it to stop G202 IM100 Did you t APP 30 urn off a stop P20 This program is judged whether it was stopped by using the location complete signal during the location on the way This program is made to execute the motion control step of again after internal relay M100 of the stop waits to turn it off when positioning completion is not turned on after the motion control is executed This program is judged whether it w
169. WO WO K123 0 123 WO 56088 0 456 2 Program which substitutes the result of multiplying by 10 to DOL DOL 0F 10 1 0 Em 789 1518532 e a 0 The 64 bit floating point type data are used for multiplication and the result is converted into the 32 bit integer type and then substituted 5 15 5 OPERATION CONTROL PROGRAMS FIFS 5 4 5 Division S1 S2 Number of basic steps Usable data Usable Data Bit device Setting data 3 Bit Comparison 16 bit 32 bit pes Em 16 bit 32 bit 64bit Calculation p floating Coasting floating conditional conditional integer integer integer integer type expression point timer point expression expression type type L type F type K H L type K Gi ol se 62 _ o l cp l ol o lol o e O Usable Setting data Data type of result Setting data S1 Dividend data Data type of S1 or S2 52 which is greater Functions 1 The data specified with S1 is divided by the data specified with 52 to find a quotient 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before operation is performed Errors 1 An operation error will occur if e 52 is 0 or e S1 or 52 is an indirectly specified device and its device No is outside the
170. a signed 32 bit integer value 2 The data range of S is 2147483648 to 2147483647 3 When S is a 64 bit floating point type its fractional portion is rounded down before conversion is made 4 If S is a 32 bit integer type its value is returned unchanged with no conversion processing performed Errors 1 An operation error will occur if The S data is outside the range 2147483648 to 2147483647 or S isan indirectly specified device and its device No is outside the range Program examples 1 Program which converts the data of DO into a signed 32 bit integer value and substitutes the result to 0L 01 LONG DO 1 0 K 1L q DO HFFFFFFFF HFFFF 5 OPERATION CONTROL PROGRAMS FIFS 5 7 4 Unsigned 32 bit integer value conversion ULONG ULONG S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculation data Bit device 16 pit floating Coasting M bit ia floating conditional conditional integer integer _ integer integer type expression point timer point expression expression type type L type K H KH L type F type K LB l l oo i is xL ts a H Usable Setting data Setting data Data type of result Data which will be converted into unsigned 32 bit integer value Functions 1 The data specified with S is converted into an unsigned 32 bit integer value 2 Th
171. ag Current value change completion 4 Servo program lt K10 gt 4 CHGA E Axis 1 Synchronous encoder shaft current value D1500 change control Synchronous encoder No 1 Current value change address Indirect designation using D1500 D1501 7 MOTION CONTROL PROGRAMS Synchronous encoder current value changing instructions The current value change of the synchronous encoder is executed if operation is being performed in the virtual mode during pulse input from the synchronous encoder If the current value is changed the feed current value of the synchronous encoder continues from the new value The current value change of the synchronous encoder does not affect the current value of the output module Set the current value change program of the synchronous encoder shaft program within the virtual mode program No range set in program mode assignment When PLC ready flag M2000 or PCPU ready flag SM500 is OFF a minor error N 100 occurs and a current value change is not made If a synchronous encoder current value change is executed in the real mode a servo program setting error 903 or 905 occurs and the current value change is not made 903 when the current value change servo program is set to within the virtual mode program No range or 905 when it is set to within the real mode program No range If a current value change is made during mode changing a servo
172. al This manual explains the I O signals parts names parameters start up procedure and others for SH 030051 MR J3 LB Servo amplifier 1CW202 Optional Fully Closed Loop Control MR J3 L1B RJ006 Servo amplifier Instruction Manual This manual explains the I O signals parts names parameters start up procedure and others for Fully SH 030056 Closed Loop Control MR J3 CIB RJO06 Servo amplifier 1CW304 Optional 1 OVERVIEW 1 OVERVIEW 1 1 Overview This programming manual describes the Motion SFC program of the operating system software SW8DNC SV13QD SW8DNC SV22QL for Motion CPU module Q173DCPU Q172DCPU In this manual the following abbreviations are used Generic term Abbreviation Q173DCPU Q172DCPU or 173DCPU Q172DCPU Motion CPU modul Motion CPU module Q172DLX Servo external signals interface module 172DLX Q172DEX Q173DPX a gt Qua iz i Q172DEX Serial Synchronous encoder interface module Motion module Q173DPX Manual pulse generator interface module General name for Servo amplifier model MR J3 L1B QnUD HCPU Multiple CPU system or Motion system Abbreviation for Multiple PLC system of the Q series cu Nerea for CPU No n n 1 to 4 of the CPU module for the Multiple CPU System Self CPU Motion CPU being programmed by the currently open MT Developer project Programming software package General name for MT Developer GX Developer MR Configurator Operating system
173. al OR HOL H2L 4L D800L D802L D804L U3E1 G10000L U3E1 G10002L U3E1 G10004L HO H1N2 174 D800 D801 D802 U3E1 G10000 U3E1 G100014U3E1 G10002 Bit exclusive OR OL H2L AL D800L D802L D804L U3E4G10000L U3E 11G10002L U3E 11G10004L 0 1 gt gt 2 2 13 800 0801 gt gt 0802 NOR U3E1 G10000 U3E1 G10001 gt gt U3E1 G10002 Bit right shift OL 2L gt gt H4L D800L D802L D804L U3E1 G10000L U3E1 G10002L amp U3E1 G10004L Bit operation Bit left shift OL 2L lt lt 4L D800L D802L lt lt D804L U3E1 G10000L U3E1 G10002L lt lt U3E1 G10004L APP 2 APPENDICES Processing time of operation instructions Continued 173DCPU Q172DCPU Classifications Symbol Instruction Operation expression Q qs u D800 D812 U3E1 G10000 U3E1 G10001 Sign inversion D800L D802L complement of 2 U3E1 G10000L U3E1 G10002L 2 19 OF 44F D800F D804F 2 28 2 94 5 13 4 00 C ITI EM o o o o c wo ITI o A OF SIN 4F Sine SIN D804F o o 2 c oO ITI a e e e eo Z ITI e e ER Q 2 g A 4 ITI A EA o m e c ITI A EN o En gt 2 c uq e e gt 2 c 5 m f A m gt ES c 65
174. am for virtual mode is requested to start using the D P SFCS instruction of the PLC program Motion SFC program can also be started automatically by parameter setting 2 The virtual servomotor in the mechanical system program is started 3 Output the operation result obtained through the transmission module to the servo amplifier set as the output module 4 The servomotor is controlled Program structure in SV22 virtual mode Motion CPU DP SFCS the Motion Note 1 The Motion SFC program can also be started automatically by parameter setting Home position return data is not used since home position return cannot be performed in virtual mode Home position return is executed in real mode by drive module parameters SSS see See att ea a et Motion SFC program Mechanical system program Transfer Drive module Virtual servomotor 2200 Transmission module 1 d 2044 virtual mode Start request Specification of 12 instruction of starting program Servo program EE i No SFC program K100 virtual EE 1 Axis 1 Cc Axis 1 AS Combined 0 PLS s 1 op DT ee E Output module CL Ecco cR o Ce EP a roc Ma 1 1 Positioning control parameters EE i System settin
175. anual does not require application to the Ministry of Economy Trade and Industry for service transaction permission IB NA 0300135 A 0801 MEE IB NA 0300135 A 0801 MEE Specifications subject to change without notice
176. arted 12 5 The specified Motion SFC program does not start The active step of Motion SFC program executed by PLC interrupt is not processed Interrupt instruction No is set in the error Motion SFC program No The specified Motion SFC program does not start When it started by GSUB the start source Motion SFC also stop to execute The specified Motion SFC program does not start Corrective Action Provide ON of the PLC ready flag M2000 and PCPU ready flag SM500 as start interlocks Check the Motion SFC program No and correct a PLC program Check the Motion SFC program No and correct a PLC program or create the non created Motion SFC program Double start should be managed on the user side Provide the user s starting signal as a start interlock in the PLC program Provide ON of PLC ready flag M2000 and PCPU ready flag SM500 as D P GINT execution interlocks Check the Motion SFC program No and correct a program or create the non created Motion SFC program Double start should be managed on the user side Provide the user s starting signal as an interlocks in the transition condition Start after the completion of online change 12 ERROR CODE LISTS 2 Motion SFC interpreter detection errors 16100 to 16199 Error Error factor Error Processing Corrective Action code Description The code exists but is grammatically erroneous Though not within branch coup
177. as a transition condition the bit or comparison conditional expression specified with S is not omissible 3 Only the bit or comparison conditional expression cannot be set in other than the last block Device set SET device reset RST can be set in other than the last block 7 MOTION CONTROL PROGRAMS 7 MOTION CONTROL PROGRAMS 7 1 Servo Instruction List Table 7 1 lists servo instructions used in servo programs Refer to Section 7 2 to 7 4 for details of the current value change control CHGA CHGA E CHGA C Refer to the Q173DCPU Q172DCPU Motion Controller SV13 SV22 Programming Manual REAL MODE for other servo instructions 1 Guide to servo instruction list Table 7 1 Guide to Servo Instruction List Positioning data C Parameter block o a Arc Helical 3 3 o pel Address travel Dwell time Auxiliary point Central point Starting angle Amplitude Frequency Reference axis No Control unit at stop input zu Allowable error range for circular interpolation S curve ratio Program No WAIT ON OFF Fixed position stop acceleration time Fixed position stop Instruction Processing symbol Positioning control Parameter block No Command speed Torque limit value Speed limit value Acceleration time Deceleration time Rapid stop deceleration time Torque limit value Repeat condition FIN acceleration deceleration Number of steps Deceleration processing
178. as stopped by using the location complete signal during the location on the way It is made to execute the motion control step of again after internal relay M100 of the stop waits to turn it off when positioning completion is not turned on after the motion control is executed APPENDICES MEMO APP 31 WARRANTY Please confirm the following product warranty details before using this product 1 Gratis Warranty Term and Gratis Warranty Range If any faults or defects hereinafter Failure found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company However if repairs are required onsite at domestic or overseas location expenses to send an engineer will be solely at the customer s discretion Mitsubishi shall not be held responsible for any re commissioning maintenance or testing on site that involves replacement of the failed module Gratis Warranty Term Note that an installation period of less than one year after installation in your company or your customer s premises or a period of less than 18 months counted from the date of production after shipment from our company whichever is shorter is selected Gratis Warranty Range 1 Diagnosis of failure As a general rule diagnosis of failure is done on site by the customer However Mitsubishi or Mitsubishi servic
179. at error occurrence executes the following Motion SFC program 3 ERROR Processing for the Motion Processing for SFC program B the Motion SFC BS nu mE Hae Whether error occurred in correspondence Motion bg SFC program or not is judged by M2039 Motion GO E G1 error detection flag and 8724 latest error Motion SFC program ro FG Outputs which must be turned OFF are turned OFF E M2039 Motion error detection flag is turned OFF 9 OPERATION FOR MOTION AND PARAMETER 9 11 Task Parameters Setting item Initial value Remark Number of Normal task These parameters are imported consecutive Normal task 1 to 30 at leading edge of PLC ready transitions _ common flag M2000 and used for Set whether the event control thereafter task or NMI task is When setting changing the Interrupt setting used for external values of these parameters interrupt inputs turns the PLC flag IO to 115 M2000 off 1 Number of consecutive transitions Description With execution of active step judgment of next transition condition transition processing performed when condition enables transition of active step defined as a single basic operation of the Motion SFC program execution control in the execution cycle of the corresponding task this operation is performed for the number of activ
180. ata No with 51 200H S Note 1 This area can be D 0000 ofapartfor 52 10000 ystemi area used at users area H0005 n words H0005 800H H000A H000A User setting area 5 1000H HO000 H0000 Unusable 2710H Multiple CPU high speed transmission Note 1 This area cannot be read when the target CPU is self CPU 5 OPERATION CONTROL PROGRAMS 2 The word devices that may be set at D S n and D1 are shown below 7TmNoie 1 Note 1 Note 2 Setting Word devices Bit devices ee Dn wn son umen n Mn UCNGnm Bn Fn sm xn Yn Fe mlolol lo o 1 1 12 Note 1 The device No cannot be specified indirectly Note 2 Specify a multiple of 16 as the device number of bit data Note 3 PX and PY cannot be set 3 When data are read normally from the target CPU specified with S1 the reading complete flag SM528 to SM531 CPU No 1 5 528 CPU No 2 SM529 CPU No 3 SM530 CPU No 4 SM531 corresponding to the target CPU turns on If data cannot be read normally the reading complete flag of the target CPU does not turn on 4 Adjust an executive task the number of transfer word referring to the operation processing time so that this instruction may not obstruct the execution of the motion opera
181. ata Setby Data type First No of the target CPU 16 Value to specify actually is the following User 16 bit binary CPU No 2 3E1H CPU No 3 CPU No 4 Note Motion CPU cannot be set as CPU No 1 in the Multiple CPU configuration Axis No Jn 7752 to execute the speed change T Character ser I ooo J1 to J32 Q172DCPU J1 to J8 sequence a Speedtoechange 00000 O O to change 32 bit binary Complete devices D1 0 Device which make turn on for one scan at accept completion of instruction System D1 1 Device which make turn on for one scan at accept abnormal completion of instruction 1 0 also turns on at the abnormal completion Complete status storage device Note 1 Omission possible with both of D1 and D2 omission Note 2 n shows the numerical value correspond to axis No Q173DCPU Axis No 1 to No 32 1 to 32 Q172DCPU Axis No 1 to No 8 1 to 8 Controls 1 The speed of axis specified with S1 is changed to the speed specified with n2 during positioning or JOG operating 2 There is not an interlock signal on the shared memory during speed change When the multiple instructions are executed toward the same axis of same Motion CPU the speed is changed to specified value by last instruction n1 3E1H LX pm mu E i Lol x zo R82 S NAH gror MITSUBISHI us gt
182. ata can be designated indirectly Peripheral I F Via PLC CPU USB RS 232 Proximity dog type 2 types Count type 3 types Data set type 2 types Dog cradle type Home pasione ximity dog type 2 types ype yp 5 yp 2 types Dog yp dick Stopper type 2 types Limit switch combined type unction Home position return re try function provided home position shift function provided JOG operation function Manual pulse generator Possible to connect 3 modules operation function Synchronous encoder Possible to connect 12 modules Possible to connect 8 modules operation function M code output function provided M code function M code completion wait function provided Limit switch output Number of output points 32 points function Watch data Motion control data Word device Made compatible by setting battery to servo amplifier Absolute position system Possible to select the absolute data method or incremental method for each axis Number of SSCNETIII Note 1 2 systems 1 system systems 1 OVERVIEW Motion control specifications continued Q173DCPU Q172DCPU Q172DLX 4 modules usable Q172DLX 1 module usable Motion related interf Q172DEX 6 modules usable Q172DEX 4 modules usable Q173DPX 3 modules usable module Q173DPX 4 modules usable Note 1 The servo amplifiers for SSCNET cannot be used Note 2 When using the incremental synchronous encoder SV22
183. atus END processing 3 2 Motion Dedicated PLC Instruction The Motion dedicated PLC instruction that can be executed toward the Motion CPU which installed the operating system software SV13 SV22 for Q173DCPU Q172DCPU is shown below Description D P SFCS Start request of the specified Motion SFC program D P SVST Start request of the specified servo program Speed change request of the specified axis D P DDRD 3 MOTION DEDICATED PLC INSTRUCTION 3 2 1 Motion SFC start request from the PLC CPU to the Motion CPU D P SFCS PLC instruction D P SFCS Usable devices Unit access device Constant UL G Internal devices Link direct device File register System User JONG Note 3 Word Indirect specified Index register Setting data Digit specified Decimal Hexadecimal K H Real character 5505 zZ ox om o o Usable A Usable partly Note 1 Omission possible with both of D1 and D2 omission Note 2 Local devices cannot be used Note 3 Setting data n1 to D2 Index qualification possible Instruction Condition Command DP SFCS 4 I l pesrcs Command DP SFCS n1 n2 Command Setting data Setti
184. ble 64 points 64 points Axis command signal Axis command signal 20 points 32 axes 20 points x 32 axes Real mode Each axis Virtual mode Output module Unusable 160 points Virtual servomotor axis status Note 1 2 20 points 32 axes User device Mechanical system setting axis only 960 points Synchronous encoder axis status Note 2 4 points X 12 axes Unusable Note 1 112 points 1 10 1 OVERVIEW Overall configuration Continued SV13 SV22 M4800 M4800 Virtual servomotor axis command signal Note 1 2 to 20 points X 32 axes Mechanical system setting axis only User device 5440 Synchronous encoder axis 3392 points command signal Note 2 4 points 12 axes M8191 5488 t User device Note 3 2704 points M8191 Note 1 It can be used as an user device in the SV22 real mode only Note 2 Do not set the M4000 to M5487 as a latch range in the virtual mode Note 3 The cam axis command signal and smoothing clutch complete signal can be set as the optional device at the parameter 1 11 1 OVERVIEW 1 Table of the axis statuses SV13 SV22 M2400 M2720 to Axis 1 status to Axis 17 status M2419 M2739 M2420 M2740 to Axis 2 status to Axis 18 status M2439 M2759 M2440 M2760 to Axis 3 status to Axis 19 status M2459 M2779 M2460 M2780 to Axis 4 status to Axis 20 status M2479 M2799 M2480 M2800 to Axis 5 status to Axis 21 status M2499 M281
185. bstitutes the result of subtracting 10 from to DOL DOL 10 3 2 1 0 5h i 12345 789 DOL C 1232 12222 789 10 The 64 bit floating point type data are used for subtraction and the result is converted into the 32 bit integer type and then substituted 5 14 5 OPERATION CONTROL PROGRAMS FIFS 5 4 4 Multiplication 1 S2 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device 16 bit floating Coasting Meu 32 bit floating Calculation conditional conditional integer integer int timer integer integer type oint expression expression expression type type L type K H K H L he Gy l olol _ ol ol o tug Ee Usable Setting data Setting data Data type of result 51 Multiplicand data Data type of S1 or S2 S2 Multiplier data which is greater Functions 1 The data specified with S1 is multiplied by the data specified with S2 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before operation is performed Errors 1 An operation error will occur if S1 or 52 is an indirectly specified device and its device No is outside the range Program examples 1 Program which substitutes the result of multiplying K123 by 0 to
186. cal devices cannot be used Note 2 Setting data n1 to D2 Index qualification possible Instruction Condition lt DP DDWR 4 DP DDWR Setting data Setting data Setby Data type First No of the target CPU 16 Value to specify actually is the following s t 16 bit binary CPU No 2 3E1H CPU No 3 CPU No 4 3E3H Note Motion CPU cannot be set as CPU No 1 in the Multiple CPU configuration S1 Start device of the self CPU where control data are stored S2 Start device of the self CPU where writing data are stored Start device of the target Motion CPU that stores writing data Wea Character POINT Data can be written in device like a motion register etc of Motion CPU outside the range in the PLC CPU that executes this instruction by setting it by a character sequence sequence Complete devices D2 0 Device which make turn on for one scan at accept completion of instruction D2 1 Device which make turn on for one scan at accept abnormal completion of instruction D1 0 also turns on at the abnormal completion 3 MOTION DEDICATED PLC INSTRUCTION Control data Setting data Setting range Setby The status at the instruction completion is stored Complete status 0 No error Normal completion System Except 0 Error code Number of writing data Set the number of writing data
187. ces 8000 to 8735 10000 to 10000 p 1 CPU No Multiple CPU UC GnL UC GneE No 1 No 2 3E1 No 3 3E2 No 4 area device CPU No that is lager than the number of Multiple CPU cannot be set Coastingtimer ___ ___ ______ Note 1 p indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU a For differentiation the 32 bit floating point type is ended by L and the 64 bit floating point type by F F for the link register b For the 32 bit integer type and 64 bit floating point type specify the device number with an even number It cannot be set as an odd number c The coasting timer FT is incremented per 888 us The coasting timer is a 32 bit integer type 2 Bit device descriptions Device description 10000 0 to 10000 p 1 F Note 1 CPU No No 1 No 2 3 3E2 No 4 3E3 Multiple CPU area device CPU No that is lager than the number of Multiple CPU cannot be set Link relay 0 to 1FFF 0 to 2047 Special relay 0 to 2255 Note 1 p indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU 5 7 5 OPERATION CONTROL PROGRAMS c o A s ZI a When using the device in DIN or DOUT as batch bit data specify n as a multiple of 16 b When using
188. completion of instruction D1 0 also turns on at the abnormal completion Complete status storage device Note 1 Omission possible with both of D1 and D2 omission Note 2 n shows the numerical value correspond to axis No Q173DCPU Axis No 1 to No 32 1 to 32 Q172DCPU Axis No 1 to No 8 1 to 8 Controls 1 Request to start the servo program specified with n2 2 It is necessary to take an inter lock by the start accept flag of CPU shared memory and user device so that multiple instructions may not be executed toward the same axis of the same Motion CPU No MITSUBISHI Start request of servo program No 10 toward Axis No 1 of Start request of Motion CPU servo program Axis No 1 of Motion CPU S1 n1 51 n2 D1 D2 Servo program No 10 n2 pr svsT H3E1 J41 K10 M100 D100 Refer to Section 3 3 Precautions for details of the start accept flag 3 MOTION DEDICATED PLC INSTRUCTION Operation Outline operation between CPUs at the DP SVST instruction execution is shown below PLC program ON D P SVST execution DP SVST instruction Request data set Start accept flag System area CPU dedicated transmission 0 88ms cycle Response data set Servo program ervo program executed processi
189. control value change request of the specified D CHGT axis Write device data of the Number of writing data 1 DDWR self CPU to the device of other CPU Number of writing data 16 access instruction of self CPU Number of reading data 16 Execute request of an event task of Motion SFC D GINT program D Multiple CPU high D DDRD CPU to the device APP 12 APPENDICES APPENDIX 2 Sample Program APPENDIX 2 1 Motion control example by Motion SFC program 1 The Motion SFC program composition example to execute motion control This sample program example is described to every following function Function list of sample program When the forced stop input assigned to PXO is on all axes turn on and Forced atop motion control is executed When the forced stop input turn off servo amplifier is made to forced stop and motion control is suspended and actual output PY turn off Motion control is executed according to the condition of PX and PX2 in each following mode 2 OFF OFF JOG mode PX2 OFF PX1 ON Manual pulse generator mode PX2 0n PX1 OFF Home position return mode 2 On PX1 On Programming operation mode The following JOG operation is executed when each signal of PX3 to PX6 is turned on 1 axis JOG forward rotation JOG mode 1 axis JOG reverse rotation 5 2 axes JOG forward rotation PX6 2 axes JOG reverse rotation Motion cont
190. ctric shocks ANDANGER Never open the front case or terminal covers while the power is ON or the unit is running as this may lead to electric shocks Never run the unit with the front case or terminal cover removed The high voltage terminal and charged sections will be exposed and may lead to electric shocks Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF The insides of the Motion controller and servo amplifier are charged and may lead to electric shocks Completely turn off the externally supplied power used in the system before mounting or removing the module performing wiring work or inspections Failing to do so may lead to electric shocks When performing wiring work or inspections turn the power OFF wait at least ten minutes and then check the voltage with a tester etc Failing to do so may lead to electric shocks Be sure to ground the Motion controller servo amplifier and servomotor Ground resistance 100 9 or less Do not ground commonly with other devices The wiring work and inspections must be done by a qualified technician Wire the units after installing the Motion controller servo amplifier and servomotor Failing to do so may lead to electric shocks or damage Never operate the switches with wet hands as this may lead to electric shocks Do not damage apply excessive stress place heavy things on or sandwich the cab
191. cute the Motion instruction string M10 c T pP svsr H3E1 01 K11 M100 0100 M100 M101 Normal complete program M101 MM complete program 4 b The below devices cannot be used as program file registers or local devices e Each instruction s complete device and complete status e D1 of D P DDRD instruction First device of the self CPU where the reading data is stored c When using the Motion dedicated function of the operation control step Fn FSn and Motion control program Kn in Motion CPU Since there is no instruction execution flag in the PLC CPU it is necessary to create a user defined interlock using wait transition Gn as shown below 3 MOTION DEDICATED PLC INSTRUCTION 4 Complete status information The codes stored in complete status at the completion of Motion dedicated PLC instruction are shown below If the complete status storage device is omitted an error is not detected and operation becomes No operation Complete status Error factor Error code H ____ Normal completion Instruction request to Motion CPU from PLC CPU exceeds the permissible value 0010 Permissible value is different depending on the number of CPU modules i Command that cannot be decoded in the Motion CPU was specified The specified device cannot be used in the Motion CPU or it is outside the device range ifi e A Motion dedicated PLC instruction
192. cycle free time of the Motion CPU Number of consecutive transitions is set to 2 Program 1 Program 2 Program name Program name x 1 F30 A 5 y F6 2 B see y s y END SFCS1 SFCS2 PLC program lq Main cycle le Main cycle Normal task L 0 a gt 2 B EE 4 Main cycle gt Normal task is ended with END No continuation operation When making it operate continuously it returns to starting step in a jump Points a The Motion SFC program which includes motion control steps should be set to a normal task b During execution of an event or NMI task the execution of the normal task is suspended Note that since the normal task allows the event task disable instruction DI to be described in an operation control step the event task can be disabled in the area enclosed by the event task disable instruction DI and event task enable instruction El 9 OPERATION FOR MOTION AND PARAMETER 2 Event task operation Operations An event task executes the Motion SFC program at occurrence of an event There are the following events a Fixed cycle The Motion SFC program is executed periodically in any of 0 88ms 1 77 ms 3 55ms 7 11ms and 14 2ms cycles b External interrupt 16 points of IO to 115 Among 16 points of the QI60 16 point interrupt module loaded in the motion slot the Motion SFC program is run when the input set for an event task turns on
193. d by the instruction specified is 432 The number of devices for instruction specified is wrong specified Note 0 Normal 3 MOTION DEDICATED PLC INSTRUCTION Program example Program which changes the torque limit value to 10 96 for Axis 1 of the Motion CPU CPU No 2 when MO turned ON Example 1 Program which omits the complete device and complete status MO DP CHGT H3E1 J1 K10 Instruction execution command RST MO Instruction execution command lt Example 2 gt Program which uses the complete device and complete status DP CHGT H3E1 J4 K10 M100 0100 FY Instruction execution command RST MO H Instruction execution command M100 M101 Normal complete program H doner Abnormal complete program 3 MOTION DEDICATED PLC INSTRUCTION 3 2 6 Write device data of the self CPU to the device of other CPU D P DDWR PLC instruction D P DDWR Usable devices Unit access Internal devices Link direct device File register device Constant System User 9 JOG Note 2 Word Indirect specified Index register Setting data Digit specified Decimal Hexadecimal K H Real character uc lt 2 o 1069 o o Usable Usable partly Note 1 Lo
194. d control I reverse rotation start Speed control 1 forward rotation start End 5 1 I x mec Speed switching control end ABS 2 point address ABS 3 INC 1 Travel value up to speed switching INC 2 control end point INC 3 VABS Speed switching point absolute specification VING Speed switching point incremental specification Speed position Restart Speed switching control 7 MOTION CONTROL PROGRAMS Positioning data Number of steps uonisod 4 euin Ag dois uonisod pexi4 ols uoneJejeoep uoneJojeooe NIA los uonejodiejul eBueJ 10119 T jndui dojs BuisseooJd uonejejeoeg n Lui PE noes ERIE a see oe io AL PU Parameter block E of epee El fa 9 BEES EU ME o A if required Must be set 1 Only reference axis speed specification 2 B indicates a bit device 7 MOTION CONTROL PROGRAMS Table 7 2 Servo Instruction List continued Positioning data Arc Helical Dwell time Auxiliary point Instruction symbol Processing Parameter block No Address travel value Command speed Torque limit value Positioning c
195. data previous to when communication is terminated by an error etc Thus an error correspondence interlock program specified in the instruction manual must be used Use the interlock program specified in the intelligent function module s instruction manual for the program corresponding to the intelligent function module 3 Transportation and installation NCAUTION Transport the product with the correct method according to the mass Use the servomotor suspension bolts only for the transportation of the servomotor Do not transport the servomotor with machine installed on it Do not stack products past the limit When transporting the Motion controller or servo amplifier never hold the connected wires or cables When transporting the servomotor never hold the cables shaft or detector When transporting the Motion controller or servo amplifier never hold the front case as it may fall off When transporting installing or removing the Motion controller or servo amplifier never hold the edges Install the unit according to the instruction manual in a place where the mass can be withstood Do not get on or place heavy objects on the product Always observe the installation direction Keep the designated clearance between the Motion controller or servo amplifier and control panel inner surface or the Motion controller and servo amplifier Motion controller or servo amplifier and other devices Do not in
196. detection of was done on the subroutine side when MAG points OFF servo error and so on is added a forced stop is released 2 to the stop condition with the forced stop if necessary b No 170 Stop C Stop 6170 Did you release a stop T JI Did a thing during servo ON and PX5 pk iue the turn off 1 axis and 2 axes signa for the stop are M2415 M2435 IPX5 axis 2 axis stop command are turned off and 1 axis 2 axis continue motion control by turning off an internal relay 2170 FT ps ial the stop 7 t is made to turn on 1 axis 2 axis stop IA stop is being released stop status stop is being turned on status command and motion control is made RST M3200 1 axis stop command OFF SET M100 Stop ON to stop by turning on an internal relay RST M3220 2 axes stop command OFF SET M3200 1 axis stop command ON M100 for the stop too when either RST M100 Stop OFF SET M3220 2 axes stop command ON axis turns off servo or when 5 turns it on APP 29 APPENDICES 6151 Did you turn on PX4 and turn loff a stop PX4 1M100 K150 Real 1 5 2 Axis 1 0 PLS Axis 2 0 PLS Vector speed 500000 PLS s 0200 Did 1 axis and 2 axes execute c No 150 Programming operation Programming operation WAIT transition which wants to stop substitutes The internal relay M100 for the stop turns off for the AND status
197. device becomes effective Note 2 It can also be ordered the device of a remark column Note 3 Do not use it as an user device It can be used as a device that performs automatic refresh because of area for the reserve of command signal The device of a remark column turns ON by OFF to ON of the above device and turns OFF by ON to OFF of the above device The command signal cannot be turned ON OFF by the PLC CPU in the automatic refresh because the statuses and commands are mixed together in M2000 to M2053 Use the above devices in the case And it can also be turned ON OFF by the data register Refer to Section 3 2 3 of the Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE or Section 4 2 8 of the Q173DCPU Q172DCPU Motion controller SV22 Programming Manual VIRTUAL MODE for details 1 OVERVIEW b Table of the data registers Overall configuration SV13 SV22 Device No Application Device No Application Axis monitor device Axis monitor device 20 points 32 axes 20 points 32 axes Real mode Each axis Virtual mode Output module D640 Control change register 2630 Control change register to 2 points x 32 axes to 2 points x 32 axes Common device Command signal 214 Common device Command signal to 54 points 54 points s Unusable Drog Unusable to 42 points to 42 points Virtual servomotor axis monito
198. dule controlled by the self CPU The address specified with D2 is outside the buffer memory range Start device S which writing data are stored number of words n to be written is outside the device range S is a bit device and device number is not a multiple of 16 PX PY is set in S to S n 1 5 OPERATION CONTROL PROGRAMS 1 2 words from 0 is written to since buffer memory address of the intelligent function module First I O No TO H010 HO 0 K2 Intelligent function module First No Pe Buffer memory T 200 1 ________ D 5 OPERATION CONTROL PROGRAMS F FS 5 13 9 Read device data from intelligent function module FROM FROM D 51 52 n Number of basic steps Usable data Usable Data Bit device Setting data Bit Comparison 16 bit 32 bit 64 bit 16 bit 32 bit 64 bit Calculation p floating Coasting floating conditional conditional integer integer 1 integer integer type expression expression type L type K H a URN ERE BRA ol T o Usable Setting data Setting data Description Data type of result Start device No which stores the reading data 81 First No of the intelligent function module 000H to
199. dup Do not perform megger test insulation resistance measurement during inspection NCAUTION When replacing the Motion controller or servo amplifier always set the new module settings correctly When the Motion controller or absolute value motor has been replaced carry out a home position return operation using one of the following methods otherwise position displacement could occur 1 After writing the servo data to the Motion controller using programming software switch on the power again then perform a home position return operation 2 Using the backup function of the programming software load the data backed up before replacement After maintenance and inspections are completed confirm that the position detection of the absolute position detector function is correct Do not drop or impact the battery installed to the module Doing so may damage the battery causing battery liquid to leak in the battery Do not use the dropped or impacted battery but dispose of it Do not short circuit charge overheat incinerate or disassemble the batteries The electrolytic capacitor will generate gas during a fault so do not place your face near the Motion controller or servo amplifier The electrolytic capacitor and fan will deteriorate Periodically replace these to prevent secondary damage from faults Replacements can be made by our sales representative 9 About processing of waste When you discard Mo
200. dy flag M2000 3 The program can be ended by the clear step Refer to Section 4 5 4 Clear step for details of the clear step Point 1 Multiple ENDs can be set in one Motion SFC program 9 OPERATION FOR MOTION AND PARAMETER 9 6 How to Change from One Motion SFC Program to Another Use a subroutine start to stop the Motion SFC program running and switch it to another Motion SFC program Motion SFC program changing example using subroutine start MAIN SUB V ire END 9 7 Operation Performed at Multiple CPU system Power Off or Reset When the Multiple CPU system is powered off or reset operation is performed Motion SFC programs run are shown below 1 When the Multiple CPU system is powered off or reset operation is performed Motion SFC programs stop to execute 2 At Multiple CPU system power on key reset the contents of the motion registers 0 to 7999 are held Initialize them in the Motion SFC programs as required 3 After Multiple CPU system power on or reset processing Motion SFC programs run is shown below The SFC programs set to start automatically are run from the beginning by turning PLC ready flag M2000 on in the PLC program e The other Motion SFC programs are also executed from the first at starting 9 8 Operation Performed when CPU is Switched from RUN STOP When a RUN STOP switch is operated PLC ready flag M2000 turns on off in accordance wi
201. e 52 is 0 or 51 or S2 is an indirectly specified device and its device No is outside the range Program examples 1 Program which divides K456 by 0 and substitutes a remainder to WO WO K456 0 456 Wo 7 oa 5 OPERATION CONTROL PROGRAMS FIFS 5 5 Bit Operations 5 5 1 Bit inversion Complement S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison hi hi bi bi Calculati data Bit device He pit ha ii floating Coasting 16 bit Re floating iE ij conditional conditional integer integer integer integer type expression n point timer point expression expression type type L type KH L type F type K 9 lo lo o o Usable Setting data Setting data Data type of result Data type of S S Data whose bits will be inverted Integer type 1 The bit inverted value of the data specified with S is found Functions Errors 1 An operation error will occur if S isan indirectly specified device and its device No is outside the range Program examples 1 Program which finds the bit inverted value of 0 and substitutes the value to DO oo TOMTOM OT a SOOO 5 OPERATION CONTROL PROGRAMS FIFS 5 52 Bit logical AND amp 51 8 82 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit C
202. e WAITON WAITOFF Linear interpolation control circular interpolation control helical interpolation speed switching control position follow up control constant speed control high speed oscillation and speed control with fixed position stop 2 Combination with operation control step Operations um At an operation control step both Shift and WAIT perform the same operation and after Gn executing of the operation control program Eh transits to the next step by formation of transition condition Gn 3 Combination with subroutine call start step Refer to Section 4 5 3 Subroutine call start step 4 MOTION SFC PROGRAMS 4 7 Jump Pointer Jump Pointer Operations Setting a jump will cause a jump to the specified pointer Pn of the self program You can set pointers at steps transitions branch points and coupling points You can set pointers Pn at PO to P16383 in one program Instructions You cannot make a jump setting which will exit from within parallel branch parallel coupling Connect directly Bad example 1 given below You cannot make a jump setting from outside parallel branch parallel coupling to within parallel branch parallel coupling Bad example 2 given below You cannot make a setting where a label and a jump will continue Bad example 3 given below Bat example 1 Bat example 2 Bat example 3 w
203. e call start nesting For a subroutine start the start source Motion SFC program continues processing if the start destination Motion SFC program stops due to an error For a subroutine call the call source Motion SFC program stops running as soon as the call destination Motion SFC program stops due to an error 4 MOTION SFC PROGRAMS 4 5 4 Clear step Stops the Motion SFC program of the specified CLR Clear step Program program Operations 1 Stops the specified Motion SFC program running 2 The clear specified Motion SFC program will not start automatically after stopped if it has been set to start automatically 3 The specified program may be its self program 4 If the specified program is being subroutine called the subroutine program called is also stopped Shown below MAIN SUB If the program has been subroutine called as shown on the left E CE P d che When the call source program MAIN is cleared Even if the subroutine SUB is running both the call source program MAIN and subroutine SUB stop running SUB When the subroutine SUB is running the subroutine SUB WAIT END stops running and execution to the call source program MAIN Lcd END 5 When the specified program has been subroutine started the subroutine program started continues processing Shown below MAIN SUB If
204. e data range of S is 0 to 4294967295 3 When S is a 64 bit floating point type its fractional portion is rounded down before conversion is made 4 If S is a 32 bit integer type its value is returned unchanged with no conversion processing performed Errors 1 An operation error will occur if The S data is outside the range 0 to 4294967295 or S isan indirectly specified device and its device No is outside the range Program examples 1 Program which converts the data of DO into an unsigned 32 bit integer value and substitutes the result to 0L 01 ULONG DO 1 0 K65535L 00 HOOOOFFFF HFFFF Unsigned value is K65535 5 OPERATION CONTROL PROGRAMS FIFS 5 7 5 Signed 64 bit floating point value conversion FLOAT FLOAT S Number of basic steps Usable data Usable Data __________ Constat Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculation data Bit device bit 32 a floating Coasting ue bit eee floating conditional conditional integer integer _ integer integer type point timer point expression expression type type L type K H K H L type F type K 6 o9 aoa aoad i Usable Setting data Setting data Data type of result Data which will be converted into signed 64 bit S 64 bit floating point type floating point val
205. e error code is stored in the device specified with the complete status storage device D2 If the complete status storage device D2 is omitted an error is not detected and operation becomes No operation Complete status N Error factor Corrective action rror code 0010 Instruction request to Motion CPU from PLC CPU exceeds the permissible value Confirm a program There are 65 or more simultaneous D P SVST D P CHGA sum table and correct it to a instruction requests to the Motion CPU from the PLC CPU therefore the Motion CPU cannot process them program 2201 The servo program No to execute is outside the range of 0 to 4095 2202 Axis No set by D P SVST instruction is wrong Note 0000H Normal correct PLC 3 MOTION DEDICATED PLC INSTRUCTION The diagnostic error flag SMO is turned on an operation error in the case shown below and an error code is stored in the diagnostic error register SDO Not 3 Error code The target CPU module specified is wrong 1 The reserved CPU is specified 2 The uninstalled CPU is specified 3 The first I O number of the target CPU 16 n1 is outside the range of to 3E3H Confirm a program It cannot be executed to the specified target CPU module and correct it to a 1 The instruction name is wrong correct PLC 2 The instruction unsupported by the target CPU module is specified program The device that cannot be used by the in
206. e network can perform this service for an agreed upon fee upon the customer s request There will be no charges if the cause of the breakdown is found to be the fault of Mitsubishi 2 Breakdown repairs There will be a charge for breakdown repairs exchange replacements and on site visits for the following four conditions otherwise there will be a charge 1 Breakdowns due to improper storage handling careless accident software or hardware design by the customer 2 Breakdowns due to modifications of the product without the consent of the manufacturer 3 Breakdowns resulting from using the product outside the specified specifications of the product 4 Breakdowns that are outside the terms of warranty Since the above services are limited to Japan diagnosis of failures etc are not performed abroad If you desire the after service abroad please register with Mitsubishi For details consult us in advance 2 Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi opportunity loss or lost profits caused by faults in the Mitsubishi products damage secondary damage accident compensation caused by special factors unpredictable by Mitsubishi damages to products other than Mitsubishi products and to other duties 3 Onerous Repair Term after Discontinuation of Production Mitsubishi shall accept onerous product repairs for
207. e point of switching to position control in speed position changing control Torque limit value in speed control b The CHGT instruction accepts a torque limit value which is higher than the torque limit value set in the servo program or parameter block 6 The torque limit value changed by CHGT instruction is effective only during power supply is on Errors 1 An operation error will occur and a torque limit value change will not be made if The specified axis No at S1 is outside the range or S2 is an indirectly specified device and its device No is outside the range 2 A minor error will occur and a torque limit value change will not be made if The torque limit value specified with 52 is outside the range 1 to 1000 Minor error 311 or The CHGT instruction is executed for any axis that has not yet been started Minor error 312 Program examples 1 Program which changes the torque limit value of axis 2 CHGT K2 K10 1 CHGT instruction is invalid ignored during the virtual mode When changing the torque limit value during operation in the virtual mode set the torque limit value setting device in the output module parameter of the mechanical system program 2 There will be a delay of time equivalent to an operation cycle at the maximum in the response time from when the CHGT instruction is executed until the torque limit value is changed actually 5 OPERATION CONTROL PROGRAMS FIFS
208. e specified with the complete status storage device D2 If the complete status storage device D2 is omitted an error is not detected and operation becomes No operation Complete status N Error code H Error factor Corrective action 0010 Instruction request to Motion CPU from PLC CPU exceeds the permissible value Confirm a program There are 65 or more simultaneous D P SVST D P CHGA sum table and correct it to a instruction requests to the Motion CPU from the PLC CPU therefore the correct PLC Motion CPU cannot process them program 2203 Axis No set by D P CHGA instruction is wrong Note 0000H Normal 3 MOTION DEDICATED PLC INSTRUCTION The diagnostic error flag SMO is turned on an operation error in the case shown below and an error code is stored in the diagnostic error register SDO Not 3 Error code The target CPU module specified is wrong 1 The reserved CPU is specified 2 The uninstalled CPU is specified 3 The first number of the target CPU 16 n1 is outside the range of to 3E3H Confirm a program It cannot be executed to the specified target CPU module and correct it to a 1 The instruction name is wrong correct PLC 2 The instruction unsupported by the target CPU module is specified program 432 The number of devices for instruction specified is wrong The device that cannot be used by the instruction specified is specified The characte
209. e steps to terminate processing once And the same operation is processed continuously in the next cycle In this case the transition destination step is executed in the next cycle when the transition condition enables Consecutive transition control indicates that transition destination steps are executed one after another in the same one execution cycle when their transition conditions have enabled single basic operation is performed consecutively In this case the number of consecutive transitions can be set Controls in common to the Motion SFC programs executed by normal tasks Set the number of consecutive transitions to the Motion SFC programs executed by event and NMI tasks for every program Errors These parameters are imported and checked at leading edge of PLC ready flag M2000 When the value that was set is outside the setting range the following Motion SFC error is set and the initial value is used to control Error code Error cause Error processing Corrective action Note Contents The normal task s Normal task PLC ready flag M2000 consecutive transition count The initial value consecutive off make correction to set the ni of the Motion SFC program of 3 is used for poe transition value of within the range and executed by the normal task control count error write it to the CPU is outside the range 1 to 30 Note 0 normal 9 OPERATION
210. e the terminal connections as this may lead to destruction or damage Do not mistake the polarity as this may lead to destruction or damage Do not touch the heat radiating fins of controller or servo amplifier regenerative resistor and servomotor etc while the power is ON and for a short time after the power is turned OFF In this timing these parts become very hot and may lead to burns Always turn the power OFF before touching the servomotor shaft or coupled machines as these parts may lead to injuries Do not go near the machine during test operations or during operations such as teaching Doing so may lead to injuries 4 Various precautions Strictly observe the following precautions Mistaken handling of the unit may lead to faults injuries or electric shocks 1 System structure NCAUTION Always install a leakage breaker on the Motion controller and servo amplifier power source If installation of an electromagnetic contactor for power shut off during an error etc is specified in the instruction manual for the servo amplifier etc always install the electromagnetic contactor Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off Use the Motion controller servo amplifier servomotor and regenerative resistor with the correct combinations listed in the instruction manual Other combinations may lead to fire or faults Use
211. eceeeeeeeeeeeeeeneeeeeeeeeaeeceeneeeeaeecaeeeneeeeaeeseaeeeseneeeeneesenees 4 21 4 10 MIN Transitions eel teet etai eu bleue REM A 4 23 Motion SF G Commlents 5 o2 tena enne oie nlite ai ote ei oat 4 27 5 1 Operation Control Programs a dnd dr da dae 5 1 5 2 Device Descriptions i gerea a ae a aa a ae araa a a ae a eaaa raaa a aeaa ea ia 5 7 5 3 Constant 5 nennt nnne nnns 5 10 54 Binary Operations eu I dte Held aet ba I etie 5 11 UI IGI IRI DAL A CLE 5 11 5 4 2 Addition date need ee ded te Had d e a edd ee s ade ene e HL Rd ede Led 5 13 5 4 3 9 btractior tA I t LA MIU S LLLI ELE MIS LM ALIE LS IL 5 14 5 4 4 M ltiplication erii teta Ue oe i i epe e e PUE Ee ke a ER Ree Ia 5 15 5 4 5 DIVISION s ated ee UE 5 16 5 4 6 5 17 5 5 Bit Operations 353 e tede tumba ee a etis b te ect teas 5 18 5 5 1 Bit inversion Complement nennen nen nennen retinent nenne nnns 5 18 5 52 Bit logical AND oineraino eda Lidia edad tie con sdet eta nd cin iL eia e in e 5 19 5 5 3 Bit logical 2
212. ecified circular interpolation CW 180 or more Absolute radius specified circular interpolation less than CCW 180 Absolute radius specified circular interpolation CCW 180 or more Incremental radius specified circular interpolation less than CW 180 Circular interpolation control Radius specified Incremental radius specified circular interpolation CW 180 or more Incremental radius specified circular interpolation less than CCW 180 Incremental radius specified circular interpolation CCW 180 or more 7 MOTION CONTROL PROGRAMS Positioning data Number of steps 7 to 21 dois uonisod pexi4 BERE dojs uonisod pexi4 CC uoneiejeoep uoneJo eooe NIA em uonejodiejul T jndui dojs BuisseooJud uonejejeoeq ij E Mini i iiis 3 PEPPER DREA Parameter block NETUS ERE SE die ERE EE 9 E TUE IERI E IEA ON SIXe N N A Set if required Must be set 1 Only reference axis speed specification 2 B indicates a bit device 7 MOTION CONTROL PROGRAMS Table 7 2 Servo Instruction List continued Positioning data Arc Helical Dwell time Instruction symbol Auxiliary point Proces
213. ecified with S2 2 In the real mode any axis that has completed a servo startup can be changed in torque limit value any time independently of the status starting stopping servo ON or servo OFF 3 The axis No that may be set at 51 is within the following range Q172DCPU Q173DCPU 11032 4 The torque limit value that may be set at 52 is within the range 1 to 1000 5 The torque limit value specified here and the one specified in the servo program have the following relationships At a normal start the torque limit value is given to the servo of the start axis according to P torque set in the servo program or the torque limit value of the specified parameter block For an interpolation start the torque limit value is given to the number of axes to be interpolated Executing the CHGT instruction gives the preset torque limit value to only the specified axis Thereafter the torque limit value given to the servo at a servo program start or JOG start is made valid only when it is lower than the torque limit value specified in CHGT This torque limit value clamp processing is performed per axis 5 71 5 OPERATION CONTROL PROGRAMS During start a Ifthe following torque limit value has been set it will not be changed to higher than the torque limit value specified in the CHGT instruction Torque limit value at a midway point in constant speed control or speed Switching control Torque limit value at th
214. ectly Note 2 Specify a multiple of 16 as the device number of bit data Note 3 PX and PY cannot be set Note 4 PX can be set PY cannot be set 5 Adjust an executive task the number of transfer word referring to the operation processing time so that this instruction may not obstruct the execution of the motion operation because processing time becomes long in argument to the number of words n to be written Errors 1 An operation error will occur if Number of words n to be written is outside the range of 1 to 256 The CPU shared memory address D of self CPU of the writing destination device is outside the range 800H to FFFH of the CPU shared memory address The CPU shared memory address D of self CPU of the writing destination device number of words n to be written is outside the range 800H to FFFH of the CPU shared memory address Start device No S which writing data are stored number of words n to be written is outside the device range MULTW instruction was executed again before MULTW instruction is executed and complete bit device is turned on 01 is a write disabled device S is a bit device and device number is not a multiple of 16 PX PY is set in S to S n 1 5 OPERATION CONTROL PROGRAMS Program examples 1 2 words from DO is written in the CPU shared memory to since and transits to next step after confirmation of writing completion FO RST MO MULTW
215. ed instruction transmission a Outline operation of Motion Dedicated PLC Instruction Motion dedicated PLC instruction is transmitted through the CPU dedicated instruction transmission area set up in the system area on shared memory at the Multiple CPU high speed transmission Outline operation for Motion dedicated PLC instruction is shown below MITSUBISHI CPU dedicated instruction transmission area m PLC CPU Motion CPU 1 Instruction execution 2 Instruction accept each 0 88ms 3 Instruction process TIEN dedi atedinstruction T3 Motion dedicated instruction 1 Motion dedicated instruction 2 Motion dedicated instruction 2 5 Complete device 4 Response data set Complete status set END processing J CPU dedicated instruction transmission area shown in table below is allocated as initial setting Table 3 1 Number of CPU dedicated instruction transmission area Number of CPU dedicated instruction transmission area Number of Multiple CPU modules for each target CPU 47 blocks 23 blocks 15 blocks 3 MOTION DEDICATED PLC INSTRUCTION As shown in Table 3 2 each Motion dedicated PLC instruction uses a certain number of blocks in the CPU dedicated instruction transmission area until the complete device turns on by the
216. eger type int expression expressin expression type K H K H L type type L type F type K ELM Usable Setting data Setting data Data type of result O D Transfer destination device starting No Device No which transfer data or data to be S transferred are stored Number of words to be transferred Functions 1 The data specified with S or contents of device are transferred a part for n words of data to the device specified with D 2 The devices that may be set at D S and n are shown below Ca Bitdavices Nea SDn Dn Wn polo utente 5 Note 3 Note 3 j i 1 1 4 Note 1 The device No cannot be specified indirectly Note 2 Specify a multiple of 16 as the device number of bit data Note 3 PX PY cannot be set Errors 1 An operation error will occur if D to D n 1 is outside the device range e n is or a negative number PX PY is set in D to D n 1 NOLO device When n specified is a 5 OPERATION CONTROL PROGRAMS 2 When conversion is made in program editing of MT Developer an error will occur if D to D n 1 is outside the device range S is outside the device range n is 0 or a negative number When n specified is a PX PY is set in S constant PX PY is s
217. ep transits to the next lower part The start source and destination programs are executed simultaneously and the call destination program ends at END execution Stops and ends the specified program running After an end it is started from the initial start step by restarting the program When the specified program is during subroutine call the subroutine program is also stopped to execute P Clear step aes CLR program name When the specified program is after subroutine start the subroutine program is not stopped to execute When clearing to the subroutine by which the subroutine call was executed the specified subroutine is stopped to execute returns to the call source program and transits to the next 4 MOTION SFC PROGRAMS Symbol Classification Name List representation Function Code size byte When just before is the motion control step transits to the next step by formation of transition condition Gn to G4095 without waiting for the motion operating completion Shift When just before is the operation control step transits Pre read SFT Gn to the next step by the completion of transition transition condition after operating execution When just before is subroutine call or starting step transits to the next step by formation of transition condition without waiting for the operating completion of subroutine When just before is the motion control step wait
218. errors 96 points occurrence Third error information in past Second error information in past First error information in past Latest error information Note 1 Refer to Section 12 2 Motion Error Related Device for the Motion error history 8 MOTION DEVICES 8 2 Coasting Timer FT Motion device Coasting timer FT Number of points Specification 1 point FT Data size 32 bit point 2147483648 to 2147483647 Latch No latch Cleared to zero at power on or reset a count rise is continued from now on Usable tasks Normal event NMI Access Read only enabled Timer specifications 888ys timer Current value FT is incremented by 1 per 888ys 9 OPERATION FOR MOTION AND PARAMETER 9 OPERATION FOR MOTION SFC AND PARAMETER 9 1 Task Definitions When to execute the Motion SFC program processing can be set only once in the program parameter per program Roughly classified there are the following three different tasks Task type Contents Normal task Executes in Motion CPU main cycle free time 1 Executes in fixed cycle 0 88ms 1 77ms 3 55ms 7 11ms 14 2ms Eventtask 2 Executes when the input set to the event task factor among external Vi interrupts 16 points of 0160 turns on 3 Executes by an interrupt from the PLC CPU Executes when the input set to the NMI task factor among external interrupts 16
219. es are processed in order from top to bottom Steps and transitions need not be lined up alternately When a transition is omitted unconditional shift processing is performed The route which transition condition enables first is executed after executing the step or transition preceding a branch Selective branch destinations should always be started by transitions all of which must be Shift or WAIT Using Shift and WAIT together will cause a parallel branch After the route branched by a selective branch has been processed execution shifts to a coupling point A coupling may be preceded and followed by either a step or a transition Multiple routes steps connected in parallel are executed simultaneously Each parallel branch destination may be started by either a step or transition Execution waits at the coupling point for executions of the routes branched by a parallel branch to be completed and shifts to the next when executions of all routes are completed A coupling may be preceded and followed by either a step or a transition When this coupling is preceded by an FS step scans are executed during waiting After waiting is complete scans are not executed 1 Normal jump After the step or transition preceding this jump transition is executed execution shifts to the pointer Pn specified within its own program The jump destination may either be a step or transition When a jump takes place from
220. et in D to D n 1 S is a bit device and the device number is not a multiple of 16 D is a bit device and the device number is not a multiple of 16 Program examples 1 Program which sets 3456H to all data for 100 words from 10 FMOV 10 H3456 K100 10 11 Transfer 12 H3456 109 2 Program which sets a content of 24000 to all data for 50 words from WO FMOV WO0 D4000 K50 Transfer 04000 1234 3 Program which sets 8000H to all data 4 words from MO FMOV MO H8000 K4 M15 MO 10000000 0 o 00 0 0000 M31 M16 100000 00 00000000 Transfer b _______ 60 15 M47 M32 4 10 000 000 0 00 00 l1 M63 M48 1 5 OPERATION CONTROL PROGRAMS ERE 5 13 6 Write device data to CPU shared memory of the self CPU MULTW MULTW D S D4 Number of basic steps __8 ____ Usable data Usable Data Bit device Setting data Bit Comparison 16 bit 32 bit papit 16 bit 32 bit 64 bit Calculation floating Coasting floating conditional conditional integer integer 1 integer integer type expression expression expression type L type K H O Usable Setting data Setting data Description Data type of result Lo MEM the writing destination device 800H to Startdevice No which writing data are stored
221. everse return is requested during stop in the state of FIN waiting using the M code FIN signal wait function in constant speed control it will be ignored 3 In the above example if reverse return is requested before P2 and the axis passes through P2 during deceleration it return to P2 4 There will be a delay of time equivalent to an operation cycle at the maximum in the response time from when the CHGV instruction is executed until the speed begins to change actually Axis2 Reverse return is requested here Starting point 5 OPERATION CONTROL PROGRAMS FIFS 5 12 2 Torque limit value change request CHGT CHGT S1 S2 Number of basic steps Usable data Usable Data Bit device Setting data bi bi Bit Comparison 16 bit 32 bit papit 16 bit 32 bit 64 bit Calculation pa floating Coasting floating conditional conditional integer integer 1 integer integertype type type L point timer type K H KH L point expression expression type F type K st 62 l o l o l Fe ol o l I o ums Usable Setting data Setting data Data type of result Axis No to which torque limit value change request will be given S1 S2 Specified torque limit value Functions 1 The torque limit value of the axis specified with S1 is changed to the torque limit value axis sp
222. fied operation control program Fn n 010 4095 once Scan execution type operation control step FSn In the case of FSn repeats the specified operation control program FSn n 0 to 4095 until the next transition condition enables When the specified operation control program Fn FSn does not exist the Motion SFC program error 16201 will occur and stops to execute the Motion SFC program at the error detection Refer to Chapter 5 OPERATION CONTROL PROGRAMS for operation expressions that may be described in operation control programs If an operation or similar error occurs the operation control program running the Motion SFC program continues executing 4 MOTION SFC PROGRAMS 4 5 3 Subroutine call start step Subroutine Calls starts the Motion SFC program of the specified coum name call start step 1 Calls starts the Motion SFC program of the specified program Operations 2 Control varies with the type of the transition coupled next to the subroutine call start step a WAIT Subroutine Call When the subroutine call step is executed control transits to the specified program as shown below and when END of the called program is executed control returns to the call source program b Except WAIT Subroutine Start When the subroutine start step is executed control starts the specified program and then shifts to the next as shown below Since the s
223. flag M2039 will not reset clear to zero the Motion error history devices 8640 to 8735 After power on they always controls the error history continuously 2 Setthe clock data and clock data read request 5 801 in the user program 12 4 12 ERROR CODE LISTS 12 3 Motion SFC Error Code List Error code 16000 PLC ready OFF SFCS Motion SFC program No error SFCS None Motion SFC program SFCS Double start error PLC ready OFF GINT None Motion SFC program Double start error Online change 1 Motion SFC program start errors 16000 to 16099 Error Processing Error factor At a start by D P SFCS instruction PLC ready flag M2000 or PCPU ready flag At a start by D P SFCS instruction the range of 0 to 255 is specified in the Motion SFC program No At a Motion SFC program start by D P SFCS instruction the specified Motion SFC program does not exist At a Motion SFC program start by D P SFCS instruction the same Motion SFC program starts D P GINT instruction was executed with PLC ready flag M2000 or PCPU ready flag 5 500 is OFF At a Motion SFC program start by automatic start setting or GSUB the specified Motion SFC program does not exist At a Motion SFC program start by automatic start setting or GSUB the same Motion SFC program is already starting The Motion SFC program which is rewriting the Motion SFC chart by online change was st
224. g Start accept Start accept flag Operation to to to to flag 32 points 32 points M2032 Axis32 M2032 Axis32 M2033 Unusable M2033 Unusable M2034 2 points M2034 2 points Motion error history clear Motion error history clear M2035 M2035 request flag request flag M2036 Unusable M2036 Unusable g UN ERENT At debug M2038 Motion SFC debugging flag M2038 Motion SFC debugging flag mode M2043 M2042 All axes servo ON command M2042 All axes servo ON command i transition 4 points M2045 M2045 Real mode virtual mode mode switching error detection flag transition M2048 JOG operation simultaneous M2048 JOG operation simultaneous van Command M3076 start command start command y signal i ignal M2043 Real mode virtual mode ona Switching request M2044 M2044 Real mode virtual mode Unusable Switching status At virtual Status signal M2046 M2046 Out of sync warning Operation M2047 Motion slot fault detection flag M2047 Motion slot fault detection flag cycle Operation Status M2049 All axes servo ON accept flag M2049 All axes servo ON accept flag cycle signal signal M2052 Manual pulse generator 2 M2052 Manual pulse generator 2 enable flag enable flag Manual pulse generator 1 Manual pulse generator 1 M2051 M2051 enable flag enable flag Manual pulse generator 3 Manual pulse generator 3 M2053 M2053 enable flag enable flag
225. g device D1 Complete device D2 0 1 Abnormal completion only Status display device D2 1 at the completion 3 MOTION DEDICATED PLC INSTRUCTION Errors The abnormal completion in the case shown below and the error code is stored in the device specified with the complete status storage device 50 0 Complete status 799 Error factor Corrective action Error code H Instruction request to Motion CPU from PLC CPU exceeds the permissible 0010 value 2001 The specified device cannot be used in the Motion CPU or it is outside the Confirm a program device range and correct it to a 2081 Number of reading data points set by D P DDRD instruction is wrong correct PLC There are 65 or more simultaneous D P DDRD D P DDWR sum table program instruction requests to the Motion CPU from the PLC CPU therefore the Motion CPU cannot process them Note 0000H Normal The diagnostic error flag SMO is turned on an operation error in the case shown below and an error code is stored in the diagnostic error register SDO Error code 4101 Number of writing data exceeded the range of storage device The target CPU module specified is wrong 1 The reserved CPU is specified 2 The uninstalled CPU is specified 3 The first number of the target CPU 16 n1 is outside the range of to It cannot be executed to the specified target CPU modu
226. g of routes into a single route after their processing completions following a selective branch will be a selective coupling However you can also make a setting where no coupling will be made as shown below IFB1 LL Jump transition normal jump END Program END IFE2 4 MOTION SFC PROGRAMS 4 9 3 Parallel branch parallel coupling 1 Parallel branch Multiple routes connected in parallel are executed simultaneously Each parallel branch destination may be started by either a step or a transition After operation completion of preceding step steps K2 to L F10 connected in parallel are executed when the completion of condition set at transition 20 Thereafter routes are G255 _ executed simultaneously to parallel coupling point Max number of parallel branches 255 Shift or WAIT can be set to a transition preceding a parallel branch WAITON and WAITOFF cannot be set 2 Parallel coupling PAB1 PAE1 A parallel branch must be coupled by a parallel coupling A jump setting to another branch route can be made within parallel branch parallel coupling In this case a jump destination is a midway parallel coupling point coupling jump You cannot set a jump to exit from within parallel branch parallel coupling
227. get CPU 1 0k word 47 blocks 2 0k word 111 blocks Number of Multiple CPU modules 3 area size for each target CPU 55 blocks Number of Multiple CPU modules 4 Selected system Number of CPU dedicated instruction transmission area area size for each target CPU 1 0k word 15 blocks 2 0k word 36 blocks d Number of simultaneous instruction acceptance for Motion CPU The following number of instructions can be accepted simultaneously in the Motion CPU D P SFCS 64 Total of D P SVST and D P CHGA 64 D P GINT 32 Total of D P DDRD and D P DDWR 64 D P CHGV D P CHGT Last instruction executed is valid There is not a limitation for number of simultaneous instruction acceptance When more than the above number of instructions are executed by the PLC CPU even if there is enough area in the CPU dedicated instruction transmission area the Motion CPU cannot accept it In this case 2100 is set to the complete status information and it abnormal completion occurs 3 MOTION DEDICATED PLC INSTRUCTION 3 Execution of Motion dedicated PLC instruction a Motion dedicated PLC instruction can be executed with a fixed cycle execute type program and interrupt program However the complete device is a pulse type If the complete device M100 in below example is set it may not be recognized during the PLC scan Therefore the PLC program should scan for completion of the device and use a set bit to exe
228. gram was called started by prog The nesting of parallel branch is up to four levels Subroutine the branch destination processing and correct the program Parallel branch nesting Nesting of parallel branches within a parallel excess branch route exceeded four levels Motion control steps cannot be executed in the Motion SFC programs executed by the event and NMI tasks An attempt was made to execute a motion Executed task error control step K with an event or NMI task Number of simultaneously active steps is Simultaneously active The number of simultaneously active steps maximum 256 Re examine the Motion SFC Step count excess exceeded 256 during execution program 16100 16101 16102 16103 16104 16105 16106 16107 16108 16109 16110 16111 16112 16113 16120 12 6 12 ERROR CODE LISTS 3 Motion SFC program run errors 16200 to 16299 Error Error factor Error Processing Corrective Action code Description No specified program The servo program Kn specified with the 16200 Kn motion control step does not exist Create the specified servo program The operation control program Fn FSn N ified Fi specified with the operation control step does Create the specified operation control program not exist 16202 No specified program The program Gn specified with the transition Create the specified transition program Gn does not exist Correct the
229. gs EE Fixed parameters Servo parameters 1 1 Parameter blocks ig 4 1 Limit switch output data EE i CORE RR EE MES dp Loteries E ont rn he de e ld 3 3 JOG operation in virtual mode is controlled using the JOG operation data set Servo amplifier Servo amplifier uM Servomotor Servomotor 2 STRUCTURE OF THE MOTION CPU PROGRAM MEMO 3 MOTION DEDICATED PLC INSTRUCTION 3 MOTION DEDICATED PLC INSTRUCTION 3 1 Outline of Motion Dedicated PLC Instruction Motion dedicated PLC instruction is used to access the device data and start up program of Motion CPU from PLC CPU Motion dedicated PLC instruction is transmitted through the CPU dedicated instruction transmission area set up in system area on the shared memory at the Multiple CPU high speed transmission Outline operation for Motion dedicated PLC instruction is shown below MITSUBISHI CPU dedicated instruction transmission area i PLC CPU Motion CPU 1 Instruction execution 2 Instruction accept each 0 88ms 3 Instruction process I dedicated instruction Taj po P Motion dedicated instruction 1 Motion dedicated instruction 2 Pa Motion dedicated instruction 2 5 Complete device 4 Response data set Complete st
230. h servo ON signal OFF emergency stop alarm electromagnetic brake signal signal EMG Servomotor Electro magnetic brakes If an error occurs remove the cause secure the safety and then resume operation after alarm release The unit may suddenly resume operation after a power failure is restored so do not go near the machine Design the machine so that personal safety can be ensured even if the machine restarts suddenly 8 Maintenance inspection and part replacement Z CAUTION Perform the daily and periodic inspections according to the instruction manual Perform maintenance and inspection after backing up the program and parameters for the Motion controller and servo amplifier Do not place fingers or hands in the clearance when opening or closing any opening Periodically replace consumable parts such as batteries according to the instruction manual Do not touch the lead sections such as ICs or the connector contacts Before touching the module always touch grounded metal etc to discharge static electricity from human body Failure to do so may cause the module to fail or malfunction Do not directly touch the module s conductive parts and electronic components Touching them could cause an operation failure or give damage to the module Do not place the Motion controller or servo amplifier on metal that may cause a power leakage or wood plastic or vinyl that may cause static electricity buil
231. he effect or electromagnetic obstacles to a minimum by installing a noise filter or by using wire shields etc Electromagnetic obstacles may affect the electronic devices used near the Motion controller or servo amplifier When using the CE Mark compliant equipment refer to the EMC Installation Guidelines data number IB NA 67339 for the Motion controllers and refer to the corresponding EMC guideline information for the servo amplifiers inverters and other equipment Use the units with the following conditions Q61P A1 Q61P A2 Q61P Q62P Q63P Q64P 100 to 120VAC 19 200 to 240VAC 19 400 to 240VAC 10 24VDC 99 10010 120 710 15 15 15 35 15 10 200 to 240VAC 15 85 to 132VAC 170 to 264VAC 85 to 264VAC 15 6 to 31 2VDC 85 to 132VAC 170 to 264VAC Input frequency 50 60Hz 5 20ms or less power failure 7 Corrective actions for errors Z CAUTION if an error occurs in the self diagnosis of the Motion controller or servo amplifier confirm the check details according to the instruction manual and restore the operation if a dangerous state is predicted in case of a power failure or product failure use a servomotor with electromagnetic brakes or install a brake mechanism externally Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally Shut off with the Shut off wit
232. ically at the time of RUN of Q173DCPU and it is always executed 0 is set on the continuation point 100 user device as an initial value 20 Main Normal Start The subroutine starts a No 160 Re start continuation after all axes servo are turned on and servo on of 1 axis and 2 axes is confirmed when a forced stop is released No 160 Re start continuation is stopped at the time of the forced stop and actual output PY is turned off 1 This program jumps corresponding to the value of the continuation point 100 of the following 2 1 to 9 0 Following 2 1 10 __ ___ 2 3 20 Following 2 30 FolowngQ 8 2 The following motion control is executed 1 This program stands by until PX4 is turned on pera RISE 3 2 10 is on continuation point 100 continuation 3 1 axis 2 axes are located in 0 0 in the linear control absolute 2 axes positioning 4 Positioning completion signal on of 1 axis 2 axes is confirmed and 20 is set on the continuation point 100 5 In position on of 1 axis and 2 axes is confirmed 6 1 axis 2 axes are located in 1000000 2000000 in the linear control absolute 2 axes positioning 7 Positioning completion signal on of 1 axis 2 axes is confirmed and 30 is set on the continuation point 100 8 This program stands by until PX4 is turned off 9 0 is set on continuation point 100 APP 24 APPENDICES a
233. ift gt gt Comparison operators Less than less than or equal to lt more than gt more than or equal to gt Comparison operators Equal to not equal to ion Substitution 5 OPERATION CONTROL PROGRAMS 3 Structure of instruction Many of the instructions usable in operation control programs can be divided into instruction and data parts The instruction and data parts are used for the following purposes Instruction part Indicates the function of that instruction Data part Indicates the data used in the instruction Substitution structure example DO 0 Data part Source S Instruction part Data part Destination D a Source S 1 The source is the data used in an operation 2 It varies with the device specified in each instruction is shown below Bit or word device Specify the device which stores the data used in operation The data must have been stored in the specified device until the operation is executed Changing the data stored in the specified device during program execution allows changing the data used in that instruction Constant Specify the numerical value used in an operation As the constant is set during program creation it cannot be changed during program running 6 Destination D 1 As the destination data after operation data is stored 2 Destination data is always set the device for storing the data
234. ing data Setting data Data type of result S Data whose fractional portion will be rounded off Data type of S Functions 1 The rounded off fractional portion value of the data specified with 5 is found 2 If S is a negative number the absolute value of S is found and its fractional portion is rounded off and signed 3 If S is an integer type its value is returned unchanged with no conversion processing performed Errors 1 An operation error will occur if S is an indirectly specified device and its device No is outside the range Program examples 1 Program which finds the rounded off fractional portion value of DOF and substitutes the result to RND DOF 3 D1 DO 2 Program which finds the rounded off fractional portion value of DAF and substitutes the result to when D4F is a negative number 0F RND D4F 3 2 D5 D4 mw Euri 5 OPERATION CONTROL PROGRAMS FIFS 5 6 12 Round down FIX FIX S Number of basic steps Usable data Usable Data Bit device Setting bi bi 3 Bit Comparison 46 bit 32 bit 64 bit 16 bit 32 bit 64 bit Calculation p floating Coasting floating conditional conditional integer integer _ integer integer type expression MU timer i expression expression type type L type K H L Usable data Setting data
235. ion List continued Positioning data Arc Helical 2 Dwell time Auxiliary point Instruction symbol Processing Parameter block No Address travel value Command speed Torque limit value Positioning control Virtual enable Number of steps 1 Number of indirect words Ed Repeat range start setting Lo NEXT Repeatrange erasoa START Simultaneous start ZERO Home position return start Repetition of same control used in speed Switching control constant Speed control Simultaneous position High speed oscillation CHGA Servomotor Virtual Servomotor Shaft Current Value Change CHGA E Encoder current value change CHGA C CAM shaft current value change High speed oscillation Current Value Positioning data 7 MOTION CONTROL PROGRAMS Number of steps A Set if required 1 Only reference axis speed specification 2 B indicates a bit device dojs uonisod 4 euin dois uonisod 4 Must be set uonejodiejul eBueJ 10119 jndui dojs euin doijs pides Parameter block euin uoneJejeoeq euin uoneJejeoov enjeA m __ LLLI pr T Lu gewe 0 peser
236. ions When routes are branch at a transition condition enables and disable Shift Y N transition or WAIT Y N transition will be useful Not When a transition condition set at Gn leti Shift Y N enables execution shifts to the lower Gn INI step When that condition disables transition Completion Y execution shifts to the right connected of condition step Not Differences between Shift Y N and completion WAIT Y N of condition WAIT Y N are the same as those transition between Shift and WAIT Completion Y of condition A YIN transition is designed to describe the following two route selective branch program easily lt transition is not used GO and G1 programs should be different only in acknowledgement negation of the conditional expressions Example 1 Example 2 G 0 G 0 G 1 MO 00 80 lt Y N transition is used Set GO program shown above Example 1 or Example 2 as a program The Motion SFC program list codes after conversion are the same as in the conventional description different only in the Motion SFC chart representation Therefore automatic search for free G number automatic generation of program which conditional expression part is logically negated is performed during program editing to occupy
237. is 31 status Axis 16 status Axis 32 status 1 16 1 OVERVIEW Details of each axis M4000 20n Positionina start complete M4001 20n Positioning complete M4002 20n M4003 20n Command in position M4010 20n Unusable M4016 20n 1 n in the above device No shows the numerical value which correspond to axis No Q173DCPU Axis No 1 to No 32 n 0 to 31 Q172DCPU Axis No 1 to No 8 0 to 7 2 The unused axis areas in the mechanical system program can be used as an user device 1 17 1 OVERVIEW 4 Table of the virtual servomotor axis command signals SV22 only Device No M4800 to M4819 M4820 to M4839 M4840 to M4859 M4860 to M4879 M4880 to M4899 M4900 to M4919 M4920 to M4939 M4940 to M4959 M4960 to M4979 M4980 to M4999 M5000 to M5019 M5020 to M5039 M5040 to M5059 M5060 to M5079 M5080 to M5099 M5100 to M5119 Signal name Axis 1 command signal Axis 2 command signal Axis 3 command signal Axis 4 command signal Axis 5 command signal Axis 6 command signal Axis 7 command signal Axis 8 command signal Axis 9 command signal Axis 10 command signal Axis 11 command signal Axis 12 command signal Axis 13 command signal Axis 14 command signal Axis 15 command signal Axis 16 command signal 1 18 Device No M5120 to M5139 M5140 to M5159 M5160 to M5179 M5180 to M5199 M5200 to M5219 M5220 to
238. isabled The device No which indirectly specifies D is illegal 12 8 Correct the program so that the specified axis No is within the range Correct the program so that the S data is within the range of the data type of D Correct the program so that the device No which indirectly specifies D is proper Correct the program so that the divisor is other than 0 Correct the program so that the device which indirectly specifies D is proper Correct the program to set a write enabled device at D Correct the program so that the device No which indirectly specifies D is proper 12 ERROR CODE LISTS Error factor Error Processing Corrective Action Direct specification 16 bit Multiple CPU area 16368 device for CPU No 1 U3E0 G10000 to read error Direct specification 32 bit Multiple CPU area 16369 device for CPU No 1 U3E0 G10000 to read error Direct specification 64 bit Multiple CPU area 16370 device for CPU No 1 U3E0 G10000 to read error Direct specification 16 bit Multiple CPU area 16371 device for CPU No 2 U3E1 G10000 to read error Direct specification 32 bit Multiple CPU area 16372 device for CPU No 2 U3E1 G10000 to read error Direct specification 64 bit Multiple CPU area device for CPU No 2 U3E1 G10000 to read The block i C t th that Multiple CPU error Multiple CPU area device number is outside the EDU VITESSE DU ion ia EN M area
239. itching point specified flag D705 request D706 All axes servo ON command request Real mode virtual mode switching request SV22 JOG operation simultaneous start command request D707 D708 D709 D710 to D713 Unusable JOG operation simultaneous start axis setting register D714 D715 Manual pulse generator axis 1 No setting register D716 D717 Manual pulse generator axis 2 No setting register D718 D719 Manual pulse generator axis 3 No setting register D720 D721 D722 D723 D724 D725 D726 D727 D728 D729 D730 D731 D732 D733 D734 D735 D736 D737 D738 D739 Axis 1 is 2 is 3 is 4 is 5 is 6 is 7 is 8 Manual pulse generators 1 pulse input magnification setting register is 12 Note 1 2 is 13 is 14 is 15 is 16 is 17 is 18 is 19 is 20 D741 Axis 22 D743 Command device Axis 24 Manual pulse generators D744 Axis 25 1 pulse input magnification setting register D746 Note 1 2 D747 D750 magnification setting register magnification setting register magnification setting register D756 Manual pulse generator 2 enable flag request D757 Manual pulse generator 3 enable flag request D758 to D799 Note 1 The range of axis No 1 to 8 is valid in the Q172DCPU Note 2 Device area of 9 axes or more is unusable in the Q172DCPU Command device Command device 1 36 2 STRUCTURE OF THE MOTION CPU PROGRAM 2 STRUCTURE OF THE
240. ith S2 are ORed Errors 1 An operation error will occur if 51 S2 is an indirectly specified device and its device No is outside the range Program examples 1 Program which sets M100 when either of MO and is 1 SET M100 3 M100 True 3 5 OPERATION CONTROL PROGRAMS FIFS 5 11 Comparison Operations 5 11 1 Equal to 51 52 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device bon Rest floating Coasting 188 SDN floating calculation conditional conditional integer integer oint timer integer integer type oint expression expression type type L MTS iB type K H K H L i L G5 ofl olol ol ol olol os tae wm we aim ae Se ee aes m Usable Setting data m data Data type of result Data which will be compared Logical type true false Functions 1 The data specified with S1 and the data specified with S2 are compared and the result is true if they are equal 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before comparison is performed Errors 1 An operation error will occur if S1 or S2 is an indirectly specified device and its device No is outside the range Program examples 1 Program which compares whether 0 and DO are equal or not 0
241. its value is returned unchanged with no conversion processing performed Errors 1 An operation error will occur if S is an indirectly specified device and its device No is outside the range Program examples 1 Program which converts the data of DOL into an unsigned 64 bit floating point value and substitutes the result to 0F 0F UFLOAT DOL 3 2 1 0 D1 DO K4294967295 0 4 KL HFFFFFFFF Unsigned value is K4294967295 5 OPERATION CONTROL PROGRAMS FIFS 5 8 Bit Device Statuses 5 8 1 ON Normally open contact None S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device Apple een floating Coasting 188 SAN floating Pon conditional conditional integer integer oint ti r integer integer type oint expression expression expression type type L 5 type K H K H L M i Lod l Usable Setting data Setting data Data type of result Bit device used in bit conditional expression Logical type true false Functions 1 True is returned when the bit device specified with S in a bit conditional expression is ON 1 or false is returned when that bit device is OFF 0 Errors 1 An operation error will occur if S is an indirectly specified device and its device No is outside the range Program examples 1 Program which sets M100
242. ive coupling point and selective branch point can be the same Note that in the Motion SFC chart this type is displayed in order of a selective coupling a selective branch as shown on the left In this case a pointer Pn cannot be set between the selective coupling point IFEm and the selective branch point IFBm 1 The parallel coupling point and parallel branch point can be the same Note that in the Motion SFC chart this type is displayed in order of a parallel coupling a parallel branch as shown on the left Execution waits at the parallel coupling point and shifts to the parallel branch In this case a pointer Pn cannot be set between the parallel coupling point PAEm and the parallel branch point PABm 1 4 MOTION SFC PROGRAMS 4 4 Motion SFC Program Name Set the Motion SFC program name to the Motion SFC program No 0 to No 255 individually Make this setting in the Motion SFC program management window on the Motion SFC program edit screen Set the Motion SFC program name within 16 characters Specify this Motion SFC program name for a subroutine call start step GSUB and clear step CLR 1 Itis can be set the Motion SFC program to any of No 0 to No 255 There are no specific programs which have special roles 2 cannot be used in the first character of the Motion SFC program name 3 lt gt cannot be used in Motion SFC program name 4 MOTION SFC PROGRAMS
243. j Cm n Wi 4 8 END Operations Ends a program In this case of an event task or NMI task operation changes with end operation setting of the program parameter Refer to Section 9 12 Program Parameters for details Making a subroutine call will return to the call source Motion SFC program Instructions END may be set a multiple number of times in one program END cannot be set between a parallel branch and a parallel coupling The output is held after the Motion SFC program is ended by END 4 MOTION SFC PROGRAMS 4 9 Branches Couplings 4 9 1 Series transition Transits execution to the subsequent step or transition connected in series 1 To start a servo program or subroutine and shift execution to the next without waiting for operation completion Set Shift at a transition In this case the transition shift may be omitted When you omitted the transition an unconditional shift transition is performed K1 Starts the servo program K1 Gi Transits to next by the completion of condition set at transition G1 without waiting for operating completion of the servo program K1 K2 Starts the servo program K2 For a subroutine start self program and a subroutine program are processed in parallel 2 To start a servo program or subroutine and proceed to the next step on operation completion Set WAIT at a transition K1 Starts the servo
244. l direction 8040 to 8059 4 8060 to 8079 Servo amplifier type When the servo amplifier power on 8080 to 8099 1 current Motorcurent _______ Operation cycle 1 7 ms or less Operation cycle 8100 to 8119 Motor speed Operation cycle 3 5 ms or more 3 5 ms 8120 to 8139 Monitor device 8140 to 8159 Operation cycle Home position return re travel At home position return re travel 7 value Real mode only 8160 to 8179 8 7 O 8180 to 8199 8200 to 8219 8220 to 8239 8240 to 8259 8260 to 8279 8280 to 8299 8300 to 8319 8320 to 8339 8340 to 8359 8360 to 8379 8380 to 8399 8400 to 8419 8420 to 8439 8440 to 8459 8460 to 8479 8480 to 8499 8500 to 8519 8520 to 8539 8540 to 8559 8560 to 8579 8580 to 8599 8600 to 8619 8620 to 8639 a Co 9 jo fo fo fo Jo fo Jo Jo ABO 1 32 5 EE EX EX 3 Eu 16 a2 8 MOTION DEVICES b Motion error history devices 8640 to 8735 The Motion error history devices are shown below Signal direction Refresh Status Command cycle Device No Signal name Seventh error information in past Oldest error information Sixth error information in past Fifth error information in past Fourth error information in past Motion error history At error 8
245. le DI PU and correct it to a t PLC 2 The instruction unsupported by the target CPU module is specified PEGS program 4352 The number of devices for instruction specified is wrong 4353 The device that cannot be used by the instruction specified is specified 4354 The character string that cannot be handled by the instruction specified is specified 4355 Number of writing data is outside the range of 1 to20 Note 0 Normal 1 The instruction name is wrong 3 MOTION DEDICATED PLC INSTRUCTION Program example Example 1 Program which stores data for 10 words from DO of the CPU No 2 to W10 or later of the self CPU when turned ON X0 _ Stores the number of reading data 10 MOVP K10 D101 to the number of reading data points Instruction S1 1 setting device 0101 execution Stores DO to D9 of CPU No 2 to W10 to command DP DDRD H3E1 D100 DO W10 M100 W19 of self CPU M100 M101 4 Normal complete program Complete M101 device r 4 Abnormal complete program Example 2 Program which stores simultaneously data for 10 words from DO of the CPU No 2 to W10 or later of the self CPU while turned ON MO _ Stores the number of reading data 10 MOVP K10 D101 to the number of reading data points Instruction S1 1 setting device D101 execution 4 command DP DDRD H3E1 0100 M100 Stores DO to
246. le data Usable Data Setting 64 bit 64 bit Bit Comparison e bi bi Calculat data Bit device oo 2 M floating Coasting i 32bit floating SUR On conditional conditional integer integer 1 integer integertype expression expression type L type K H O Usable Setting data Setting data Data type of result Transfer destination device starting No Transfer source device starting No Number of words to be transferred Functions 1 The contents for n words from device specified with S are batch transferred to the n words from device specified with D 2 Data can be transferred if the devices of the transfer source and destination overlap Data are transferred from devices starting with the one at S for transfer of data from devices of larger numbers to those of smaller numbers or starting with the one at S n 1 for transfer of data from devices of smaller numbers to those of larger numbers 3 Specifying Nn cam No at D or S enables batch transfer of cam data In the Motion controller the cam data of same cam No must already have been registered The number of transferred words specified with n should match the resolution of the specified cam No At cam data write The cam data storage area is rewritten Transfer of data to the cam data area is also executed during cam operation Be careful not to perform write while operation is being performed with the same cam No
247. led a subroutine starts a No 110 Motion control No 110 Motion control is stopped at the time of the forced stop and real output PY is turned off All axes servo on The call of the subroutine of the following program is executed by the condition of PX1 PX2 1 PX2 OFF PX1 OFF 2 PX2 OFF PX1 ON 3 PX2 1 OFF 4 PX2 ON PX1 ON 1 The JOG operation speed of 1 axis and 2 axes is set No 120 JOG No 130 Manual pulse generator No 140 Home position return No 150 Programming operation 2 1 axis JOG forward command is turned on when is on and the reverse command is turned on when is on 3 2 axes JOG forward command is turned on when 5 is on and the reverse command is turned on when PX6 is on 4 The above 2 3 are repeated during PX2 PX1 is off when except for it the JOG forward and reverse command of 1 axis and 2 axes are turned off and the program is ended 1 pulse input magnification of the 1 axis and 2 axes is set up 1 axis is controlled with P1 and set up to control 2 axes with P2 and Manual pulse generator enable flag of P1 P2 is turned When except for PX2 OFF PX1 ON Manual pulse generator mode Manual pulse generator enable flag of P1 P2 is turned off and a program is ended K140 The home position return of 1 axis is started when PX3 is on K141 The home position return of 2 axes is started when is on PX2 ON PX1 The p
248. les as this may lead to electric shocks Do not touch the Motion controller servo amplifier or servomotor terminal blocks while the power is ON as this may lead to electric shocks Do not touch the built in power supply built in grounding or signal wires of the Motion controller and servo amplifier as this may lead to electric shocks 2 For fire prevention Z CAUTION Install the Motion controller servo amplifier servomotor and regenerative resistor on incombustible Installing them directly or close to combustibles will lead to fire if a fault occurs in the Motion controller or servo amplifier shut the power OFF at the servo amplifier s power source If a large current continues to flow fire may occur When using a regenerative resistor shut the power OFF with an error signal The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fire Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used Failing to do so may lead to fire Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to fire 3 For injury prevention Z CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal Doing so may lead to destruction or damage Do not mistak
249. ling a label jump code within selective branch coupling or a label jump code within parallel branch coupling exists Selective branch destinations headed by other than SFT or WAIT transitions WAITON WAITOFF is not followed by motion control step However this is permitted to a pointer Pn or jump Pn The Motion SFC program code is corrupted SA parallel branch I folo wee y aw END Turn PLC ready flag M2000 OFF and write the without a parallel coupling Motion SFC program again Motion SFC code error An impossible code is used Or replace the external battery if it passed over a The internal code is corrupted life Internal code list code error in jump Jump code error 1 destination information Stop to execute the ot at od Internal code label information error in jump PPlicable Motion SFC destination information program No wa For the subroutine called Internal code label No error in jump Jump code error 3 PM program the call source destination information program also stops to Jump code error 4 ntemal code label address error in jump execute destination information NM The specified pointer does not exist at the Jump destination error Agee ump destination The self program was called started by GSUB em GSUB GSUB cannot call its own or main program Correct Motion SFC program GSUB setting error 2 Mica pro
250. llowing operation by MT Developer injustice of a monitor value and operation failure may occur Please do not perform Monitor mode of the Motion SFC program Debug mode of the Motion SFC program Test mode If the online change of Motion SFC chart added newly is executed since the online change of Motion SFC parameter cannot be executed it operates as the normal task default value When using the SV22 if the online change is executed by changing the program servo program editor screen Mode assignment setting the contents of change are not reflected If the cables between the personal computer and PLC CPU module fall out or the power supply of the Multiple CPU system turns OFF or resets the program is corrupted Write the program again with Write to CPU screen of MT Developer 10 2 10 ONLINE CHANGE IN THE MOTION SFC PROGRAM 10 1 1 Operating method for the online change Select the Online change OFF ON of Motion SFC program with the Motion SFC program editor screen Convert menu Online Change Setting of MT Developer There are following three methods for the online change of Motion SFC program When the Motion SFC program editor screen Write Motion SFC Chart is used Online change of the Motion SFC chart When the operation control transition program editor screen Convert is used Online change of the operation control transition program editor screen When the servo program edit
251. lse Functions 1 The result is true if the data specified with S1 is greater than the data specified with S2 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before comparison is performed Errors 1 An operation error will occur if S1 or 52 is an indirectly specified device and its device No is outside the range Program examples 1 Program which compares whether 0 is greater than DO or not 0 gt DO 0 gt True lt po 2 5 OPERATION CONTROL PROGRAMS FIFS 5 11 6 More than or equal to gt 51 gt 52 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device 16 bit 2296 floating Coasting Mu 32 bit floating Calculation conditional conditional integer integer oint timer integer integer type point expression expression expression type type L Raha type 80 ol iem 62 _ o lololol olo lolol a Usable Setting data Setting data Data type of result 51 TR 52 Data which will be compared Logical type true false Functions 1 The result is true if the data specified with 51 is greater than or equal to the data specified with S2 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before
252. lue of Motion _ Turn PLC ready flag M2000 OFF and write 17003 parameter E SFC parameter is used for the Motion SFC parameter parameter is corrupted unregistered error control 2 SFC Program start errors 17010 to 17019 Error factor Error code Error Processing Corrective Action 47010 Executed task Among the normal event and NMI tasks more setting is illegal than one or none of them has been set Turn PLC ready flag M2000 OFF make The initial value normal correction and write a correct value to the Executed task task is used for control pter Two or more fixed cycles of the event task have CPU 17011 setting is illegal b t eveni een se 12 14 APPENDICES APPENDICES APPENDIX 1 Processing Times APPENDIX 1 1 Processing time of operation control Transition instruction 1 Operation instructions Processing time of operation instructions ey oa 2 Q173DCPU Q172DCPU Classifications Symbol Instruction Operation expression Unit us u Substitution D800F D804F Addition Subtraction 277 Multiplication Division U3E11610000 U3E 11G10001 U3E 11610002 APP 4 APPENDICES Processing time of operation instructions Continued 173DCPU Q172DCPU Classifications Symbol Instruction Operation expression Q UOS u 1 22 Bit inversion complement T Bit logical AND HOH IH D800 D801 D802 iss U3E41G10000 U3E11G10001 U3E 11610002 Bit logic
253. missible number of executions is not exceeded 3 MOTION DEDICATED PLC INSTRUCTION Multiple CPU high speed bus maximum number of blocks For CPU No 1 Multiple CPU high speed bus maximum number of blocks For CPU No 2 Multiple CPU high speed bus maximum number of blocks For CPU No 3 Multiple CPU high speed bus maximum number of blocks For CPU No 4 Multiple CPU high speed bus block information For CPU No 1 Multiple CPU high speed bus block information For CPU No 2 Multiple CPU high speed bus block information For CPU No 3 Multiple CPU high speed bus block information For CPU No 4 Special register of PLC CPU Maximum number of blocks used for dedicated instruction range 1 to 9 Default 2 Note When a value other than 1 to 9 is set operation is performed as if 9 is set Description Specifies the maximum number of blocks used for the dedicated instruction of Multiple CPU high speed bus When the dedicated instruction of Multiple CPU transmission is executed to the target CPU and the number of empty blocks of the dedicated instruction transmission area is less than the setting value of this register the block information using dedicated instruction of Multiple CPU high speed bus SM796 to SM799 is turned ON which is used as the interlock signal for consecutive execution of the dedicated instruction of Multiple CPU transmission User At 1 scan after RUN Special relay
254. n transits to the right connected step Jumps to the specified pointer Pn PO to P16383 of the Jump Jump JMP Pn ere Self program 14 Indicates a jump destination pointer label This pointer can be set at a step transition branch Pointer Pointer Pn point or coupling point 8 PO to P16383 can be set in one program The same No may also be used in other programs 4 MOTION SFC PROGRAMS 4 3 Branch and Coupling Chart List Branch and coupling patterns which specify step and transition sequences in the Motion SFC charts are shown below Name List Series transition Corresponding symbol size Selective branch Number of branches 2 x 10 Parallel branch Number of branches x 22 number of coupling points x 2 12 Parallel coupling 8 Jump transition Corresponding symbol size Normal jump Coupling jump List representation corresponding to the Motion SFC chart symbols shown in Section 4 2 CALL Kn IFBm IFT1 SFT Gn CALL Fn JMP IFEm IFT2 SFT Gn CALL Fn JMP IFEm IFEm CALL Fn CALL Kn PABm PAT1 CALL Fn SFT Gn JMP PAEm PAT2 CALL Fr SFT Gn JMP PAEm PAEm CALL Fn CALL Fn JMP Pn CALL Pn CALL Kn Steps and transitions connected in seri
255. n below a Method to execute after data is written to the shared memory area Multiple CPU high speed transmission area Write the data from PLC CPU to the shared memory area Multiple CPU high speed transmission area of the self CPU and then it can be utilized for Motion dedicated PLC instruction execution Program example Program which starts the servo program positioning by DP SVST instruction after the data has been writing to shared memory area Multiple CPU high speed transmission area U3E0 G10000 to U3E01G10003 from PLC CPU CPU No 1 Ladder PLC CPU side MO DMOVP K10000 U3E0 G10000 Instruction Servo program lexecution K10 position command command DMOVP K100000 U3E0 G10002 H Servo program K10 speed command DP SVST H3E1 01 K10 M100 D100 H Start accept flag of CPU No 2 Axis 1 r RST Instruction execution command Servo program Motion CPU side K10 REAL 1 INC 1 Axis 1 U3E01G10000 Speed U3E0 G10002 mm min 3 MOTION DEDICATED PLC INSTRUCTION b Method to execute after data is written by D P DDWR instruction Write the data from the PLC CPU to the Motion CPU by D P DDWR instruction and then it can be utilized for Motion dedicated PLC instruction execution Program example Program which starts the servo program positioning by DP SVST instruction after data is written to D3000 to D3002 of the Motion CPU CPU No 2 from the PLC CPU CPU
256. n input destination output source Bn cm Increments of 16 points Increments of 32 points DIN 0 DIN 0L MO DOUT MO DO DOUT MO DOL Program example Specified device No to Specified device No to specified device 15 specified device 31 Used devices MO to M15 in the above program MO to M31 in the above program example example 5 OPERATION CONTROL PROGRAMS f Logical data The logical data is a value returned by a bit or comparison conditional expression and indicates whether the result is true or false Normally it is used in the conditional expression of a transition program In an operation control program the logical data is used in a bit conditional expression set to device set SET or device reset RST Example 1 SET X10 Logical data Bit data p Example 2 RST 5 X10 M100 Logical data Bit data R Example 3 transition program 00 K100 Logical data 5 OPERATION CONTROL PROGRAMS 5 2 Device Descriptions Word and bit device descriptions are shown below 1 Word device descriptions Device descriptions 64 bit 32 bit 16 bit floating point Device No n specified ranges integer type integer type type n is even No n is even No Datargster Dn 0 to 8191 Link register 0 to 1FFF Special register 0 to 2255 0 to 8735 Motion device zn nL nF Motion SFC dedicated devi
257. n the following range Q172DCPU Q173DCPU Axis 1 to 8 Axis 1 to 32 4 The address which made the current value change by the CHGA C instruction is valid after also the power supply turned off 7 MOTION CONTROL PROGRAMS Program example A program which made the current value change control of the cam shaft within one revolution current value change is described as the following conditions 1 Current value change control conditions a The current value change control conditions are shown below Item Setting Servo program No Output axis No Current value change address 2 Servo program lt K10 gt CHGA C Cam shaft within one revolution Axis 2 0 current value change control Output axis 2 Current value change address 0 Cam shaft within one revolution current value changing instructions If a new within one revolution current value is outside the range 0 to revolution pulse count 1 a minor error Note 6120 occurs and current value change is not Set the current value change program the cam shaft within one revolution within the virtual mode program No range set in program mode assignment When PLC ready flag M2000 or PCPU ready flag SM500 is OFF a minor error 799 100 occurs and a current value change is not made If the cam shaft within one revolution current value change is executed in the real mode a servo prog
258. nd m 2 M10 command ADRSET 0020 wo H Axis 1 Axis No CHGV indirect instruction setting execution device command address M11 setting DP CHGV H3E1 WO D4 M100 D100 Axis 2 CHGV instruction execution rs M10 H comand Axis 1 CHGV instruction execution command E RST M11 I Axis 2 CHGV instruction execution command 3 MOTION DEDICATED PLC INSTRUCTION 3 2 5 Torque limit value change request instruction from the PLC CPU to the Motion CPU D P CHGT PLC instruction D P CHGT Usable devices Unit access o Internal devices File redister Link direct device 5 i i vi onstan 2 System User 9 E JOG 5 i t5 ki D pad Word D g S 5 E 8 6 gl 8 o 5 x c 5 Ds e Sax Qo Qo 7 o r c n1 e 51 2 D1 A A Note 1 Note 2 Note 2 D2 A Note 1 Note 2 Note 2 Usable A Usable partly Note 1 Omission possible with both of D1 and D2 omission Note 2 Local devices cannot be used Note 3 Setting data n1 to D2 Index qualification possible Instruction Condition DP CHGT DP CHGT
259. ne and setting a subroutine running task as another task Example No 0 Main Motion SFC program Normal task No 1 Subroutine Event task 3 55ms cycle Z CAUTION A normal task may be hardly executed when a NMI task an event task are executed in many 9 OPERATION FOR MOTION AND PARAMETER 9 4 How to Start The Motion SFC Program The Motion SFC program is executed during PLC ready flag M2000 is on The Motion SFC program may be started by any of the following three methods 1 Automatic start 2 Start from the Motion SFC program 3 Start from the PLC Set the starting method in the program parameter for every Motion SFC program Refer to Section 9 12 Program Parameters for parameter setting 9 4 1 Automatic start Operations An automatic start is made by turning PLC ready flag M2000 on 9 4 2 Start from the Motion SFC program Operations A start is made by executing a subroutine call start step in the SFC program Refer to Chapter 4 MOTION SFC PROGRAMS for details of the subroutine call start step 9 4 3 Start from PLC PLC instruction D P SFCS The SFC program is started by executing the D P SFCS in the PLC program Refer to Chapter 3 MOTION DEDICATED PLC INSTRUCTION for details 9 5 How to End The Motion SFC Program Operations 1 The Motion SFC program is ended by executing END set in itself 2 The Motion SFC program is stopped by turning off the PLC rea
260. ne change of the Gn program After completion of online change Gn including the TIME instruction is is ended regardless of the waiting executed in the state of waiting for time of TIME instruction and the next the completion of condition for Gn Step is executed Online change of the Gn program After execution of servo program the during the servo program execution program of changed Gn is executed for Kn 10 4 10 ONLINE CHANGE IN THE MOTION SFC PROGRAM M AGDT t ELEOLEDLLLI L LLLLLLLLLuLLAAAu amp A t A A AAMM LL L J 3 When the servo program editor screen Convert is used Online change of the servo program during edit is executed by selecting the Convert button Online change is possible to the servo program during execution A program that the online change was made is executed at the next servo program start Servo Program Editor K10 Real Set Program Number Previous No Next No Select Setting Item LABS 1 1 1 100 yum Dwell Speed 200 mm min lt lt Add Delete gt gt Convert button r 2 E 220 Used Steps 30 Program Steps 4 Total Steps 16384 Instruction Details Mode Allocation Sort Cancel Commanded speed setting range a Direct setting mm 0 01 to 6000000 O0 mm miri inch 0 001 to 600000 000 inch min 0 001 to 2147483 647 deg min In case of s
261. ned ________ 0 to 4294967295 64 bit floati tt iLfiostibapelnt type IEEE format 1 23 10F etc double precision real number type Decimal constant Data type The above data type symbol L or decimal point provided at the end indicates the data type The constant without the data type is regarded K 100 HOFFL etc Constant b H Hexadecimal as the applicable minimum type K may be omitted constant Binary operation a O Bit operation _ 26 5 Standard funcion Type conversion 6 Number of Bit device status o 63 in total instructions Bit device control Logical operation Comparison operation 6 Motion dedicated function Read write response Input response Direct read control at instruction execution of input PX output PY Output response Direct write control at instruction execution 1 OVERVIEW 2 Table of the operation control transition instruction Usable step YIN ition s Section of Classification Symbol Function Format Basic steps transition S SPON F FS G conditional reference expression ATA Moe joven Le Division S1 S2 olo 5 4 5 _ __ Fo 2 amp Bitlogical AND 51 8 52 olo peeeesewgoaon Jemen e fo ss gt peausm ___ eee
262. ng Complete device D1 0 Status display device D1 1 at the completion Setting range 1 Setting of the starting axis The starting axis set as S1 is set J Axis No in a character sequence gt 81 range Q173DCPU 1 to 32 Q172DCPU Up to 8 axes can be set Set them without dividing in a space etc for multiple axes setting Set J in a capital letter and use the axis No set in the system setting as the axis No to start Refer to the Q173DCPU Q172DCPU Motion controller Programming Manual COMMON for system settings And the axis No to start does not need to be a order Example When multiple axes Axis1 Axis2 Axis10 Axis11 are set J1J2J10J11 2 Setting of the servo program No n2 usable range 0 to 4095 3 MOTION DEDICATED PLC INSTRUCTION Start accept flag System area The complete status of start accept flag is stored in the address of start accept flag in the CPU shared memory for target CPU CPU shared memory address A Description is decimal address The start accept flag for 32 axes are stored corresponding to each bit As for a bit s actually being set Q173DCPU J1 to J32 Q172DCPU J1 to J8 OFF Start accept enable 204H 516 ON Start accept disable b15 614 62 bO 204H 516 address 16 J2 J1 205H 517 205H 517 address J32 Errors The abnormal completion in the case shown below and th
263. ng K123 and 0 to WO WO K123 0 123 wo i 5 OPERATION CONTROL PROGRAMS FIFS 5 4 2 Addition 91 92 Number of basic steps Usable data Usable Data Bit device Setting data Bit Comparison 46 bit 32 bit Em 16 bit 32 bit 64 bit Calculation p floating Coasting floating conditional conditional integer integer integer integertype point timer point expression expression type type L type F type K H KH L type K spe soe spe cl seme 62 o l o l o l ol o lol o I O Usable Setting data Setting data Data type of result S1 Augend data Data type of S1 or S2 S2 Addend data which is greater Functions 1 The data specified with S2 is added to the data specified with S1 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before operation is performed Errors 1 An operation error will occur if S1 52 15 an indirectly specified device and its device No is outside the range Program examples 1 Program which substitutes the result of adding K123 and 0 to WO WO K123 0 123 wo 579 4 0 456 2 Program which substitutes the result of adding 0F 10 to DOL DOL 0F 10 3 2 1 0 12345789 DOL 12468 2 ____ ii E
264. ng data Setby Data type First No of the target CPU 16 Value to specify actually is the following CPU No 2 3E1H CPU No 3 3E2H CPU No 4 Note Motion CPU cannot be set as CPU No 1 in the Multiple CPU configuration Motion SFC program to start 16 bit binary Complete devices D1 0 Device which make turn on for one scan at accept completion of instruction System D1 1 Device which make turn on for one scan at accept abnormal completion of instruction D1 0 also turns on at the abnormal completion Complete status storage device 16 bit binary Note 1 Omission possible with both of D1 and D2 omission 3 2 3 MOTION DEDICATED PLC INSTRUCTION Controls 1 Request to start the Motion SFC program of program No specified with n2 The Motion SFC program can start any task setting of the normal task event task and NMI task 2 This instruction is always valid regardless of the state of real mode virtual mode mode switching when the operating system software of Motion CPU is SV22 n1 Start request of Motion SFC program No 1 Start request of Motion nt n2 D1 D2 SFE program Not DP SFCS K1 M100 D100 Operation Outline operation between CPUs at the DP SFCS instruction execution is shown below P
265. nge of 1 to 256 The CPU shared memory address D of self CPU of the writing destination device is outside the range 800H to FFFH of the CPU shared memory address The CPU shared memory address D of self CPU of the writing destination device number of words n to be written is outside the range 800H to FFFH of the CPU shared memory address Start device No S which writing data are stored number of words n to be written is outside the device range MULTW instruction was executed again before MULTW instruction is executed and complete bit device is turned on D1 is a write disabled device S is a bit device and the device number is not a multiple of 16 PX PY is set in S to S n 1 12 10 Correct the program so that S is a positive number Correct the program so that the number of words n to be written is within the range of 1 to 256 Correct the program so that the CPU shared memory address D of self CPU of the writing destination is within the range of CPU shared memory address Correct the program so that the CPU shared memory address D of self CPU of the writing destination number of words n to be written is within the range of CPU shared memory address Correct the program so that start device No S which writing data are stored number of words n to be written is within the device range Execute MULTW instruction again after the complete bit device
266. nsigned 16 bit integer value 2 The data range of S is 0 to 65535 3 When S is a 64 bit floating point type its fractional portion is rounded down before conversion is made 4 If S is a 16 bit integer type its value is returned unchanged with no conversion processing performed Errors 1 An operation error will occur if The S data is outside the range 0 to 65535 or S isan indirectly specified device and its device No is outside the range Program examples 1 Program which converts the data of DOL into an unsigned 16 bit integer value and substitutes the result to 0 0 USHORT DOL D1 DO 0 5536 4 _ HEA60 HO000EA60 Unsigned value is K60000 5 OPERATION CONTROL PROGRAMS FIFS 5 7 3 Signed 32 bit integer value conversion LONG LONG S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculation data Bit device bit 32 a floating Coasting ue bit eee floating conditional conditional integer integer _ integer integer type point timer point expression expression type type L type K H K H L type F type K 6 o9 aoa aoad i Usable Setting data Setting data Data type of result Data which will be converted into signed 32 bit integer value Functions 1 The data specified with S is converted into
267. nt 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 2008 MITSUBISHI ELECTRIC CORPORATION A 11 INTRODUCTION Thank you for choosing the Mitsubishi Motion controller Q173DCPU Q172DCPU Before using the equipment please read this manual carefully to develop full familiarity with the functions and performance of the Motion controller you have purchased so as to ensure correct use CONTENTS Satety Precautions ich iki eee e ae eer be Lap dein bete eee Dante i betta A 1 Miele ep ELDER A 11 e E E oe E iet set RM aot f EM eet d A 12 About Mantials 4 ol m toutes enden unc aou d teta A 17 1 OVERVIEW 1 1to 1 36 tetro b CE tr eet oet tete t hte 1 1 1 2 FACTS ic RIO Men eoo b EBD RC D E 1 3 1 2 1 Features of Motion SFC programs S narenn a A E A EA 1 3 1 2 2 Performance tnn nennen 1 4 1 2 3 Operation control transition control specifications sss 1 6 1 2 4 Positioning dedicated devices ssssssssssseeeeeeeeeennen nennen nnne nnns 1 10 2 STRUCTURE OF THE MOTION CPU PROGRAM 2 1to2 4 2 1 Motion Control in SV13 SV22 Real Mode sse eerte nnne 2 2 2 2 Motion Control in SV22 Vir
268. o No ee 00H No 10H 20H D1 sets 20H by the system setting when a TO instruction is executed in the D A conversion module Q64DA 5 OPERATION CONTROL PROGRAMS 3 The word devices that may be set at D1 D2 S and n are shown below Note 1 Nore 1 Noted Setting Word devices Bit ote 1 Note 2 Dn wn spn oes device No cannot be specified indirectly Note 2 Specify a multiple of 16 as the device number of bit data Note 3 PX and PY cannot be set n 4 Adjust an executive task the number of transfer word referring to the operation processing time so that this instruction may not obstruct the execution of the motion operation because processing time becomes long in argument to the number of words n to be written 5 The following analogue modules can be used as the Motion CPU control module Q62AD DGH Q62DA Q64AD Q62DA FG Q64AD GH Q64DA Q68ADV Q68DAV Q68ADI Errors 1 An operation error will occur if Number of words n to be written is outside the range of 1 to 256 Motion CPU cannot communicate with intelligent function module at the instruction execution Abnormalities of the intelligent function module were detected at the instruction execution No s specified with D1 differ from the intelligent function mo
269. o the Number of words n to be read 5 The following analogue modules can be used as the Motion CPU control module Q62AD DGH Q62DA Q64AD Q62DA FG Q64AD GH Q64DA Q68ADV Q68DAV Q68ADI Errors 1 An operation error will occur if Number of words n to be read is outside the range of 1 to 256 Motion CPU cannot communicate with intelligent function module at the instruction execution Abnormalities of the intelligent function module were detected at the instruction execution No s specified with S1 differ from the intelligent function module controlled by the self CPU The address specified with S2 is outside the buffer memory range Start device No D which stores the reading data number of words n to be read is outside the device range D is a bit device and device number is not a multiple of 16 PX PY is set in D to D n 1 5 OPERATION CONTROL PROGRAMS Program examples 1 1 word is read from the buffer memory address 10H of the intelligent function module First I O No 020H and is stored in WO FROM WO H020 H10 K1 Intelligent function module First No 020H Buffer memory Device memory 1 word transfer wE w qi 5 OPERATION CONTROL PROGRAMS F FS 5 13 10 Time to wait TIME TIME S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi
270. oasting 1 floating conditional conditional integer integer integer integer type expression point timer point expression expression type type L type K H KH L type F type K olol ol olol ol ml j Usable Setting data Setting data Data type of result S Word device constant calculation expression to be substituted Data type of D Word device which will store the operation result Functions 1 The data value specified with S is substituted to the specified word device at D 2 When S and D differ in data type the data at S is converted into the data type of D and the resultant data is substituted When D is a 16 or 32 bit integer type and S is a 64 bit floating point type the fraction part of S is discarded Errors 1 An operation error will occur if The data at S is outside the data type range of D or e D or S is an indirectly specified device and its device No is outside the range Program examples 1 Program which substitutes the DO value to 0 0 DO 4 00 5 OPERATION CONTROL PROGRAMS 2 Program which substitutes K123456 789 to DOL DOL K123456 789 D1 DO 123456 D 123456 789 The 64 bit floating point type is converted into the 32 bit integer type and the result is substituted 3 Program which substitutes the result of addi
271. of MULTW instruction is turned on Correct the program to set a write enabled device at D1 When 5 15 a bit device set the device number to be multiple of 16 When S is a bit device do not set PX PY 12 ERROR CODE LISTS Error Error factor F Error Processing Corrective Action code Correct the program so that the number of words n to be read is within the range of 1 to 256 Number of words n to be read is outside the Correct piograniso shared range of 1 to 256 memory first address S2 of the data which it The CPU shared memory first address S2 of a 5 device range of CPU the data which it will be read is outside the erts do cer Correct the program so that the CPU shared range 000H to FFFH of the CPU shared memory first address S2 of the data which it memory eddies ill be read number of words n to be read The CPU shared memory first address 52 of ui iE RE is within the range of CPU shared memory the data which it will be read number of Addi ss Red device dalaf words n to be read is outside the range 000H C i tse device N ead device data from of the CPU shared memory address orrect the program so that start device No 16421 CPU shared memory of the other CPU MULTR execution error D which stores the reading data number of words n to be read is within the device range Correct the program so that 3E0H 3E1H 3E2H 3E3H is se
272. of PLC CPU Set by Block is secured Block set by SD796 cannot be secured Block is secured Block set by SD797 cannot be secured Block is secured Block set by SD798 cannot be secured Block is secured Block set by SD799 cannot be secured Turns ON when the number of the remaining blocks of the dedicated instruction transmission area used for the dedicated instruction of Multiple CPU high speed bus is less than the number of blocks specified by maximum number of blocks used for dedicated instruction of Multiple CPU high speed bus setting Turns ON at instruction execution Turns OFF when empty area exists at END processing Sysytem When instruction END processing executed 3 MOTION DEDICATED PLC INSTRUCTION Operation timing Operation which executes each Motion dedicated instruction and turns on the Multiple CPU high speed bus block information PLC program END Instruction execution Motion dedicated PLC instruction Permissible number of executions or more by the new instruction without an interlock condition 1 1 1 1 1 1 1 1 1 4 1 1 1 1 Multiple CPU high speed bus Number of maximum number of blocks empty blocks 50797 For CPU No 2 Total dedicated instruction transmission Dedicated instruction transmission area usage Permissible number of executions Check at END processing Multiple CPU high speed bus block information SM797
273. of an event interrupt the program is made from the Motion SFC program executed in accordance with the number of consecutive transitions of the corresponding program Restart after end by clear step CLR Again the program is started by the Motion SFC start instruction D P SFCS from the PLC or by a subroutine call start GSUB made from the Motion SFC program The END operation of subroutine called program is controlled as an end e The following operation example assumes that the END operation is continued Program parameters e Automatically started e Execute task event 3 55ms e Number of consecutive transitions 2 e End operation continued Program name 1 After M2000 ON program is 4 Program is executed in 3 55ms executed at 3 55ms intervals cycle fourth time first time after event task enable 2 Program is executed in 5 Program is executed in 3 55ms cycle second time 3 55ms cycle fifth time 3 Program is executed in 6 Program is executed in 3 55ms cycle third time 3 55ms cycle sixth time 5 Executing flag The set bit device turns ON by Motion SFC program start and it turns OFF by program end 9 OPERATION FOR MOTION AND PARAMETER MEMO 10 ONLINE CHANGE IN THE MOTION SFC PROGRAM 10 ONLINE CHANGE IN THE MOTION SFC PROGRAM 10 1 Online Change in The Motion SFC Program This function is used to write to the Motion SFC program to
274. ogram 0 Program No 2 Program No 2 Program transfer Program No 5 Program No 5 Program No 6 Program No 6 Program No 100 Program No 100 Free area 2 Program writing by the Online change a After online change a program to execute the online change is stored in the free area after the program stored previously Refer to 1 After that the program written in previously is made invalid and the new program is made valid Refer to 2 Motion CPU Personal computer Program memory MT Developer Program 0 Program 0 Program No 2 Program No 2 Program No 5 2 Program No 5 Program No 6 Program No 6 Program No 100 Program No 100 Program No 5 Free area 10 6 10 ONLINE CHANGE IN THE MOTION SFC PROGRAM b Ifthe online change is executed repeatedly the free space in program memory is lost and the online change may not be executed In this case an error message is displayed by MT Developer at the online change and Online change OFF is set Motion CPU Personal computer Program memory MT Developer Program 0 Program 0 HPregram Ne 2 Program No 2 Pregram Ne 5 X Program No 5 Online change setting cannot be executed because there is no free space Program No 6 Program No 6
275. ogram is started by the Motion SFC start instruction M2000 ON the program is executed from D P SFCS from the PLC or by a subroutine call start GSUB made the initial first step in accordance with the from the Motion SFC program number of consecutive transitions of the When started by the D P SFCS instruction normal task In the main cycle after execution of the D P SFCS instruction the program is executed from the initial first step in accordance with the number of consecutive transitions of the normal task When subroutine started In the next main cycle after execution of GSUB the program is executed from the first step in accordance with the number of consecutive transitions of the normal task Start control When subroutine called The program is executed in the same cycle from the first step After that the program is executed continuously by the number of consecutive transitions of the normal task in the Motion CPU main cycle The settings of executed task and number of consecutive transitions of the subroutine called program are invalid It is controlled as the normal task END control Ends the self program Again the program is started by the Motion SFC start instruction D P SFCS from the PLC or by a subroutine call start GSUB made from the Motion SFC program END 9 OPERATION FOR MOTION AND PARAMETER Program
276. om an initial again 9 OPERATION FOR MOTION AND PARAMETER 2 Execute task Description Set the timing task to execute a program Specify whether the program will be run by only one of the normal task main cycle event task fixed cycle external interrupt PLC interrupt and NMI task external interrupt When the event task is set multiple events among the fixed cycle external interrupt for event task and PLC interrupt However multiple fixed cycles cannot be set toward one Motion SFC program Example Interrupt setting Inputs for event task 16 17 18 19 110 111 112 113 114 and 115 Motion SFC program No 10 event Fixed cycle 3 55ms Motion SFC program No 20 event Fixed cycle 1 77ms external interrupt 16 Motion SFC program No 30 event External interrupts I7 115 PLC CPU interrupt When the NMI task is set multiple interrupt inputs among the external interrupts for NMI task can be set Example Interrupt setting Inputs for NMI task 10 11 12 I3 14 15 Motion SFC program No 10 NMI 10 Motion SFC program No 20 NMI 11 I2 Motion SFC program No 30 NMI 15 Errors This program parameter is imported at leading edge of PLC ready flag M2000 and is checked at starting of the Motion SFC program automatic start start from PLC or subroutine start When the value is illegal either of the following Motion SFC errors is set and the initial value i
277. omparison data Bit device 16 bit 2296 floating Coasting Meu 32 bit floating Calculation conditional conditional integer integer oint timer integer integer type point expression expression expression type type L Kaha o o 32 _ olol o lolol Usable Setting data Setting data Data type of result Data type of S1 or S2 Data which will be ANDed bit by bit which is greater Integer type Functions 1 The bit by bit logical product of the data specified with 51 and the data specified with S2 is found 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before operation is performed At this time note that signed data is converted Errors 1 An operation error will occur if S1 or 52 is an indirectly specified device and its device No is outside the range Program examples 1 Program which ANDs 0 and 1 and substitutes the result to DO DO 0 amp 1 a 5 OPERATION CONTROL PROGRAMS FIFS 5 5 3 Bit logical OR S1 1 S2 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device 16 bit 2296 floating Coasting Meu 32 bit floating Calculation conditional conditional integer integer oint timer integer integer type
278. on DP GINT DP GINT Command M H pp cint_ n2 Command K 4 Command 1 Setting data Setting data Setby Data type First No of the target CPU 16 Value to specify actually is the following User 16 bit binary CPU 2 3E1H CPU No 3 3E2H CPU No 4 Note Motion CPU cannot be set as CPU No 1 in the Multiple CPU configuration Interrupt instruction No 16 bit binary Complete devices D1 0 Device which make turn on for one scan at accept completion of instruction i System D1 1 Device which make turn on for one scan at accept abnormal completion of instruction D1 0 also turns on at the abnormal completion Complete status storage device Note 1 Omission possible with both of D1 and D2 omission 3 47 3 MOTION DEDICATED PLC INSTRUCTION Controls 1 Processing for the active program operation program status of Motion SFC program set in the PLC interruption of event task is executed by the execution instruction of D P GINT instruction 2 This instruction is always valid regardless of the state of real mode virtual mode mode switching when the operating system software of Motion CPU is SV22 3 Event processing is not executed when the Motion CPU side is DI interrupt disable Execute the EI interrupt enable instruction before event processing n1 3E1H
279. ontrol Virtual enable Number of steps Number of indirect words rotation Speed control with fixed position stop absolute specification PVR Position follow up control start 1 axis constant speed control start 4 axes constant speed control start position stop control with fixed rotation Reverse Forward Position follow up control ABS 1 IN ABS 3 ABS 4 ABS gt Constant speed control passing point absolute specification Constant speed control Constant speed control passing point helical absolute specification 7 MOTION CONTROL PROGRAMS Positioning data Number of steps uonisod 4 euin dois uonisod fal oe uoneJejeoep uoneJojeooe uonejodiejul eBueJ 10119 T jndui dojs BuisseooJd enbJo Parameter block euin uoneJejeoeq euin uoneJejeoov enjeA i Se M DESSERTS i a _ cis QN dd UER Em _ fo lel n _ e A Set if required 1 Only reference axis speed specification 2 B indicates a bit device O Must be set 7 MOTION CONTROL PROGRAMS Table 7 2 Servo Ins
280. ooL gt D802L Completion of condition U3E1 G10000L gt U3E1 G10002L HOF gt 4F D800F gt D804F U3E1 G10000F gt U3E1 G10004F APP 10 APPENDICES 3 Processing time by the combination F and G program described in F G is NOP jeje ens GSUB IMP coupling Q173DCPU 13 99 13 18 15 47 22 07 14 54 Q172DCPU Note Varies greatly with the started or cleared program Parallel branch 2 Pcs Parallel branch 5 Pcs At branch At coupling At branch At coupling 22 89 18 51 49 09 32 11 Q172DCPU us i Q173DCPU me R Q172DCPU us Long processing time may cause a Motion CPU WDT error or servo fault Especially for the Motion SFC programs run by event NMI tasks take care so that the processing time will not be too long APP 11 APPENDICES APPENDIX 1 2 Processing time of Motion dedicated PLC instruction Processing time of Motion dedicated PLC instruction EM z Processing time us Classifications Symbol Instruction Condition QO3UDCPU Q04UDHCPU QOGUDHCPU D SFCS request of the specified Motion SFC program Multiple CPU hich D SVST jStart request of the specified servo program ulti i bis E D CHGA Current value change request of the specified axis dedicated instruction D CHGV Speed change request of the specified axis Torque
281. or device Axis 10 monitor device Axis 11 monitor device Axis 12 monitor device Axis 13 monitor device Axis 14 monitor device Axis 15 monitor device Axis 16 monitor device 1 34 D1400 to D1409 D1410 to D1419 D1420 to D1429 D1430 to D1439 D1440 to D1449 Axis 17 monitor device Axis 18 monitor device Axis 19 monitor device Axis 20 monitor device Axis 21 monitor device Axis 22 monitor device Axis 23 monitor device Axis 24 monitor device Axis 25 monitor device Axis 26 monitor device Axis 27 monitor device Axis 28 monitor device Axis 29 monitor device Axis 30 monitor device Axis 31 monitor device Axis 32 monitor device 1 OVERVIEW Details of each axis D1240 10n D1241 10n D1242 10n Execute stroke amount D1243 10n D1244 10n 1245 100 ____ value within 1 cam shaft revolution 01245 10 10n D1246 10n D1247 10 Unusable D1248 10n 01249 10n 1 n in the above device No shows the numerical value which correspond to axis No Q173DCPU Axis No 1 to No 32 n 0 to 31 Q172DCPU Axis No 1 to No 8 n 0 to 7 2 The unused axis areas in the mechanical system program can be used as an user device 1 35 1 OVERVIEW 6 Table of the common devices SV13 SV22 Signal Signal Device No Signal name Signal name AD direction direction D704 PLC ready flag request Speed sw
282. or screen Convert is used Online change of the servo program 1 When the Motion SFC program editor screen Write Motion SFC Chart is used Online change of the Motion SFC program during edit is executed by selecting the Write Motion SFC Chart button or menu Online change is possible to the Motion SFC program during stop If the online change is made to the program during execution an alarm message indicates Execution stop state of the Motion SFC program can be checked with the program batch monitor If the start request is made to the program during online change the Motion SFC start error error code16007 online change will occur and the program does not start Write Motion SFC Chart menu Write Motion SFC Chart button MELSOFT Series Developer C Documents and Settings Administrator My Documents Workspace Project 1 Program Motion S DER Project Edit Find Replace Convert _ View woOnline Debug Option Tool Window D ME a E o write motion SFC chart Batch Conversion Change OFF x Variable Conversion Project Project 5 22 Online Change Setting System Setting D ra Servo Data Setting fog B Motion SFC Program 10 3 10 ONLINE CHANGE IN THE MOTION SFC PROGRAM 2 When the operation control transition program editor screen Convert is used Online change of the operation control transition program during edit is executed
283. or the stop is turned on 20 Main Normal Start The subroutine starts No 170 Stop The subroutine starts No 150 Programming operation When an forced stop is released all axes servo are turned on Turns off actual output PY at the time of the forced stop 1 When a stop input signal PX5 from the input unit is off the treatment of the following 2 is executed and 1 axis and 2 axes executed the following 3 during servo on in the case of the one except for it 170 Stop Normal Not start 2 1 axis and 2 axes stop command are turned off and an internal relay M100 for the stop is turned off 3 1 axis and 2 axes stop command are turned on and an internal relay M100 for the stop is turned on 1 The following motion control is executed 1 This program stands by until PX4 is turned on 2 1 axis and 2 axes are located in 0 0 in the linear interpolation control absolute 2 axes positioning 3 Positioning completion signal on of 1 axis and 2 axes are confirmed 4 In position on of 1 axis and 2 axes are confirmed Progr 5 1 axis and 2 axes are located in 1000000 2000000 in the linear operation Normal Not start 3 control absolute 2 axes positioning 6 Positioning completion signal on of 1 axis and 2 axes are confirmed 7 This program stands by until PX4 is turned off 2 When a positioning completion signal of the above 1 3 and 6 is off it waits to turn off and When a positioning was suspended
284. ow 1 Create any folder ex TEST on PC A Open a project from MT Developer Save Save as menu the project in a folder created by procedure 1 Close MT Developer In Windows explorer copy the whole saved folder to electronic media USB memory etc 6 Open the project on PC B from MT Developer Personal computer A Personal computer B My Document My Document Workspacelist xml Save Create new folder Save as Workspacelist xml 12 ERROR CODE LISTS 12 ERROR CODE LISTS When an error occurs while the Motion CPU is running the error information is stored in the error history devices 8640 to 8735 special relay SM and special register SD 12 1 Reading Procedure for Error Codes When an error occurs while the Motion SFC program is operating the error code and error message can be read using MT Developer The procedure for reading error codes using MT Developer is shown below 1 Connect the PLC CPU module to personal computer IBM PC AT 2 Start MT Developer 3 Select Online Read from CPU Menu of MT Developer and read the project data from Motion CPU 4 Start the monitor screen of MT Developer and select Motion CPU error batch monitor menu b Confirm the error codes and error messages displayed on screen Refer to help of MT Developer for details of operating method As for the self diagnosis error code confirmation can be done
285. peed 10x multiplier device Invalid 0 01 to 21474836 47 deg min In case of speed 10x multiplier device Valid Operations for which made the online change to the servo program in the following conditions during execution are shown below Be careful to execute the online change in the following conditions Condition Online change of the servo After completion of condition for program Kn WAITON or after WAITON WAITOFF the servo WAITOFF is executed in the state program before the online change is of waiting for the completion of started condition for WAITON WAITOFF The servo program that the online change was made is executed at the next servo program start Online change of the servo After completion of condition for Gn program Kn after Gn is executed in the servo program that online change the state of waiting for the was made is executed completion of condition for Gn 10 5 10 ONLINE CHANGE IN THE MOTION SFC PROGRAM 10 1 2 Transfer of program The outline operations to transfer the program from MT Developer to the program memory of Motion CPU are described 1 Program writing by Online menu Write to CPU a After transfer programs are stored in the program memory of Motion CPU stuffing to the front for every kind Motion CPU Personal computer Program memory MT Developer Program 0 Pr
286. peration is performed Errors 1 An operation error will occur if S is a negative number or S is an indirectly specified device and its device No is outside the range Program examples 1 Program which finds the square root of DOF and substitutes the result to 0F SQRT DOF 3 2 D2 D1 DO 1 0 D3 3 0 9 0 5 OPERATION CONTROL PROGRAMS FIFS 5 6 8 Natural logarithm LN LN S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculation data Bit device bit 32 a floating Coasting ue bit eee floating conditional conditional integer integer _ integer integer type point timer point expression expression type type L type K H K H L type F type K 6 o9 aoa aoad i Usable Setting data Setting data Data type of result Data on which natural logarithm operation will be S Floating point type performed Functions 1 The base e natural logarithm of the data specified with S is found 2 Only a positive number may be specified with S Operation cannot be performed with a negative number 3 If S is an integer type it is converted into a floating point type before operation is performed Errors 1 An operation error will occur if e S is 0 or a negative number or S is an indirectly specified
287. plied functions common Manual relevant to each module V13 SV22 Design method for positioning control program in the real mode Q173DCPU Q172DCPU Motion controller SV13 SV22 Design method for positioning control Programming Manual REAL MODE parameter SV22 Design method for mechanical system Q173DCPU Q172DCPU Motion controller SV22 Virtual mode program Programming Manual VIRTUAL MODE 1 OVERVIEW 1 2 Features The Motion CPU and Motion SFC program have the following features 1 2 1 Features of Motion SFC programs 1 3 4 5 6 Since a program intelligible for anyone can be created in flow chart form by making a sequence of machine operation correspond to each operation step maintenance nature improves Since transition conditions are judged with Motion CPU side and positioning starts there is not dispersion in the response time influenced by PLC scan time High speed and high response processing is realizable with the step processing method only active steps of Motion SFC Not only positioning control but also numerical operations device SET RST etc can be processed with Motion CPU side making via PLC CPU is unnecessary and a tact time can be shortened By transition condition description peculiar to Motion SFC the instructions to servo amplifier is possible at completion of starting condition By transition condition description peculiar to Motion SFC after starting
288. plifier signals etc Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning Control output Do not connect or disconnect the connection cables between signal each unit the encoder cable or PLC expansion cable while the power is ON Securely tighten the cable connector fixing screws and fixing mechanisms Insufficient fixing may lead to the cables combing off during operation Do not bundle the power line or cables 24VDC 5 Trial operation and adjustment Z CAUTION Confirm and adjust the program and each parameter before operation Unpredictable movements may occur depending on the machine Extreme adjustments and changes may lead to unstable operation so never make them When using the absolute position system function on starting up and when the Motion controller or absolute value motor has been replaced always perform a home position return 6 Usage methods Z CAUTION Immediately turn OFF the power if smoke abnormal sounds or odors are emitted from the Motion controller servo amplifier or servomotor Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized Do not make any modifications to the unit Keep t
289. program setting error 907 real mode virtual mode changing or 908 virtual mode real mode changing occurs and the current value change is not made Note Refer to the Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE Q173DCPU Q172DCPU Motion controller SV22 Programming Manual VIRTUAL MODE for minor error major error and servo program setting error 7 MOTION CONTROL PROGRAMS 7 4 Cam Shaft Within One Revolution Current Value Change Control SV22 only The current value of the specified cam shaft within one revolution is changed in the virtual mode Items set using MT Developer Speed Parameter block change atstop input interpolation Dwell time Control unit Servo Positioning Number of instruction method Control axes Parameter block No Address travel Command speed Torque limit value Auxiliary point Central point Speed limit value Acceleration time Deceleration time Torque limit value Deceleration processing S curve ratio FIN acceleration deceleration c S o o 2 o S G c O Item which must be set A Item which is set when required Controls Control using CHGA C instruction 1 Executing the CHGA C instruction changes the within one revolution current value of the specified cam shaft to the address 2 The cam shaft may be starting 3 The used axis No can be set withi
290. r device Note 10 points x 32 axes Mechanical system setting axis only Synchronous encoder axis monitor device Note 10 points x 12 axes Cam axis monitor device Note 10 points 32 axes User device 7392 points User device 6632 points Note It can be used as an user device in the SV22 real mode only 1 25 1 OVERVIEW 1 Table of the each axis monitor devices SV13 SV22 DO to D19 Axis 1 monitor device Axis 2 monitor device Axis 3 monitor device Axis 4 monitor device Axis 5 monitor device Axis 6 monitor device Axis 7 monitor device Axis 8 monitor device Axis 9 monitor device Axis 10 monitor device Axis 11 monitor device Axis 12 monitor device Axis 13 monitor device Axis 14 monitor device Axis 15 monitor device Axis 16 monitor device Device No D320 to D339 D340 to D359 D360 to D379 D380 to D399 D400 to D419 Signal name Axis 17 monitor device Axis 18 monitor device Axis 19 monitor device Axis 20 monitor device Axis 21 monitor device Axis 22 monitor device Axis 23 monitor device Axis 24 monitor device Axis 25 monitor device Axis 26 monitor device Axis 27 monitor device Axis 28 monitor device Axis 29 monitor device Axis 30 monitor device Axis 31 monitor device Axis 32 monitor device 1 OVERVIEW Details of each axis SV13 SV22 Real mode SV22 Virtual mode Signal direction DO
291. r string that cannot be handled by the instruction specified is specified Note 0 Normal Program example Program which changes the current value to 10 for Axis 1 of the Motion CPU CPU No 2 when MO turned ON Example 1 gt Program which omits the complete device and complete status U3E1 G516 0 Instruction Start accept execution flag of CPU command No 2 Axis 1 DP CHGA H3E1 J4 K10 H RST H Instruction execution command lt Example 2 gt Program which uses the complete device and complete status U3E1 MO G516 0 Instruction Start accept execution flag of CPU command No 2 Axis 1 H3E1 J1 K10 M100 0100 RST MO H Instruction execution command M100 M101 Normal complete program H Complete device M101 Abnormal complete program 3 MOTION DEDICATED PLC INSTRUCTION sss ss e When axis No En is specified with 51 Controls 1 The synchronous encoder axis current value specified with S1 is changed to the current value specified with n2 in the virtual mode 2 There is not an interlock signal for status of synchronous encoder current value change When the multiple instructions are executed toward the same synchronous encoder axis of same Motion CPU the current value is changed to specified value by last instruction 3 The current change value is also possible
292. r will occur if 5 is an indirectly specified device and its device No is outside the range Program examples 1 Program which substitutes the sign inverted value of 0 to DO DO 0 Do 5 24 5 OPERATION CONTROL PROGRAMS FIFS 5 6 Standard Functions 5 6 1 Sine SIN SIN S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device Apple een floating Coasting 188 SAN floating Calculation conditional conditional integer integer oint timer integer integer type oint expression expression expression type type L s 5 type K H K H L d Lo dl d o l o dl o lo l o Qd Usable Setting data Setting data Data type of result Angle data on which SIN sine operation will be 5 Floating point type performed Functions 1 SIN sine operation is performed on the data specified with S 2 The data specified with S is in an angle degree unit 3 If S is an integer type it is converted into a floating point type before operation is performed Errors 1 An operation error will occur if S is an indirectly specified device and its device No is outside the range Program examples 1 Program which performs the SIN operation of DO and substitutes the result to 0F SIN DO 3 2 1 0 0 707106 8118655 00 5 OPERATION CONTROL PROGRAMS FIFS 5 6 2 Cosine
293. ram setting error 903 905 occurs and the current value change is not made 903 when the current value change servo program is set to within the virtual mode program No range or 905 when it is set to within the real mode program No range If a current value change is made during mode changing a servo program setting error 907 real mode virtual mode changing or 908 virtual mode real mode changing occurs and the current value change is not made Note Refer to the Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE Q173DCPU Q172DCPU Motion controller SV22 Programming Manual VIRTUAL MODE for minor error major error and servo program setting error 7 MOTION CONTROL PROGRAMS 7 5 Programming Instructions 7 5 1 Cancel start When a cancel start has been set in the setting items of the servo program which was started at the motion control step of the Motion SFC program the cancel of the running servo program is valid but the servo program specified to start after a cancel is ignored without being started The following example shows the Motion SFC program which exercises control equivalent to a cancel start Selective branch KO as Providing transition G1 with cancel device condition specified with servo program KO will cancel to execute of servo program and allow servo program K1 to start K1
294. rder them by quoting the details in the tables below Related Manuals 1 Motion controller Model Code Q173DCPU Q172DCPU Motion controller User s Manual This manual explains specifications of the Motion CPU modules Q172DLX Servo external signal interface module Q172DEX Synchronous encoder interface module Q173DPX Manual pulse generator interface 18 0300133 module Power supply modules Servo amplifiers SSCNETIII cables Synchronous encoder cables and 1XB927 others Optional Q173DCPU Q172DCPU Motion controller Programming Manual COMMON This manual explains the Multiple CPU system configuration performance specifications common 18 0300134 parameters auxiliary applied functions error lists and others 1XB928 Optional Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE This manual explains the servo parameters positioning instructions device lists error lists and others 1XB930 Optional Q173DCPU Q172DCPU Motion controller SV22 Programming Manual VIRTUAL MODE This manual explains the dedicated instructions to use the synchronous control by virtual main shaft mechanical system program create mechanical module servo parameters positioning instructions device lists error lists and others Optional 2 PLC Manual Name Manual Number Model Code QCPU User s Manual Hardware Design Maintenance and Inspection This manual explains the specifications of the QCPU
295. rect specified 32 bi batch annunciator F n read error Indirect specified 16 bi batch SM SM n read error Indirect specified 32 bi batch SM SM n read error 16539 rz gt gt gt o 12 13 12 ERROR CODE LISTS 12 4 Motion SFC Parameter Errors Motion SFC parameters are checked using MT Developer 1 Leading edge of PLC ready flag M2000 errors 17000 to 17009 Error factor Error code Error Processing Corrective Action Normal task The normal task s consecutive transition count consecutive The initial value of 3 is used 17000 d of the Motion SFC program started by the transition count for control normal task is outside the range 1 to 30 error Turn PLC ready flag M2000 OFF make Event task The set number of consecutive transitions of 7 rs f correction to set the value within the range 17001 consecutive the Motion SFC program started by the event and write it to the CPU transition count error task is outside the range 1 to 10 The initial value of 1 is used for control NMI task The set number of consecutive transitions of 17002 consecutive the Motion SFC program started by the NMI transition count error task is outside the range 1 to 10 Motion SFC EE The initial va
296. refore the Motion CPU cannot process them program Note 0000H Normal The diagnostic error flag SMO is turned on an operation error in the case shown below and an error code is stored in the diagnostic error register SDO Not Error coge The target CPU module specified is wrong 1 The reserved CPU is specified 2 The uninstalled CPU is specified 3 The first I O number of the target CPU 16 n1 is outside the range of Confirm a program to and correct it to a It cannot be executed to the specified target CPU module correct PLC E The instruction name is wrong program The instruction unsupported by the target CPU module is specified 4352 number of devices for instruction specified is wrong 4353 The device that cannot be used by the instruction specified is specified Note 0 Normal 3 MOTION DEDICATED PLC INSTRUCTION Program example Program which generates interrupt of the interrupt pointer number 10 toward the Motion CPU CPU No 2 when MO turned ON Example 1 Program which omit the complete device and complete status MO DP GINT H3E1 K10 Instruction execution command RST MO Instruction execution command Example 2 Program which use the complete device and complete status MO DP GINT H3E1 K10 M100 0100 FY Instruction execution command RST MO H Instruction execution command M100 M101 H Normal complete program H
297. rent value change Complete device D1 0 Status display device D1 1 at the completion Setting range 1 Setting of axis to execute the current value change The axis to execute the current value change set as 51 sets J Axis No in a character sequence _ St usable range Q173DCPU 1 to 32 Q172DCPU The number of axes which can set are only 1 axis Set J in a capital letter and use the axis No set in the system setting as the axis No to start Refer to the Q173DCPU Q172DCPU Motion controller Programming Manual COMMON for system settings 2 Setting of the current value to change n2 usable range 2147483648 to 2147483647 3 MOTION DEDICATED PLC INSTRUCTION Start accept flag System area When the instruction is executed by specifying Jn as Axis No the complete status of start accept flag is stored in the address of the start accept flag in the CPU shared memory for target CPU CPU shared memory address OR Description is decimal address The start accept flag for 32 axes are stored corresponding to each bit As for a bit s actually being set Q173DCPU J1 to J32 Q172DCPU J1 to J8 OFF Start accept enable 204H 516 ON Start accept disable 205H 517 b15 b14 b2 b1 b0 204H 516 address J16 J2 J1 205H 517 address 32 Errors The abnormal completion in the case shown below and the error code is stored in the devic
298. rogram is ended when they become to except for off Home position return mode When PX3 detects OFF to ON after positioning of 1 axis standing by for 1000 ms and positioning of 2 axes is executed When turn on after positioning of linear interpolation in position check is executed positioning of axis No 1 2 linear interpolation is executed at a double speed in the opposition direction and it stand by until PX4 turned off PX2 ON PX1 The program is fended when they become to except for ON Programming operation mode APP 14 APPENDICES a No 20 Main C Main 620 SM502 Did you during the forced I stop Motion control When a forced stop is released a subroutine starts No 110 Motion control Because the next step is a shift it becomes a subroutine start and the next step is executed at the same time with subroutine practice too G21 SM502 Did you release the lforced stop control 225 DOUT PY10 H0000 PY10 to PY1F I A6points OFF No 110 Motion control is made to stop at the time of the forced stop and The program that a subroutine call is executed from No 110 stops too actual output PY is turned off Note 1 The program that a subroutine was started is made to stop if necessary when a subroutine start program is added because it does not stop
299. rol The following the manual pulse generator operation is executed Manual pulse generator operation of 1 axis is executed with the Manual pulse generator mode manual pulse generator P1 Manual pulse generator operation of 2 axes is executed with the manual pulse generator P1 The following home position return is executed Home position return mode When PX3 is on the home position return of 1 axis is executed When is on the home position return of 2 axes is executed The following program operation is executed When PX3 detects OFF to ON axis No 1 locates and 1000 ms standing by after the location of axis No 2 is executed When turn on axis No 1 2 locates of the linear control and in Programming operation mode position check is executed after the location of axis No 2 is executed the program stands by until No 1 2 locates of the linear control is executed at a double speed in the opposition direction and PX4 turns off APP 13 APPENDICES Motion control Manual pulse generator Home position return Programming operation 20 1 1 130 140 150 2 Contents processing of the Motion program No Program name Not start Not start Not start Not start Not start Motion SFC program list Contents of processing This program starts automatically at the time of run of Q173DCPU and it is always executed When forced stop is cance
300. rrupt instruction to the other CPU D P GINT PLC instruction D P GINT 3 47 33 3 51 4 MOTION SFC PROGRAMS 4 1to 4 28 4 1 Motion SFC Program Configuration ssssssssseeeeeeenenennnenenenene nennen nennen nennen enne 4 1 4 2 Motion SFC Chart Symbol List ssssssseseeeeeneenenennee a aai ennemi 4 2 4 3 Branch and Coupling Chart nennen nnne nnne enne nnne nnne nennen 4 5 4 4 Motion SFC Program Name ccccccscccecceecceseceeceeecceecceecnecenecensaenecensaensaeneaeneceneceneceneaeeeceneeenececeeeseceneeates 4 9 4 5 91 dentista RR uide neta 4 10 4 5 1 Motion contr l 2 ettet att t dap ttd 4 10 4 5 2 Operation contol Step ii e te eei ue e eee Re M RH Ee 4 11 4 5 3 Subroutine call start step nnne 4 12 4 54 6 um RU E e ute tt oe etie ate tarde en eee ec 4 14 4 0 liransitiOlis tte dI 4 15 4T Jump Pointer ooo aom attendite tne mtd edet ie Sn ean inn hee 4 18 ASG END dE Neid 4 18 4 9 Branches Couplitigs rte et dU EE der to Tr e dip o ETE e EE A uuu 4 19 4 9 1 Series transition ine ere etd tet dae du ee diu ee te orte 4 19 4 9 2 Selective branch selective coupling ssssssssssssssseseeeee eene 4 20 4 9 3 Parallel branch parallel COUpIING e ccceccece
301. run by event task When automatically started When not automatically started At occurrence of a valid event after PLC The program is started by the Motion SFC start instruction ready flag M2000 ON the program is D P SFCS from the PLC or by a subroutine call start GSUB made executed from the initial first step in from within the Motion SFC program accordance with the number of consecutive e When started by the D P SFCS instruction transitions of the corresponding program At occurrence of a valid event after execution of the D P SFCS instruction the program is run from the initial first step in accordance with the number of consecutive transitions of the corresponding program Start control When subroutine started At occurrence of a valid event after execution of GSUB the program is executed from the first step in accordance with the number of consecutive transitions of the corresponding program When subroutine called The program is executed immediately from the first step After that the program is executed continuously by the number of consecutive transitions of the corresponding program at occurrence of a valid event The subroutine called program is controlled in accordance with the executed task and number of consecutive transitions of the call source program END control END As specified for END operation Program run by NMI task When
302. s as shown below DO SHORT ASIN 0F WO D0 POINT Refer to Chapter 2 of the Q173DCPU Q172DCPU Motion controller Programming Manual COMMON for the user setting area points of the Multiple CPU high speed transmission area 5 OPERATION CONTROL PROGRAMS 5 3 Constant Descriptions The constant descriptions of the 16 bit integer type 32 bit integer type and 64 bit floating point type are shown below lI 16 Bit integer type 32 Bit integer type 64 Bit floating point type Decimal K 1 79E 308 to K 2 23E 308 ecima K 32768 to K32767 K 2147483648L to K2147483647L KO0 0 representation K2 23E 308 to K1 79E 308 Hexadecimal H0000 to HFFFF H00000000L to HFFFFFFFFL representation 1 The 32 bit integer type is ended by L and the 64 bit floating point type is provided with a decimal point and exponent part E to denote their data types explicitly 2 The constant without the data type is regarded as the applicable minimum type 3 The constant in decimal representation is headed by K and the one in hexadecimal representation by H K can be omitted 4 The 64 bit floating point type cannot be represented in hexadecimal 5 OPERATION CONTROL PROGRAMS FIFS 5 4 Binary Operations 5 4 1 Substitution DS Number of basic steps Usable data Usable Data Bit device Setting data 64 bit 64 bit Bit Comparison 16 bit 32 bit A 16 bit 32 bit bit Calculation i pa floating C
303. s controlled Error code Error cause Error processing Corrective action Note Name Contents Multiple events among the normal Execute task event and NMI setting is illegal Turn PLC ready flag M2000 off tasks are set or The initial value one is not set normal task is Two or more fixed controlled Executed task the CPU cycles of the event make correction to set the value of within the range and write it to setting is illegal task have been event set Note 0 normal 9 OPERATION FOR MOTION SFC AND PARAMETER Since the execute task can be set for every Motion SFC program No multiple programs need not be written for single control machine operation to divide execution timing based processing s For example it can be achieved easily by subroutine starting the areas to be run in fixed cycle and to be run by external interrupt partially in the Motion SFC program run by the normal task 3 Number of consecutive transitions Description Set the number of consecutive transitions to program executed by the event or NMI task for every program Refer to Section 9 11 Task Parameters for number of consecutive transitions Errors This program parameter is imported at leading edge of PLC ready flag M2000 and is checked at starting of the Motion SFC program automatic start start from PLC or subroutine start When the value is illegal either of the following Motion S
304. s for the motion operating completion and then transits to the next step by the completion of transition condition Gn 60 to G4095 When just before is the operation control step transits WAIT Gn to the next step by formation of transition condition after operating execution Same operation as Shift When just before is subroutine call or starting step waits for the operating completion of subroutine and then transits to the next step by the completion of transition condition Prepares for starting of the next motion control step Transition and issues an instruction immediately when the WAITON WAITON bit device specified bit device turns ON Always pair this transition with the motion control step one for one Prepares for starting of the next motion control step and issues an instruction immediately when the WAITOFF WAITOFF bit device specified bit device turns OFF Always pair this transition with the motion control step one for one When just before is the motion control step transits to the next step by formation of transition condition Gn to G4095 without waiting for the motion operating completion If not formation of transition condition transits to the right connected step Not SFT Gn completion When just before is the operation control step transits of condition to the next step by the completion of transition JMP IFEm H Shift Y N IN condition after
305. set in circular interpolation starting servo programs Items set for high speed oscillation Set when changing the parameter block default value when not set data set in the servo program to control The parameter block data are not changed Setting items other than the common arc and parameter block items Items to be set vary with the servo instruction Indicates the number of steps of each servo instruction 7 MOTION CONTROL PROGRAMS 2 Servo instruction list Table 7 2 indicates the servo instructions available for servo programs and the positioning data set in servo instructions Table 7 2 Servo Instruction List Positioning data Dwell time Auxiliary point Instruction symbol Processing Torque limit value Parameter block No Address travel value Positioning control Virtual enable Number of steps Number of indirect words Absolute 1 axis positioning Incremental 1 axis positioning Absolute 2 axes linear interpolation Incremental 2 sxes linear interpolation Absolute 3 axes linear interpolation Incremental 3 axes linear interpolation Absolute 4 axes linear interpolation wer Incremental 4 axes linear interpolation Absolute auxiliary point specified circular interpolation 9 5 Q 5 Bes Incremental auxiliary point specified circular interpolation Absolute radius specified circular interpolation less than CW 180 Absolute radius sp
306. seven years after production of the product is discontinued 4 Delivery Term In regard to the standard product Mitsubishi shall deliver the standard product without application settings or adjustments to the customer and Mitsubishi is not liable for on site adjustment or test run of the product 5 Precautions for Choosing the Products 1 These products have been manufactured as a general purpose part for general industries and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life 2 Before using the products for special purposes such as nuclear power electric power aerospace medicine passenger movement vehicles or under water relays contact Mitsubishi 3 These products have been manufactured under strict quality control However when installing the product where major accidents or losses could occur if the product fails install appropriate backup or failsafe functions in the system 4 When exporting any of the products or related technologies described in this catalogue you must obtain an export license if it is subject to Japanese Export Control Law MOTION CONTROLLER Qseries SV13 SV22 Programming Manual Motion SFC Q173DCPU Q172DCPU MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN MODEL Q173D P SV13 22 SFCE MODEL 1XB929 When exported from Japan this m
307. shaft in the following procedure a The synchronous encoder shaft current value changing flag M2101 to M2112 corresponding to the specified synchronous encoder shaft is turned on b The current value of the specified synchronous encoder shaft is changed to the specified address c The synchronous encoder shaft current value changing flag is turned off at completion of the current value change 2 The used axis No can be set within the following range Q172DCPU Q173DCPU Axis 1 to 8 Axis 1 to 12 3 The address which made the current value change by CHGA E instruction is valid after also the power supply turned off 7 MOTION CONTROL PROGRAMS Program example A program which made the current value change control of the synchronous encoder shaft is described as the following conditions 1 System configuration The current value change control of the synchronous encoder shaft P1 is executed m axis AMP AMP AMP AMP AMP AMP AMP Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 16 v 2 The current value change control conditions a The current value change control conditions are shown below Setting 10 1 Indirect designation Current value change address using 01500 011501 Servo program No Synchronous encoder No 3 Operation timing CHGA E instruction Synchronous encoder shaft current value changing fl
308. sing Parameter block No Address travel value Command speed Torque limit value Positioning control Virtual enable ABSA Absolute central point specified circular interpolation CW Absolute central point specified circular ABS Va interpolation CCW INC x Incremental central point specified circular interpolation CW INC Incremental central point specified circular interpolation CCW H Circular interpolation Central point specified ABH gt Absolute auxiliary point specified helical interpolation INH Incremental auxiliary point specified helical interpolation Absolute radius specified helical interpolation less than CW 180 Absolute radius specified helical ABHC interpolation CW 180 or more Absolute radius specified helical interpolation less than CCW 180 Absolute radius specified helical ABHC 5 interpolation CCW 180 or more Incremental radius specified helical INH lt interpolation less than CW 180 INH Incremental radius specified helical interpolation CW 180 or more INH lt Incremental radius specified helical lr rese interpolation less than CCW 180 Incremental radius specified helical interpolation CCW 180 more ABHA Absolute central point specified helical interpolation CW N N Auxiliary point specified Radius specified Helical interpolation control i Absolute central point specified helical ABH V
309. sion expression type type L type type F type K Pee o9 uw 6 6 16 ume Usable Setting data Setting data Data type of result Angle data on which TAN tangent operation will 5 Floating point type be performed Functions 1 TAN tangent operation is performed on the data specified with S 2 The data specified with S is in an angle degree unit 3 If S is an integer type it is converted into a floating point type before operation is performed Errors 1 An operation error will occur if S isan indirectly specified device and its device No is outside the range or S is 90 180 n is an integer Program examples 1 Program which performs the TAN operation of DO and substitutes the result to 3 0 2 1 0 57735026918963 00 5 OPERATION CONTROL PROGRAMS FIFS 5 6 4 Arcsine ASIN ASIN S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculation data Bit device ao bit as floating Coasting ne n 32 bit floating conditional conditional integer integer point timer integer integer type expression int expression expression type type L type i type F type K 6 a d is aoa 6 6 0 i Usable Setting data Setting data Data type of result S
310. software General for SW8DNC SVOQD i SW8DNC 5 1300 SW8DNC SV22QL1 lTDeveloper ren for Motion controller programming software MT Developer2 Version 1 00A or later boxer ee for MELSEC PLC programming software package GX Developer GX Developer Version 8 484 or later IEEE for Servo setup software package MR Configurator Version CO or later or Q170ENC sswerg een gh spees synchronous network between Motion controller and servo General name for system using the servomotor and servo amplifier for Absolute position system absolute position Battery holder unit Battery holder unit Q170DBATC External battery General name for Q170DBATC and Q6BAT 5 Abbreviation MELSECNET H module Ethernet module CC Link module Intelligent function module Na Serial communication module Note 1 Q172DEX can be used in SV22 Note 2 SSCNET Servo System Controller NETwork 1 OVERVIEW For information about the each module design method for program and parameter refer to the following manuals relevant to each module Item Reference Manual Motion CPU module Motion unit Q173DCPU Q172DCPU User s Manual PLC CPU peripheral devices for PLC program design modules and intelligent function module Multiple CPU system configuration Performance specification Q173DCPU Q172DCPU Motion controller Design method for common parameter Programming Manual COMMON Auxiliary and ap
311. stall or operate Motion controller servo amplifiers or servomotors that are damaged or that have missing parts Do not block intake outtake ports of the Motion controller servo amplifier and servomotor with cooling fan Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the Motion controller servo amplifier or servomotor NCAUTION The Motion controller servo amplifier and servomotor are precision machines so do not drop or apply strong impacts on them Securely fix the Motion controller servo amplifier and servomotor to the machine according to the instruction manual If the fixing is insufficient these may come off during operation Always install the servomotor with reduction gears in the designated direction Failing to do so may lead to oil leaks Store and use the unit in the following environmental conditions Motion controller Servo amplifier Servomotor Ambient According to each instruction manual temperature 32 F to 104 F 80 RH or less With no dew condensation Environment Ambient humidity According to each instruction manual Storage 5 20 C to 65 According to each instruction manual temperature 4 F to 149 F Indoors where not subject to direct sunlight Atmosphere No corrosive gases flammable gases oil mist or dust must exist 1000m 3280 84ft or less above sea level
312. station stop by stop error of PLC2 Use multiple CPU high speed communication CPU specific send ran User setting mm Auto refresh 7 USED _ 610000 cur E r Multiple CPU synchronous startup settina Target PLC I Not 7 e G10000 G16467 700 G16468 G17167 14K points Settings should be set as same when The total number of points is up to 14K using multiple CPU Import Multiple CPU Parameter Check PC parameter item Description No of PLC 2 modules Operating mode All station stop by stop error of PLC1 PLC2 Multiple CPU Check the PLC No 1 PLC No 2 esnchrernous startup I O sharing when Check the all CPUs can read all inputs using Multiple CPUs Not check the all CPUs can read all outputs Use multiple CPU high speed communication CPU specific send range Multiple CPU high PLC eed 7 7168 ctooo Gtztz o PLC 1 CPU specific Auto refresh No send range ___ gt Auto refresh setting Auto refresh send range 3 eso D639 016528 917167 APP 22 APPENDICES APPENDIX 2 2 Continuation execution example at the subroutine re start by the Motion SFC program 1 Explanation of the operation This is the program example which execute continuously from the motion control
313. struction specified is specified The character string that cannot be handled by the instruction specified is specified 4352 The number of devices for instruction specified is wrong Note 0 Normal 3 MOTION DEDICATED PLC INSTRUCTION Program example Program which requests to start of the servo program No 10 toward Axis 1 Axis 2 of the Motion CPU CPU No 2 when MO turned ON Example 1 Program which omits the complete device and complete status U3E1 U3E1 MO G516 0 G516 1 3 DP SVST H3E1 1 2 K10 Instruction Start accept Start accept execution flag of CPU flag of CPU command No 2 Axis 1 No 2 Axis 2 RST Instruction execution command lt Example 2 gt Program which uses the complete device and complete status U3E1 U3E1 MO G516 0 G516 1 Instruction Start accept Start accept execution flag of CPU flag of CPU DP SVST 1 J1J2 K10 M100 D100 command No 2 Axis 1 No 2 Axis 2 RST MO Instruction execution command M100 M101 Normal complete program Complete device Abnormal complete program Program which executes continuous start of the servo program No 11 toward Axis 1 of the Motion CPU CPU No 2 while XO is ON U3E1 G516 0 M10 DP SVST H3E1 Ji K11 M100 D100 Instruction Start accept Interlock execution flag of CPU r command No 2 Axis 1 SET M10 Interlock M100 Fst
314. t at S1 Correct the program so that self CPU is not specified with S1 Check that the resetting flag SM240 to 5 243 is OFF then correct the program to execute the MULTR instruction Start device No D which stores the reading data number of words n to be read is outside the device range Except 3EOH 3E1H 3E2H 3E3H is set at S1 The self CPU is specified with S1 The CPU which reads is resetting The errors are detected in the CPU which read D is a bit device and the device number is not a multiple of 16 PX PY is set in D to D n 1 isset in P O DJEN If the errors are detected in the CPU which read exchange the CPU When D is a bit device set the device number to be multiple of 16 When D is a bit device do not set PX PY Number of words n to be written is outside the Correct the program so that the number of range of 1 to 256 words n to be written is within the range of 1 Motion CPU cannot communicate with teure to 256 OA 0 7 The block processing in intelligent function module at the instruction SMES Replace the intelligent function module if there execution is stopped and execution is a fault T the next block is executed Abnormalities of the intelligent function module Correct the program so that the first I O No s were detected at the instruction execution specified with D1 is intelligent function Wri
315. t function if the settings are incorrect Set the stroke limit input validity parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect Set the servomotor encoder type increment absolute position type etc parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect Set the servomotor capacity and type standard low inertia flat etc parameter to values that are compatible with the system application The protective functions may not function if the settings are incorrect Set the servo amplifier capacity and type parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect NCAUTION Use the program commands for the program with the conditions specified in the instruction manual Set the sequence function program capacity setting device capacity latch validity range I O assignment setting and validity of continuous operation during error detection to values that are compatible with the system application The protective functions may not function if the settings are incorrect Some devices used in the program have fixed applications so use these with the conditions specified in the instruction manual The input devices and data registers assigned to the link will hold the
316. t have a wire diameter heat resistance and bending resistance compatible with the system Use wires and cables within the length of the range described in the instruction manual The ratings and characteristics of the parts other than Motion controller servo amplifier and servomotor used in a system must be compatible with the Motion controller servo amplifier and servomotor Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure when the ball screw and servomotor are connected with a timing belt etc Install a stopping device to ensure safety on the machine side 2 Parameter settings and programming NCAUTION Set the parameter values to those that are compatible with the Motion controller servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode servo amplifier and servo power supply module The protective functions may not function if the settings are incorrect Set the mechanical brake output and dynamic brake output validity parameters to values that compatible with the system application The protective functions may no
317. t module It does the layout of the I O non loaded numbers of PX PY by a set Input up of as system Input module In the operation control Output module automatically represented non loaded as PX PY according to the range mon system setting information Output module loaded range Bit devices intemal relay EET Multi ultiple CPU area UDG lolo device 8 708 JAnnunciator F Specalreay ___ sm Oo o O usable X unusable Restrictions on write enabled bit devices 1 Write to device X is allowed only within the input module non installed range 2 Special relay has predetermined applications in the system Do not perform write to other than the user setting device Read Write Dataregister D 7 di CPU area _ ERE Word devices Motionregister Coasing mer Qo x a usable unusable CAUTION Restrictions on write enabled word devices 1 Special register has predetermined applications in the system Do not perform write to other than the user set device 1 OVERVIEW Table of the operation control transition control specification continued 16 bit integer type signed 32768 to 32767 K10 D100 etc 16 bit integer type unsigned 0 to 65535 32 bit type signed 2147483648 to 2147483647 2000000000 W100L etc 32 bit integer type 32 bitintegertype unsig
318. t tg lg a d liue 9 7 9 4 2 Start from the Motion SFC program su nnne rennen nnne 9 7 9 4 3 Start from PLC PLC instruction D P SFCS essen 9 7 9 5 How to End The Motion SFC nennen nnne nnne nnne nnns 9 7 9 6 How to Change from One Motion SFC Program to Another 9 8 9 7 Operation Performed at Multiple CPU System Power Off or 9 8 9 8 Operation Performed when CPU is Switched from RUN STOP sss 9 8 9 9 Operation Performed when PLC Ready Flag M2000 Turns 9 9 9 10 Operation at The Error Occurrence e ccceccccesceeeeceeceneeeeneeceseeeeaneesaneeseaeeceaeessaneesneeseneesseeseessineeeaes 9 9 9 11 Task Paramlielters eene mdp cadem cm cT 9 10 9 12 Program 5 natn annt annua 9 12 10 ONLINE CHANGE IN THE MOTION SFC PROGRM 10 1to 10 8 10 1 Online Change The Motion SFC Program essen 10 1 10 1 1 Operating method for the online change nnns 10 3 10 1 2 Transfer of program serer Serana iiaei ar re aa E na an Er ai E e ANANE neret 10 6 11 USER FILES 11 1to11 2 TAS
319. tart source and destination Motion SFC programs are executed in parallel The started program ends at END execution MAIN SUB MAIN SUB EL cu SUB 2 SUB 2 WAIT P END Shift END Except WAIT Subroutine call Subroutine start Errors 1 When the specified Motion SFC program does not exist at a subroutine call start the Motion SFC program error 16005 will occur and stops to execute the Motion SFC program at the error detection 2 When the called started Motion SFC program is already starting at a subroutine call start the Motion SFC program error 16006 will occur and stops to execute the Motion SFC program at the error detection 3 When the self program is started at a subroutine call start the Motion SFC program error 16110 will occur and stops to execute the Motion SFC program at the error detection 4 When the subroutine to be called started at a subroutine call start in the Motion SFC program 2 running which was called started from the Motion SFC program 1 is the Motion SFC program 1 call source start program the Motion SFC program error 16111 will occur and the call start source Motion SFC program 2 running is stopped at the point of error detection 4 12 4 MOTION SFC PROGRAMS Instructions There are no restrictions on the depth of subroutin
320. te device data to I O No s specified with D1 differ from the module controlled by the self CPU 16422 intelligent function intelligent function module controlled by the self Correct the program so that the address module TO execution CPU specified with D2 is within the buffer error The address specified with D2 is outside the memory range buffer memory range Correct the program so that start device No Start device No S which writing data are S which writing data are stored number of stored number of words n to be written is words n to be written is within the device outside the device range range S is a bit device and the device number is not When 5 15 a bit device set the device a multiple of 16 number to be multiple of 16 PX PY is set in S to S n 1 When S is a bit device do not set PX PY Number of words n to be read is outside the range of 1 to 256 Correct the program so that the number of 9 d words n to be read is within the range of 1 to Motion CPU cannot communicate with 256 intelligent function module at the instruction Replace the intelligent function module if there execution Abnormalities of the intelligent function modul d igen uis dun a Correct the program so that the first I O No s were detected at the instruction execution specified with S1 is intelligent function Read device data from I O No s specified
321. th Operation at STOP to RUN of system basic setting Refer to Section 3 1 3 Individual parameters of the Q173DCPU Q172DCPU Motion controller Programming Manual COMMON for the details of Operation at STOP to RUN And refer to the next section for PLC ready flag M2000 off on 9 OPERATION FOR MOTION AND PARAMETER 9 9 Operation Performed when PLC Ready Flag M2000 Turns OFF ON This section explains about the turns off on of PLC ready flag M2000 The on off condition of PLC ready flag M2000 differences in Operation at STOP to RUN of system basic setting Refer to Section 3 1 3 Individual parameters of the Q173DCPU Q172DCPU Motion controller Programming Manual COMMON for details M2000 OFF ON If there is no fault when PLC ready M2000 turns off to on the PCPU ready flag SM500 turns on When this PCPU ready flag SM500 turns on Motion SFC programs can be executed An automatic start Motion SFC program starts execution from the first M2000 ON OFF When PLC ready flag M2000 turns off Motion SFC programs stops to execute and the PCPU ready flag SM500 turns off Since actual outputs PY has whole point turn off When the PLC ready flag M2000 turns off Motion SFC programs stop but actual outputs PY in the Motion SFC programs do not turn off 9 10 Operation at The Error Occurrence Outputs are held if Motion SFC programs stop due to error occurrence To turn off outputs
322. the device in Multiple CPU area device as batch bit data specify it as word device without making bit specification 3 Indirect specification of device No In the above word bit device descriptions device No n can be specified indirectly a Indirect specification of device No n using word device The word device which the device No was specified indirectly cannot be used You can use the 16 bit and 32 bit integer type word devices for indirect specification The 64 bit floating point type cannot be used Description examples Good example Bad example D10 D D5 D 10L F D 4F b Indirect specification of device No n using word device using operation expression Device No can be specified indirectly by calculation expressions which use the following data and operators 16 bit integer type word device 32 bit integer type word device Usable data 16 bit integer type constant 32 bit integer type constant Addition Subtraction Multiplication Remainder Sign inversion The word device which the device No is specified indirectly cannot be used Only one operator may be used Usable operators Xu 5 OPERATION CONTROL PROGRAMS Description examples Good example Bad example D D5 F K20 D 10L H6L F D 4L lt lt K2 Note When you want to use the result of calculation other than the above to specify the device No indirectly describe it in two block
323. the next block is executed parameter bit Multiple CPU area device for CPU No 3 U3E2 G10000 to read error Direct specification 32 bit Multiple CPU area 16375 device for CPU No 3 U3E2 G10000 to read error Direct specification 64 bit Multiple CPU area 16376 device for CPU No 3 U3E2 G10000 to read error Direct specification 16 bit Multiple CPU area 16377 device for CPU No 4 U3E3 G10000 to read error Direct specification 32 bit Multiple CPU area 16378 device for CPU No 4 U3E3 G10000 to read error Direct specification 64 bit Multiple CPU area 16379 device for CPU No 4 U3E3 G10000 to read error 16373 executing is stopped and device number is within the range set in the Direct specification 16 range that set by the parameter 16374 12 9 12 ERROR CODE LISTS Error Error factor Error Processing Corrective Action code Signed 16 bit integer 46380 value conversion The S data is outside the signed 16 bit integer Correct the program so that the S data is SHORT execution value range within the signed 16 bit integer value range error Unsigned 16 bit integer 46384 value conversion The S data is outside the unsigned 16 bit USHORT execution integer value range error Signed 32 bit integer sere 16382 value conversion The S data is outside the signed 32 bit integer the program so that the S data is Correct the program so that the S data is he unsigned
324. timer type K H KH L point expression expression m type F type K Usable Setting data Setting data Data type of result T Data which will be ANDed Logical type true false Functions 1 The data specified with S1 and the data specified with S2 are ANDed Errors 1 An operation error will occur if 5 is an indirectly specified device and its device is outside the range Program examples 1 Program which sets M100 when MO and XO are both 1 vo 1 M100 True 3 5 OPERATION CONTROL PROGRAMS FIFS 5 10 4 Logical OR 1 4 92 Number of basic steps Usable data Usable Data Bit device Setting data bi bi Bit Comparison 16 bit 32 bit pest 16 bit 32 bit 64 bit Calculation pa 5 floating Coasting floating conditional conditional integer integer integer integertype 7 type L point timer type K H KH L point expression expression m type F type K Usable Setting data Setting data Data type of result T Data which will be ORed Logical type true false Functions 1 The data specified with S1 and the data specified w
325. tingarea ____ 1 utor Noi 7 7168 9100001917167 0 No2 wos J _ 20 APPENDICES 3 Automatic refresh setting CPU No 1 Automatic refresh Setting No Points Stat b CPU No 2 owe m oes 4 System basic setting Setting items Description Operation cycle Automatic Setting Operation at STOP to RUN M2000 is turned on by switching from STOP to RUN Forced stop PXO 5 Latch range setting NN E RIEN Imemary M key 8B __ wur Dataregster o w J Latch 1 It is possible to clear using remote operation latch clear 1 latch clear 1 2 Latch 2 It is possible to clear using remote operation latch clear 1 2 APP 21 APPENDICES 4 Parameter setting of the QnUD H CPU No 1 Multiple CPU settings No of PLC Online module change No of PLC 2 Enable online module change with another PLC When the online module change is enabled with another PLC Host CPU number 1 0 status outside the group cannot be taken No specification 140 sharing when using Multiple CPUs All CPUs can read all inputs All CPUs can read all outputs Operating mode Error operation mode at the stop of PLC A Multiple CPU high speed communication area setting Communication area setting refresh v All
326. tion because processing time becomes long in argument to the Number of words n to be read 5 When multiple MULTR instructions are executed to the same CPU simultaneously the reading complete flag SM528 to 5 531 turns on as a result of MULTR that it is executed at the end 6 Reset the reading complete flag SM528 to SM531 using the user program Errors 1 An operation error will occur if Number of words n to be read is outside the range of 1 to 256 The CPU shared memory first address S2 of the data which it will be read is outside the range 000H to FFFH of the CPU shared memory address The CPU shared memory first address S2 of the data which it will be read number of words n to be read is outside the range 000H to FFFH of the CPU shared memory address Start device No D which stores the reading data number of words n to be read is outside the device range Except 3E0H 3E1H 3E2H 3E3H is set at 51 The CPU which reads is resetting The errors are detected in the CPU which read D is a bit device and device number is not a multiple of 16 PX PY is set in D to D n 1 5 OPERATION CONTROL PROGRAMS 1 It checks that a CPU No 1 is not resetting 2 words is read to since 0 from the CPU shared memory of CPU No 1 and transits to next step after reading completion GO SM240 FO RST SM528 MULTR 0 HCOO K2 GO SM528
327. tion controller servo amplifier a battery primary battery and other option articles please follow the law of each country area NCAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life When considering this product for operation in special applications such as machinery or systems used in passenger transportation medical aerospace atomic power electric power or submarine repeating applications please contact your nearest Mitsubishi sales representative Although this product was manufactured under conditions of strict quality control you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident 10 General cautions NCAUTION All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections When operating the product always return the covers and partitions to the designated positions and operate according to the instruction manual REVISIONS The manual number is given on the bottom left of the back cover Print Date Manual Number Jan 2008 IB NA 0300135 A First edition Japanese Manual Number IB NA 0300127 This manual confers no industrial property rights or any rights of any other kind nor does it confer any pate
328. tive speed for a restart 3 Turn on the stop command to end the positioning 4 A negative speed change made again will be ignored d While the axis is reversion in the speed control mode 1 Make a speed change to a positive speed to change the travel direction again 2 Turn ON the stop command to make a stop 3 A speed change is made in the opposite direction if a negative speed change is made again Errors 1 An operation error will occur and a speed change will not be made if The specified axis No of S1 is outside the range S2 is an indirectly specified device and its device No is outside the range 2 A minor error will occur and a speed change will not be made if The axis specified with 81 is home position return Minor error 301 If the speed change is executed for the axis specified with S1 during deceleration the speed change is ignored An error will not occur in this case 3 A minor error will occur and the axis to be controlled at the speed limit value if The absolute value of the speed specified with 52 is greater than the speed limit value Minor error 305 If the absolute value of a negative new speed is higher than the speed specified with the servo program during constant speed control return control is exercised at the speed specified in the program speed clamp control for a speed change during constant speed control At this time an error will not occur 5 OPERATION CO
329. to continue a manual pulse generator operation after it moves to other mode of the safety END APP 16 APPENDICES e No 140 Home position return 4 Home position return request 6140 6141 6142 I PX3 11 axis home position return I PX4 12 axes home position return Did you finish home position return Icompletion 1 axis in position signal 1 Icompletion 2 axes in position signal 2 request mode laxis start accept laxis start accept Y PX2 IPX1 PX3 1M2410 M2402 1M2001 PX4 1M2430 M2422 1M2002 K140 Real K141 Real 1 ZERO 1 ZERO Axis 1 Axis 2 When PX3 is ON the home position return request of 1 axis is executed When is ON the home position return request of 2 axes is executed At this time in position signal ON and start accept OFF confirmed and home position return request program is started Note This program is the structure which does not have WAIT that it waits for the completion of the home position return in the next of the motion control Step because it possible a thing during K140 practice and K141 are started You must take the initial start of each axis to interlock condition to prevent the double start of K140 and K141 APP 17 APPENDICES f No 150 Programming operation C Programming operation 6150 OFF to ON detection of PX3 PX3 turns on MO in on when last time
330. truction List continued Positioning data d dis e juiod Aueyixny Arc Helical enbJo ON 90Iq Processing Virtual enable Number of steps Number of indirect words Constant speed control passing point Constant speed control passing point helical incremental specification incremental specification Instruction INH C INC 3 INC 4 INC 27 INH 27 INC 1 INC lt INC amp x INC C gt INC 4 INC Va INH lt INH lt a INH x INH a e T Buiuonisod peeds juejsuo 7 10 7 MOTION CONTROL PROGRAMS Positioning data it Starting angle Amplitude Frequency Reference axis No Control un Speed limit value Acceleration time Deceleration time Torque limit value Deceleration processing at stop input Rapid stop deceleration time S 23 lt 5 o c 5 o lt interpolation lo S curve rati Repeat condition Program No Command speed a WAIT ON OFF deceleration time Fixed position stop Number of steps FIN acceleration deceleration Fixed position stop acceleration Must be set A Set if required 1 Only reference axis speed specification 2 B indicates a bit device 7 MOTION CONTROL PROGRAMS Table 7 2 Servo Instruct
331. truction is effective only on the servo program during starting 6 The speed change does not executed for the axis specified with S1 during deceleration stop 5 OPERATION CONTROL PROGRAMS 7 By specifying a negative speed and making a speed change request during the start allows the axis to start deceleration at that point and return in the opposite direction upon completion of deceleration The following operations by the servo instruction are shown below Control mode ABS 1 INC 1 ABS 2 INC 2 On completion of deceleration the axis Linear control reverses its moving direction returns to the ABS 3 INC 73 positioning starting point at the absolute value of the specified speed and stops ABS 4j LINC 4 waits there Circular interpolation INC circular For circular interpolation the axis returns in ABS circular INC circular the circular path Fixed pitch feed FEED 1 FEED 2 FEED 3 On completion of deceleration the axis CPSTARTT CPSIART2 reverses its moving direction returns to the CPSTART3 CPSTARTA preceding point at the absolute value of the specified speed and stops waits there Constant speed control Speed control 1 On completion of deceleration the axis reverses its moving direction at the absolute value of the specified speed The axis does not stop until a stop instruction is input Speed position control VPSTART Position follow up control PFSTART he ed
332. tual Mode 2 3 3 MOTION DEDICATED PLC INSTRUCTION 3 110 3 62 3 1 Outline of Motion Dedicated PLC Instruction ssssssssssssssseseeeeeeneeeneenene nnne 3 1 3 2 Motion Dedicated PLC Instruction cccccceecceeeeceeeceeeeceeceneeeeaeeceaeeceaeecsaeeeeeaeeseaeescaeeeeaeeesineseeeeseaeessaees 3 1 3 2 1 Motion SFC start request from the PLC CPU to the Motion CPU D P SFCS PLC instruction D P SFCS 2 eee 3 2 3 2 2 Servo program start request from the PLC CPU to the Motion CPU D P SVST PLC instruction D P SVST 3 6 3 2 3 Current value change instruction from the PLC CPU to the Motion CPU D P CHGA PLC instruction D P CHGA 3 12 3 2 4 Speed change instruction from the PLC CPU to the Motion CPU D P CHGV PLC instruction D P CHGV 3 26 3 2 5 Torque limit value change request instruction from the PLC CPU to the Motion CPU D P CHGT PLC instruction 3 32 3 2 6 Write device data of the self CPU to the device of other CPU D P DDWR PLC instruction 3 37 3 2 7 Read device data of other CPU to the device of self CPU D P DDRD PLC instruction D P DDRD ssssssseeeeeeeeennnennenennennnnnrnnnn nns 3 42 3 2 8 Inte
333. turned ON Example 1 Program which omits the complete device and complete status MO DP CHGV H3E1 J1 K20000 4 Instruction execution command RST MO H Instruction execution command lt Example 2 gt Program which uses the complete device and complete status MO DP CHGV H3E1 J1 K20000 M100 0100 RST MO H Instruction execution command Instruction execution command M100 M101 Normal complete program H Complete device Abnormal complete program 3 MOTION DEDICATED PLC INSTRUCTION Program which changes the positioning speed to 200000 for Axis 1 of the Motion CPU CPU No 2 when MO that sets Axis No as indirect setting method turned ON and then changes the positioning speed to 50000 for Axis 2 when M1 turned ON SM402 MOVP J4 DO Only 1 Axis No 1 scan ON for indirect after start setting 5 2 02 Axis No 2 for indirect MO setting kN MOVP KO 20 Axis 1 Axis No speed offset change command DMOVP 200000 D4 gt Change speed setting SET M10 Axis 1 CHGV instruction execution command est L4 Axis 1 speed change M1 M10 commana wovP K2 20 2 1 offset change instruction command execution hi command DMovP 50000 D4 Change speed setting SET Mt H Axis 2 CHGV instruction execution comma
334. two G programs Using Program editor to delete a Y N transition does not delete the automatically generated G program G1 below Use Program use list to delete that program 4 MOTION SFC PROGRAMS SSS 40a 1 Automatic free G number search feature a When not set to automatic numbering Searches for a free number forward starting with the set G number 1 at the Shift Y N or WAIT Y N symbol When no free numbers are found after a search up to 4095 a search is made from 0 to the set G number 1 6 When set to automatic numbering Searches for a free number forward or backward in the automatic numbering range starting with the automatically numbered G number 1 or 1 at the Shift Y N or WAIT Y N symbol The searching method is as in the automatic numbering setting 2 Automatic logical NOT program generation feature Automatically generates a program which logically negates the conditional expression block last block of the transition program set at Shift Y N or WAIT Y N The basic is shown below lt Setting program conditional expression block gt Conditional expression bit conditional expression or comparison conditional expression lt Logically negated automatically generated program conditional expression block gt Conditional expression bit conditional expression or comparison conditional expression Examples are shown below Setting program
335. type operation will be performed Functions 1 COS i arccosine operation is performed on the COS value data specified with S to find an angle 2 The COS value specified with S must be within the range 1 0 to 1 0 3 The operation result is in an angle degree unit 4 If S is an integer type it is converted into a floating point type before operation is performed Errors 1 An operation error will occur if 5 15 outside the range 1 0 to 1 0 or S isan indirectly specified device and its device No is outside the range Program examples 1 Program which performs the COS 1 arccosine operation of DOF and substitutes the result to 0F ACOS DOF 3 2 D2 D1 DO 1 0 D3 O a eee gae 7 5 OPERATION CONTROL PROGRAMS FIFS 5 6 6 Arctangent ATAN ATAN S Number of basic steps Usable data Usable Data Bit device bi bi Bit Comparison 46 bit 32 bit 64 bit 16 bit 32 bit 64 bit Calculation p floating Coasting floating conditional conditional integer integer _ integer integer type MU timer hee expression expression type type L type K H K H L Usable Setting data Setting data Setting data Data type of result TAN value data on which TAN arctangent S A Floating point type operation will be performed Functions 1 TAN 4 arctangent operation
336. type of result Data whose fractional portion will be rounded up Data type of S Functions 1 The smallest integer not less than the data specified with S is found 2 Ifthe S value is positive the absolute value will be greater and if it is negative the absolute value will be smaller 3 If S is an integer type its value is returned unchanged with no conversion processing performed Errors 1 An operation error will occur if S isan indirectly specified device and its device No is outside the range Program examples 1 Program which finds the rounded up fractional portion value of DOF and substitutes the result to 0F 0F FUP DOF 3 8 D1 DO WE 3 2 Program which finds the rounded up fractional portion value of DAF and substitutes the result to when D4F is a negative number 0F FUP D4F 3 2 D5 D4 er ean cw um 5 OPERATION CONTROL PROGRAMS FIFS 5 6 14 BCD BIN conversion BIN BIN S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculation data Bit device bit 32 a floating Coasting ue bit floating conditional conditional integer integer integer integer type expression point timer point expression expression type type L type K H K H L type F type K 9 lo lo o o Usable
337. ual servo motor shaft is changed in the virtual mode 4 The used axis No can be set within the following range Q172DCPU Q173DCPU Axis 1 to 8 Axis 1 to 32 5 The address which made the current value change by CHGA instruction is valid on the power supply turning on 7 MOTION CONTROL PROGRAMS Program example A program which made the current value change control in the real mode is described as the following conditions 1 System configuration The current value change control of axis 2 is executed Q03UD Q173D QX10 Qx10 Q172D CPU CPU EX Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 16 2 The current value change control conditions a The current value change control conditions are shown below Setting Servo program No Control axis No Current value change address 3 Operation timing CHGA instruction START accept flag Current value change completion 4 Servo program Servomotor virtual sevomotor shaft current value change control Axis No 2 Current value change address 50 7 MOTION CONTROL PROGRAMS Current value changing instructions When PLC ready flag M2000 or PCPU ready flag 5 500 is OFF a minor error 100 occurs and a current value
338. ue Functions 1 The data specified with S is converted into a signed 64 bit floating point value 2 If S is a 64 bit floating point type its value is returned unchanged with no conversion processing performed Errors 1 An operation error will occur if S is an indirectly specified device and its device is outside the range Program examples 1 Program which converts the data of DOL into a signed 64 bit floating point value and substitutes the result to 0F 0F FLOAT DOL 3 2 1 D1 DO HFFFFFFFF 5 OPERATION CONTROL PROGRAMS FIFS 5 7 6 Unsigned 64 bit floating point value conversion UFLOAT UFLOAT S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculation data Bit device bit 32 a floating Coasting ue bit floating conditional conditional integer integer _ integer integer type expression point timer point expression expression type type L type K H K H L type F type K Hasie o9 6 is 1 6 611 6 Hl Usable Setting data Setting data Data type of result Data which will be converted into unsigned 64 bit S 64 bit floating point type floating point value Functions 1 The data specified with S is converted into an unsigned 64 bit floating point value 2 If S is a 64 bit floating point type
339. use you can use above number of modules When connecting the manual pulse generator you can use only 1 module When connecting the manual pulse generator you can use only 1 module b Motion SFC Performance Specifications Code total Motion SFC chart Operation control 543k bytes Motion SFC program capacity Transition Text total 484k bites Operation control Transition i Number of Motion SFC programs 256 0 to 255 Motion SFC chart size program Up to 64k bytes Included Motion SFC chart comments Number of Motion SFC steps program Up to 4094 steps Number of selective branches branch 2 55 Number of parallel branches branch Motion SFC program Parallel branch nesting Up to 4 levels 4096 with F Once execution type and FS Scan execution type combined F FSO to F FS4095 Number of transition programs 4096 60 to G4095 Operation control program Code size program Up to approx 64k bytes 32766 steps F FS Number of blocks line program Up to 8192 blocks in the case of 4 steps min blocks Number of characters block Up to 128 comment included Transition program Number of operand block Up to 64 operand constants word device bit devices G nesting block Up to 32 levels Operation control program Calculation expression bit conditional expression Descriptive s DA Calculation expression bit conditional expression expression Transition program nA comparison conditional expression
340. ute the positioning control using the specified the Motion SFC program Output to the servo amplifier 3 The servomotor is controlled Program structure in SV13 SV22 real mode lt PLC CPU gt 5 Start request Specification of instruction of starting program the Motion No SFC program Note 1 The Motion SFC program can also be started automatically by parameter setting plar Taea a A oe ee SS ee a PLC SFC program lt Motion CPU gt G100 M2049 servo ON received K10 real 1 INC 2 Axis 1 10000 PLS Axis 2 20000 PLS Vector speed 30000 PLS s Positioning control parameters System settings Fixed parameters Servo parameters Parameter blocks Home position return data JOG operation data Limit switch output data Servo amplifier Servomotor 2 STRUCTURE OF THE MOTION CPU PROGRAM 2 2 Motion Control in SV22 Virtual Mode PLC CPU 1 Software based synchronous control is performed using the mechanical system program constructed by virtual main shaft and mechanical module in SV22 virtual mode 2 Mechanical system programs is required in addition to the positioning parameter servo program Motion SFC program used in real mode 3 The procedure of positioning control in virtual model is shown below 1 Motion SFC progr
341. vent processing the fixed cycle Starting of the interrupt i event task is accepted i 1 1 gt 4 Executes by the new event task Points a Multiple events can be set to one Motion SFC program However multiple fixed cycles cannot be set b Multiple Motion SFC programs can be executed by one event c Motion control steps cannot be executed during the event task d The event task cannot be executed when it is disabled by the normal task The event that occurred during event task disable is executed the moment the event task is enabled Errors When the motion control step is executed by the Motion SFC program set to the event task the Motion SFC program error 16113 occurs and stops the Motion SFC program running 9 OPERATION FOR MOTION AND PARAMETER 3 NMI task operation Operations The Motion SFC program is executed when the input set to the NMI task factor among external interrupts 16 points of QI60 turns on Number of consecutive transitions is set to 2 Program name 2 3 SFCS PLC program External interrupts TL TL TI 1 task END operation END operation Continue gt lt Do not execute a Execute the number of When END operation is set as program before the consecutive transition for continuation continuation NMI task starting every NMI task occurrence operation is executed Note When
342. vice of the self CPU which stores the reading data Complete devices D2 0 Device which make turn on for one scan at accept completion of instruction System Bit D2 1 Device which make turn on for one scan at accept abnormal completion of instruction D 1 0 also turns on at the abnormal completion sequence 3 MOTION DEDICATED PLC INSTRUCTION Control data Setting data Setting range Set by The status at the instruction completion is stored Complete status 0 No error Normal completion System Except 0 Error code Number of reading 51 1 dai Set the number of reading data 1 to 20 User ata Controls 1 A part for the number of reading data of the control data specified with 81 41 of data since the device specified with S2 in the target CPU n1 is stored to since the word device specified with D1 of the self CPU in the Multiple CPU system 2 Figure specification of the bit device is possible for S2 and D1 However figure specification is 4 figures and a start bit device number is only the multiple of 16 It becomes MULTI COM ERROR Error code 4353 when other values are specified 3 Data can be read from device of the Motion CPU out side the range in the PLC CPU that executes the this instruction like a motion register etc by setting 52 by a character sequence 4 D P DDRD instruction accepting and normal abnormal completion can be confirmed with the complete device
343. when either of MO and is ON 1 MO False que MO CO Fas Moo 1 5 OPERATION CONTROL PROGRAMS FIFS 5 8 2 OFF Normally closed contact Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculation data Bit device pit 32 a floating Coasting M bit eee floating conditional conditional integer integer integer integer type expression point timer point expression expression type type L type K H K H L type F type K 9 Usable Setting data Setting data Data type of result Bit device used in bit conditional expression Logical type true false Functions 1 True is returned when the bit device specified with S in a bit conditional expression is OFF 0 or false is returned when that bit device is ON 1 Errors 1 An operation error will occur if S is an indirectly specified device and its device No is outside the range Program examples 1 Program which resets M100 when MO is OFF 0 RST M100 MO M100 o lt 0 5 OPERATION CONTROL PROGRAMS 5 9 Bit Device Controls 5 9 1 Device set SET SET D S Number of basic steps Usable data Usable Data Bit device Setting data 64 bit 64 bit Bit Comparison 16 bit 32 bit a 16 bit 32 bit bit Calculation i pa f
344. y 1 axis Set E in a capital letter and use the axis No set in the system setting as the axis No to start Refer to the Q173DCPU Q172DCPU Motion controller Programming Manual COMMON for system settings 2 Setting of the current value to change n2 usable range 2147483648 to 2147483647 3 MOTION DEDICATED PLC INSTRUCTION Errors The abnormal completion in the case shown below and the error code is stored in the device specified with the complete status storage device D2 If the complete status storage device D2 is omitted an error is not detected and operation becomes No operation Complete status N Error factor Corrective action rror code 0010 Instruction request to Motion CPU from PLC CPU exceeds the permissible value A Motion dedicated PLC instruction that does not correspond with the Confirm a program operating system of the Motion CPU was executed 7 and correct it to a correct PLC program Axis No En was specified by operating system software except SV22 There are 65 or more simultaneous D P SVST D P CHGA sum table instruction requests to the Motion CPU from the PLC CPU therefore the Motion CPU cannot process them 2203 Axis No set by D P CHGA instruction is wrong Note 0000H Normal The diagnostic error flag SMO is turned on an operation error in the case shown below and an error code is stored in the diagnostic error register SDO Not

Programming Manual SV13/SV22(Motion SFC) Q173DCPU

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