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Programming Manual (Safety Observation) [type

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1. S 1 S c x107 x108 x105 x104 x103 x10 x10 x10 1 N v A v A N v N N v AN v N 8421842184218421 8421842184218421 S BCD 99999999 1 0 0 4 1 phh pphini pho 1 fo Jo 1 _ _y v EAE D A GRO Gn Ten Millions Hundred Ten thousands Hundreds Tens Ones millions digits thousands thousands digits digits digits digits digits digits digits BIN conversion D 1 D n i w c ccr essasapy 231 230929928927926925924923922921 22091 99 1 891 791 69 1 591 49 1 391 291 191 0999897969594939291 20 D BIN 99999999 o o o o o 1 Jo Ja fa 4 a fa Jo J1 Jo fa ft a fa o fo fo fo Jo f1 fa fafa fa fs Ta fr L Always filled with Os The values other than 0 to 9 are specified to any digits of S sequence program error occurs Safety observation warnings SM24 are turned ON and error code SD32 10 detail code SD33 8002H are stored 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 11 16 bit and 32 bit data transfers MOV DMOV Usable device Digit Settin j Level cei dat iti rty Tw sul a pele wir c elztk ule nation O Usable A Usable partly Note 1 Note 1 Alone Z can not be use for S Only when the index is modified to the word device it is possible to use it by S Refer to Section 5 2 4 for details Instruction Command MOV Command Setting data Setting data S Data to be tra
2. STO status SS1 status SS2 status SLS1 status SLS2 status SLS3 status SLS4 status 0 PLC CPU side Function Safety Signal L Error status 1 0000 to 1FEO Start Device No Error status 2 Motion CPU side SBC status 0000 to 1FEO SOS status SSM status Note Functional safety signal start device number Functional safety command Yi FIEIDICIB A 9 0 STO signal SS1 command SS2 command SLS1 command SLS2 command SLS3 command SLS4 command Note Functional safety signal start device number YI 10toY 1F is not used The shared device area is used to exchange information for safety First No of Multi CPU communication between the PLC CPU and Motion CPU Set this device within 10000 to End address of Shared Dev for Safety the range of a user setting area in each multiple CPU high speed transmission user setting area Number Comm area of occupied points e PLC CPU side 1000 points Motion CPU side 1000 points Safety Communication fae Cycle Note 2 Set the communication cycle when communicating safety data 14 2ms 28 4ms Note 1 When the parameter settings differ from the actual mounting status a safety obse
3. Safety communication enabled bit fs ENG 76 UZE1IG Note 1 O is Multiple CPU shared device start address of safety communication parameter Function The status of the safety communication function is stored Operation Shows the status of the safety communication function When safety communication function is enabled the bits of the corresponding axis No will be turned ON Low side F e o C B A 9 8 7 6 5 4 wo N 10 bit L ais Axis 2 Axis 16 High side F e o C B A 9 8 7 6 5 4 3 2 1 0 bit ASER L Axis 17 Axis 18 Axis 32 4 DEDICATED DEVICES Functional safety command N 5 Note Device No Signal name PLC CPU side Motion CPU side U3E0 GO1 662 to U3E1 GO1 662 to U3E0 GO 725 U3E1 GO 725 Note O is Multiple CPU shared device start address of safety communication parameter Functional safety command Function The status of the functional safety command of each axis is stored Operation Low side FE D c B A 9 8 7 6 5 4 3 2 1 0 vit STO signal SS1 command SS2 command SLS1 command SLS2 command SLS3 command SLS4 command e Bit O STO signal When the STO signal is turned OFF the STO function of the servo amplifier operates and power supply is shut off S1 command Wh
4. Safety signal comparison activity check U3E0 G U3E1 GO 30 information Note 1 O is Multiple CPU shared device start address of safety signal comparison parameter Function The counter value of safety signal comparison activity check is stored Operation To confirm that the safety signal comparison is properly executed by the Motion CPU and PLC CPU the CPUs perform activity check each other 4 DEDICATED DEVICES 7 Safety signal comparison status Note Device No Signal name 7 PLC CPU side Motion CPU side Safety signal comparison status U3E0O GO 31 U3E1 G Note 1 Function is Multiple CPU shared device start address of safety signal comparison parameter The safety signal comparison status is stored Operation Each bit corresponds to the following signals Safety signal comparison normal Safety signal input comparison error Counterpart s signal comparison stop detected Safety signal data error detected te Safety signal output FB comparison error Comparison process start Initial signal comparison check complete Device memory check error Motion CPU side comparison process running e1 PLC CPU side comparison process running e Safety signal comparison circuit check normal N te 1 Remote IO transmission disconnected o Output off check request e Bit 0 e Bit 1
5. Note 1 When the number of connected axes per SSCNETII H communication line for is 12 or less safety communication is possible for all axes regardless of the number of head module stations The servo amplifiers to use safety communication are set by parameter When the number of servo amplifier axes to use safety communication set in the parameter exceeds the above restrictions a safety observation error occurs and safety communication cannot be used 2 28 2 SAFETY OBSERVATION FUNCTION ee eee eee eee eee ee 3 The safety observation function parameters of the servo amplifier are not controlled by the Motion CPU Refer to Functional safety unit MR D30 Instruction Manual for details of safety observation function parameters and safety observation functions of the servo amplifier When the operating status of the PLC CPU is STOP safety communication cannot be continued When changing the operating status of the PLC CPU to STOP use the connect disconnect function to disconnect SSCNET II H communication before changing the operating status of the PLC CPU to STOP To restart safety communication use the SSCNETI connect disconnect function to reconnect after changing the operating status of the PLC CPU to RUN Refer to Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON for connect disconnect function of SSCNET communication The response time processing time in a system using safety communica
6. Speed monitoring function control status U3E1 GO 1020 to Axis 1 to 32 U3E1 GO1 1339 Note 1 O is Multiple CPU shared device start address of safety signal comparison parameter Function Axis control information used by speed monitoring is stored only Motion CPU side Operation The control status of each axis is stored Axis s No 1 1020 to U3E1 G0O 1029 2 1030 to U3E1 GO1 1039 3 1040 to USENNGL1 1049 4 1050 to U3E1 GH1 1059 Position control 5 1060 to U3E1 GH1 1069 mode mode mode 6 U3E1GO 1070 to U3ENGO 1079 Motor position pat 7 1080 to U3E1 GO1 1089 command Unusable pulse U3E1 GU1 1090 to U3E1 GH1 1099 Movement 9 U3E1 GO 1100 to U3E1 GO 1109 amount of Command Speed limit 10 U3E1 GO 1110 to U3E1 GO 1119 11 U3E1 GO1 1120 to U3E1 GO1 1129 position speed to motor value to motor command x0 01r min x0 01r min 12 U3E1 GO1 1130 to U3E1 GO 1139 pulse 25ms 13 U3E1 GO 1140 to U3E GO 1149 15 U3E1 GO 1160 to U3E1 GO 1169 16 U3E1 GO 1170 to U3E1 GO 1179 17 1180 to U3E1 GO 1189 7 18 1190 to U3E1 GO 1199 19 1200 to U3E1 GO 1209 20 1210 to U3E1 GO 1219 U3E1 GO 1220 to U3E1 GO 1229 Note 2 Servo control status U3E1 GO 1230 to U3E1 G 1239 FEIDICIBIA 9 8 7 6 5 4 3 2 1 0 bit
7. After execution oppuri ebeen oft TT Coo fol 1 fol Jo Jolt 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 13 Block 16 bit data transfers BMOV Usable device Digit desig Pxty Tw sul 7 peletwlrlclmlztx al e wl nation O Usable Instruction Command BMOV BMOV Ss Setting data Setting data Description S Head number of the devices where the data to be transferred is stored BIN 16 bits D Head number of the devices of transfer destination BIN 16 bits n Number of transfers BIN 16 bits Function 1 Transfers in batch 16 bit data of n points from the device designated by S to location n points from the device designated by D 9 fo Sr Block pea S 2 transfer D 2 S 3 lt D 3 S n 2 553F D n 2 553F S n 1 8886 D n 1 8886 4 2 Transfers can be accomplished even in cases where there is an overlap between the source and destination device In the case of transmission to the smaller device number transmission is from S for transmission to the larger device number transmission is from S n 1 Error The points specified in n exceed those of the corresponding device specified in S or D sequence program error occurs Safety observation warnings SM24 are turned ON and error code SD32 10 detail code SD33 8010H are stored 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 14 Identical 16 bit data block transf
8. When the setting of is changed delete the sequence programs for safety observation once uw n Z Z ola 4 alu lt B m o z lt gt 3 a The total number of device points is up to 29 K words Device Total K Words Latch 1 Able to clear the value by using a latch clear 4 Latch 2 Unable to clear the value by using a latch clear Clearing will be executed by remote operation or program Word Device K Words Scan time is extended by the latch range setting including L a0 If the latch is necessary please set the required minimum latch range Bit Device K Bits When using the local devices please do the file setting at PLC file setting parameter File Register Extended Setting Capacity K Points Following setting are available Latch 1 Latch 1 Latch 2 Latch 2 Device No Device No when select Use the Following file Start End Start End in file register setting of PLC file setting z ha Change of latch 2 of file register File Regis ZRIR 104 21199 Assignment to expanded data Extended Data D i0f oK l register expanded link register of a part ExtendedLink w iei o of file register area Indexing Setting for ZR Device 32Bit Indexing Usez Z After 0 18 C Use ZZ Print Window Print Window Preview Acknowledge XY Assignment Default Check Cancel lt Screen GX Works2 gt 1 When
9. END Note 1 The following shows the added functions related to device settings which are described in QnNUCPU User Manual Function Explanation Program Fundamentals and Motion CPU supports e Extension of bit device e 32 bit index indexing by ZZ e Extension data register D and extension link register W e Local device setting for index register If new functions related to the device setting other than the above are used ina PLC CPU a CAN T EXE PRG error occurs and a program may not operate 6 TROUBLESHOOTING E MEMO APPENDICES APPENDICES APPENDIX 1 Functions of GX Works2 GX Developer available for Motion CPU Functions of GX Works2 GX Developer available for Motion CPU are shown below Program type Support itedden st Be o o ee eee MELSAP L Function block O Available X Unavailable APPENDIX 1 1 GX Works2 features support List of GX works2 common functions available for Motion CPU is shown below The following table lists the details of GX Works2 Version 1 15R The functions that added 1 15R or later are not described 1 Common functions Middle item Small item Support Remarks Compress Unpack O peee Pf Only Q03UDCPU ES a o Rename Project Delete Object Copy Paste Set as Default Connection Property New Module Delete Module Intelligent Function Module Property Intelligent Function Module Parameter List Inmport GX Configurator QP Data Open Other
10. Read sequence programs for NG safety observation Compare sequence programs i From PLC CPU by Motion CPU for safety observation OK Compare sequence programs NG for safety observation OK Safety observation error 23 occurs Initial check completed Start executing the sequence programs for safety observation 2 SAFETY OBSERVATION FUNCTION b Comparison procedure of sequence programs for safety observation in 24 hour continuous operation 24 hour continuous operation Read PLC parameter of PLC CPU By Motion CPU PLC CPU PLC parameters check NG Safety observation error 34 occurs j Read sequence programs for safety observation From PLC CPU by Motion CPU NG Compare sequence programs for safety observation Safety observation error 23 occurs J Return to normal processing POINTS 1 Do not erase or change the sequence programs for safety observation Program name SSU_CMP SLS_CMP SNT_CMP of PLC CPU If erased or changed Safety observation error error code 23 will occur in case of 24 hours continuous power ON status 2 When the sequence programs for safety observation Program name SSU_CMP SLS_CMP SNT_CMP is incorrect turn the power supply OFF to ON again Safety is secured by reading the sequence programs for safety observation from Motion CPU again 2 SAFETY OBSERVATION FUNCTION 2 2 1 Activity check i
11. S1 A S2 D Logical product D 1 D A S 1 S D 1 D S1 V S2 D Logical sum D 1 D V S 1 S gt D 1 D S1 S2 gt D Exclusive OR D 1 D S2 gt D 1 D Complement to 2 D 1 D Instruction A Category ae Processing Details y Right rotation 16 bit data Right rotation by n bits D 1 D Carry flag b15 b0b15 b0 gt Right rotation Right rotation by n bits s D 1 D 32 bit data Carry flag b15 b0b15 b0 Right rotation by n bits D Carry flag b15 b0 Left rotation Left rotation by n bits 16 bit data Carry flag D b15 b0 ft rotation by n bits Cary flag b15 O _bop15 P__bo Left rotation Left rotation by n bits 32 bit data Carry flag b15 O _bob15 P_ bo Left rotation by n bits n bit shift of 16 bit data 1 word shift of n words data 3 START UP PROCEDURES i Data processing instruction Instruction Category Sumbo Processing Details y D Match No Data searches SER s1 s2 D n D 1 Number of matches Bit checks sum s D D Number of 1s EN Decode form 8 to 256 BECO s To n 7 segment
12. S1 s2 O Usable Note 1 Cannot specify the same device in S1 and D or S2 and D Instruction Command D k Command Setting data Setting data Description Number of the devices where the data to be added to subtracted from is stored BIN 32 bits Data for adding subtracting or number of the devices where the data for adding subtracting is stored BIN 32 bits Number of the devices where the addition subtraction operation result will be stored BIN 32 bits Function 1 BIN 32 bit addition operation D e Adds 32 bit BIN data designated by S1 to 32 bit BIN data designated by S2 and stores the result of the addition at the device designated by D e Values for S1 S2 and D can be designated between 2147483648 and 2147483647 BIN 32 bits e Judgment of whether data is positive or negative is made by the most significant bit b31 0 Positive 1 Negative e The following will happen when an underflow or overflow is generated in an operation result The carry flag in this case does not go ON K2147483647 K2 K 2147483647 Since bit 31 value is 1 7FFFFFFFH 00000002H 80000001H result of operation takes a negative value K 2147483648 K 2 K2147483646 Since bit 31 value is 0 80000000H FFFFFFFEH 7FFFFFFEH result of operation takes a positive value 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU eee 2 BIN 32 bit subtraction operat
13. 1 Leading edge output PLS e Turns ON the designated device when the execution command is turned OFF ON and turns OFF the device in any other case the execution command is turned OFF ON i e at ON gt ON ON OFF or OFF gt OFF of the execution command If the RUN STOP key switch is changed from RUN to STOP after the execution of the PLS instruction the PLS instruction will not be executed again even if the switch is set back to RUN e When designating a latch device for the execution command and turning the power supply OFF to ON with the latch device ON the execution command turns OFF to ON at the first scan executing the PLS instruction and turning ON the designated device The device turned ON at the first scan after power ON turns OFF at the next PLS instruction 2 Trailing edge output PLF e Turns ON the designated device when the execution command is turned ON OFF and turns OFF the device in any other case the execution command is turned ON OFF i e at OFF OFF OFF ON or ON ON of the execution command e If the RUN STOP key switch is changed from RUN to STOP after the execution of the PLF instruction the PLF instruction will not be executed again even if the switch is set back to RUN 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 3 9 Bit device shifts SFT Usable device Digit Settin j desig ee fx ty Tu su r c o w r celso z k n r n ration C E S e E e E E EEEE O Usable E Comm
14. App 10 APPENDICES Middle item Small item Support Remarks IG ene E e o ge A Help Specialrelayregister dx d Key operaionist dood O Productinformaton CT O ConnecttoMELFANSweb CT o d O O Available Available with restrictions X Unavailable Note 1 Online change cannot be executed to Motion CPU Make the STOP state before writing 2 Online section functions Middle item Small item Support Remarks PC side I F a a a l PLC side I F Only QnCPU Other station Transfer setup Netwise Co existence network route Multiple CPU setting Note 2 Read from PLC A A al C gt gt gt x Write to PLC Common rget memory A A Write toPLC Write the programmemorytoROM iy y O Flash ROM Write to PLC Flash ROM o o O Verify with PL A A x App 11 APPENDICES Middle item Small item Support Remarks Target memory Note 1 Title Delete PLC File selection File selection i data Create title C E A data attributes a Read PLC user data gt LC user data Read PLC user data Delete PLC user data Device ON OFF Current value Setting value Contact Coil Display 16bit integer 32bit integer Real number ASCIl character Entry data monitor T C set value Reference program Device test Buffer memory batch Monitor condition setup Device Step No Device Monitor stop condition setup SoN ep No ON OFF state Monitor mode Start Stop Sc
15. Note 2 When the start device number of functional safety signal is set to 300 Note 3 When using SLS2 to SLS4 change to Y304 to Y306 2 Program example P252 X200 X102 0 PLF M21 Safety Reset Reset switch seen switch ON to OFF inpu M21 RST Y303 Reset switch SLS command ON to OFF SLS1 X200 9 SET Y303 Safety SLS command 3 Operation outline a When the safety switch X200 is turned OFF the SLS1 command Y303 is turned ON b When the safety observation error is detected in the controller or servo amplifier while executing SLS function at the servo amplifier the shut off signal Y20A X20A is turned OFF and the STO signal is immediately turned OFF c The SLS of the servo amplifier is disabled with the reset switch X102 Create the program so that SLS is disabled only when the switch is turned ON to OFF preventing accidental start when the reset switch is shorted or welded 2 37 2 SAFETY OBSERVATION FUNCTION 4 Timing chart The timing chart for this function is shown below Safety input signal such as door signal etc SLS1 command SLS1 status Speed SLS deceleration monitoring monitoring time 1 lt bid Motor speed r sedbacK speed TT ERENER AIN SLS speed 1 4 7 ee eae Piso recess ES a MENEE gt t 2 SAFETY OBSERVATION FUNCTION 2 9 5 Checking the connection status of safety communication For a servo am
16. o lt Leo E S e Yh all leal ae O For Motion CPU 20inputs 12outputs ote Note 1 1output is controlled by the sysytem For PLC CPU 20inputs 12inputs as a shut off signal For Motion CPU 20inputs 12outputs For PLC CPU 20inputs 12inputs For Motion CPU 20inputs 12outputs For PLC CPU 20inputs 12inputs eee 1 0 device No A 0 Application XO1 00 to XO 09 O 10 to XO 19 For safety signal input 0A to XO Return signal YO 0A to YOI 0F Safety signal module 1 1A to X Return signal YO 1A to YO 1F Shut off signal Controlled by system 0B to YO 0F 1A to YO 1F O 00 to XO 09 O 10 to XO 19 0A to XO Return signal YLI 0A to Y 1A to X Return signal YO 1A to Y For safety signal output For safety signal input Safety signal module 2 00 to XO1 09 O 10 to XO 19 0A to XO 0F Return signal YO 0A to Y 1A to XO 1F Return signal YO 1A to Y YO 0A to YO 0F For safety signal output YO 1Ato YO a gt Note 1 O is the setting value of start device number for safety signal comparison parameter for each module 1 8 For safety signal input Safety signal module 3 1 OVERVIEW 1 3 Applicable Standard Motion controller complies with a safety standard but this fact does not guarantee that Product will be free from any malfunction or failure The user of this Product shall comply with any and all applicable safety stan
17. Already Set Total 14K Points J Advanced Setting 1 Assignment Confirmation The total number of points is up to 14K JV Use Multiple CPU High Speed Transmission 1 Setting should be set as same when using multiple CPU Import Multiple CPU Parameter Print Window Print Window Preview Acknowledge XY Assignment Default Check Cancel lt Screen GX Works2 gt 3 16 3 START UP PROCEDURES 3 5 Creating User Safety Sequence Program Write the user safety sequence program to the both of Motion CPU and PLC CPU to operate a safety circuit By writing the same logic sequence program to the both CPUs even when one CPU failure occurs the other CPU can be controlled the input output signals safely Z CAUTION Always use safety signal module s signals as the input output signals to from safety sequence program If you use input signals of a general purpose I O module instead safety can t be ensured in case of Base unit s breakdown This is because those signals don t have double line system As the comparison is performed for all safety signals signal output status must be the same on both PLC CPU and Motion CPU sides So always create sequence program having the same logic on both sides even if only either output signal is used 3 5 1 Creating PLC CPU side user safety sequence program Read this section to create the user program and write it to the PLC CPU The PLC CPU side user safety sequence program jud
18. D after execution 0 0 Ly 0 is entered e Specify any of 0 to 15 as n If the value specified as n is out of range the remainder of n 16 is used for rotation As n is BIN 16 bits unsigned value For example when n 18 the contents are rotated two bits to the left since the remainder of 18 16 1 is 2 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 30 1 word shift to right or left of n word data DSFR DSFL Usable device Digit Settin j Level cei dat is rxty Tw sul tele wl tlc elztk Hl e nation O Usable Instruction Command DSFR Command DSFL DSFL Setting data enra data Head number of the devices to be shifted BIN 16 bits Pe Number of devices to which shift is executed BIN 16 bits Function 1 1 word shift to right of n word data DSFR e Shifts data n points from device designated by D 1 word to the right Shift range n points D D D n 1 n 2 n 3 D 2 D 1 D 0 is entered 4 After execution 0 e The device designated by D n 1 is filled with 0 e The T C shift will be a current value attribute value or count value shift Shifting with the setting value is not possible 2 1 word shift to left of n word data DSFL e Shifts data n points from device designated by D 1 word to the left Shift range n points D D D n 1 n 2 n 3 D 2 i D Before exe
19. sequnce program e eeoeeeeee sequnce program PLC CPU sequence programs r for safety observation Compare at startup Automatic creation at starting up Safety and more than 24 hours Safety communication continuous operation communication sequence program Q sequence program 2 Comparison of sequence programs for safety observation After the sequence program is transferred to PLC CPU the Motion CPU reads the sequence program from PLC CPU and compares the program with the original program to check if the sequence programs for safety observation has been transferred correctly This check is executed every 24 hours in case of 24 hours continuous operation and at the start The shutoff signal will not be turned ON until the sequence programs for safety observation is confirmed as normal after the power ON 2 SAFETY OBSERVATION FUNCTION a Comparison procedure of sequence programs for safety observation at power ON Power ON Read PLC parameter of PLC CPU By Motion CPU PLC CPU PLC paramaters check NG Safety observation error 34 occurs OK Does PLC CPU have sequence programs for safety observation NO Read device points of PLC parameter From PLC CPU by Motion CPU YES Read sequence programs for safety observation Transfer sequence programs for From PLC CPU by Motion CPU safety observation From Motion CPU to PLC CPU
20. 23 U3E1 GO1 1240 to U3E1 G01 1249 a Motor control mode 24 1250 to U3E1 GO 1259 00 Position control mode 25 1260 to U3E1 GO1 1269 01 Speed control mode 10 Torque control mode 26 1270 to U3E1 GO 1279 In position ON 27 1280 to U3E1 GO 1289 Servo ON 28 1290 to U3E1 GO 1299 U3E1 GO1 1300 to U3E1 G1 1309 30 U3E1 GO 1310 to U3E1 GO 1319 U3E1 GO1 1320 to U3E1 GO 1329 32 U3E1 GO 1330 to U3E1 GO 1339 Note 1 O is Multiple CPU shared device start address of safety signal comparison parameter Movement amount of feedback position of motor pulse 25ms Note Servo control status Unusable 4 DEDICATED DEVICES 4 3 5 Shared device list for safety communication Table 4 5 Shared devices for safety observation A Note Signal types F A 7 PLC CPU side Motion CPU side Servo amplifier functional safety unit U3E1 GO 0 U3E1 G Eo S T bit Encoder 2_ Encoder setting bt bit U3E1 GO 2 U3E1 G Functional safety signal start device U3E1 GO 4 to U3E1 G number Safety communication Multiple CPU 4 U3E1 G shared device PLC side 5 spas U3E1 GO 69 shared device Motion side U
21. Edit Data Parameter Program Select All Cancel All Selections Module Data jH Target Target Memory Module Name Data Name Target D A Module Name Data Name A PLC Data i PLC Data Program Memory Lf Program Pragram File m Nag Program Pragram File A SAFETY 2 E SAFETY 3 E SAFETY 3 j ml SAFETY 4 Source Project Name otio Destination Project Name in OO3UD PLC Source Data Name 1 Destination Data Name ERRLAD 0 Current Hierarchy Verify Result List Detail Verify Result 1 Error step There were 1 parts not matched Unmatch Line Source Only Dest Only lt Screen GX Works2 gt GX Works2 side Motion CPU side This is a step where the NOP instruction part of the Motion CPU is faulty Double clicking the corresponding part displays the corresponding part of the file of GX Works2 GX Developer to edit Then correct the sequence program and write it in the Motion CPU again by PLC write 6 TROUBLESHOOTING A 3 Deletion of faulty sequence program Delete the sequence program file where an error occurred ERRLAD O by the PLC data deletion If PLC ready flag M2000 is turned ON from OFF without deleting this file the safety observation error error code 10 detailed code 2700H occurs 6 TROUBLESHOOTING 6 4 Troubleshooting when the Error CAN T EXE PRG Occurs in a PLC CPU If a self diagnostic error error code 2
22. Input device allocation cannot be used Unused Usable as a general input Sensor input for block No 1 1 phase Sensor input for block No 2 A phase Sensor input for block No 2 B phase Unused Usable as a general input When 1FFF is set external auxiliary pulse input is disabled only if Number of pulses per external sensor rotation and Movement amount per external sensor rotation are 2147483647 3 START UP PROCEDURES 3 START UP PROCEDURES 3 1 Start up Procedures Flow Chart The start up procedure of safety observation function is shown below Start Module installation and wiring connection Refer to the Q173D S CPU Q172D S CPU Motion contoroller User s Manual Install the modules required for the system configuration to the base unit and make a wiring of power and the safety signal System s power supply ON Set the switch of PLC CPU module and Motion CPU module to STOP and turn ON the system s power supply Install operating system software Refer to the Q173D S CPU Q172D S CPU Motion contoroller User s Manual Motion CPU Install the operating system software to the MT Developer2 Motion CPU Turn ON power supply again Turn ON system s power supply again or reset the PLC CPU Memory formatting Refer to Section 3 3 Format the memory to be used by the Format PLC Memory PLC CPU GX Works2 A 4 i i GX Devel
23. Interpreted as 0 u Nae ae by 2is DECO D2020 D2100 Ka H aS eee b15b14b13b12b11b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 bO D2100 fofsfofofojolojo L I Only bit 6 of bits 0 to 7 turned ON Does not change Note 1 The D2100 bit 0 turns ON when the b0 to b2 of D2020 are 0 Note 2 The D2100 details remain the same even if XO turns OFF 2 Program to decode the eight bits 0 to 7 of D2020 and turn the bits corresponding in D2100 to D2115 28 256 bits ON X0 H DECO D2020 D2100 K8 JH b15b14b13b12b11b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 bO D2020 ololo ololol l lolol lolo olol Aes Vv A v P Interpreted as 0 When bit 0 to 7 data is binary and 33 A y R 6255 b48b47 b34b33b32b31 b17b16b15 b2 b1 bO 0 0 0 PJ olololo 1 o o 1 o olololo olo o o ojololo v A v A v x v A v I D2115 D2115 D2103 canai D2101 D2100 Does not change nly bit 33 of bits 0 to 255 is turned ON 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 34 7 segment decode SEG Usable device Digit Settin j desig ee fx ty Tu su r c o w r celso z k n r n ration TE a 5 ne E A E E E E E A E T D O Usable Instruction Command SEG H SEG Setting data Setting data Description Data to be decoded or head number of the devices where the data to be decoded is stored BIN 16 bits Head number of the device
24. Modifyvaue o y O Programuist Pf O interrupt ProgramList x Change Instance Function Bock TK y O SFC Al Block Batch Monitoring o x d O SFcautosoo ooo o ax O Registertowatch PT d O O Available Available with restrictions X Unavailable Note 1 Note 2 Only program memory Only Motion CPU devices Note 3 Parameter for sequence program is fixed Note 4 Coexistence with the Local Device Comment is impossible Note 5 Coexistence with the Global Device Comment is impossible Only one file can be written Note 6 Available at function of MT Developer2 Note 7 Only Program Memory and Do not create a user setting system area Note 8 Setting by CPU No 1 App 7 APPENDICES APPENDIX 1 2 GX Developer features support List of GX Developer common functions available for Motion CPU is shown below The following table lists the details of GX Developer Version 8 68W The functions that added 8 68W or later are not described 1 General section functions Support Remarks New projet Open project Save Saeas o G O Delete project Oooo O Verify coy oo G Eoee es Edit Data Rename Change program type eoe a Change PLC type Only QO3UDCPU eet ee Import file Import from TEXT CSV format file Project Export file Registration macros Macro utilize Macro Delete macros Macro reference path Function Block Security operation Printersetup O
25. a Sequence program error occurs Safety observation warnings SM24 are turned ON and error code SD32 10 detail code SD33 8001H are stored 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 10 Conversion from BCD to BIN 16 bits 32bits BIN DBIN Usable device Digit desig x y mi smje r clolwi r c sof z k H P N nation Usable A Only BIN instruction 16 bits Instruction BIN Command Setting data Setting data Description S Head number of the devices where the BCD data is stored BCD 4 8 digits D Head number of the devices where BIN data will be stored BIN 16 32 bits Function 1 Conversion from BCD to BIN 16 bits BIN e Converts BCD data 0 to 9999 at device designated by S to BIN data and stores at the device designated by D 8000 4000 2000 1000 800 400 200 100 80 40 20 10 8 4 2 1 s BcD9999 1 o o 1 1 o lo 1 1 olo 1 1 o o 1 Thousands digits Hundreds digits Tens digits Ones digits J BIN conversion 32768 163848192 4096 2048 1024 512 256 128 64 32 16 8 4 2 1 D BIN9999 o o 1 lolol l1 l l l lo lololol l l ilil L Always filled with Os 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU eee Error 2 Conversion from BCD to BIN 32 bits DBIN e Converts BCD data 0 to 99999999 at the device designated by S to BIN data and stores it at the device designated by D
26. e Bit 2 e Bit 3 e Bit 4 e Bit 5 Output off check normal Note 1 Only Motion CPU side Safety signal comparison normal This signal is turned ON when no error relating to signal comparison and sequence check is occurring and the safety signal comparison is properly being performed on Motion CPU or PLC CPU side Safety signal input comparison error This signal is turned ON when mismatch status is detected by input signal comparison on Motion CPU or PLC CPU side Counterpart s signal comparison stop detected This signal is turned ON when Motion CPU or PLC CPU side detect that the safety signal comparison process Sequence program on counterpart s CPU is not executed correctly Safety signal data error detected only Motion CPU side This signal is turned ON when data transmission from the Motion CPU to PLC CPU is not executed correctly The data is to be transferred from the Motion CPU to PLC CPU so that the PLC CPU executes the safety signal comparison sequence program Safety signal output FB comparison error This signal is turned ON when the output signal and its return input signal do not match on Motion CPU or PLC CPU side Comparison process start This signal is turned ON when the safety signal comparison processing Sequence program is being executed on Motion CPU or PLC CPU side 4 10 4 DEDICATED DEVICES e Bit 6 Initial signal comparison check complete This signal is turned ON when detects that both t
27. ieee ee e A EE Start new GX Developer session o oo O ExtGX Developer O Do oo o a ee Restore after ladder conversion o O C ee copy o G App 8 APPENDICES Middle item Small item Support Remarks ese Inditsert line _ O a I line linsetrow o row e Insert NOP batch Delete NOP batch o NOP batch Drawiine Delete ine Change TC seting Bage Read mode Writemode S mode Close contact Open branch Close branch Edit Coil Application instruction Vertical line Horizontal line Ladder symbol Delete vertical line Delete horizontal line a pulse estas o mm pulse ana qulenepen bare __ pulse open branch fatigue cose bane pulse close branch Invert invert operation results results me pe Find instruction Find steg no Find character string Find contact or coil Replace device Find Replace Replace instruction y O Change open close contact o Replace character sting Change module start address Replace statement note type Cross referenoe tist oo o List of used devies Covet o A O Convert Convert All programs being edite o Convert Online change C Fo E l cel aay ar es Oooo dod 7 O Oooo do O a eS ae a er ae il a se JOpenbranch Closebranch CT eo o oc S Application instruction Verticalline CL Horizontais Delete verticalline OT e L
28. of speed monitoring function is within 50 ms The external auxiliary pulses are used as safety signals to confirm the validation of motor encoder The external auxiliary pulse signal is input via safety signal module and diagnosed by the safety signal comparison function The validation of pulse signal is guaranteed by this diagnosis so the special devices are not required When performing speed monitoring function with a safety encoder compatible servo amplifier and a safety encoder external auxiliary pulse is not necessary The safety response time of a system that uses a safety communication compatible servo amplifier is up to 250ms The response time includes the maximum response time of the controlling section PLC CPU and Motion CPU communication delay communication timeout and the maximum time to start the STO of the servo amplifier Take the above response time into account when shutting off power supply by the STO function in safety communication 2 SAFETY OBSERVATION FUNCTION The system configuration for speed monitoring function is shown below i i R i I I I a i I Motion CPU PLC CPU Safety signal comparison Consistency check es See Ce a ae ne a a aaa ENE eee eee kerbras amp Safety communication compatible servo amplifier External auxiliary pulses External auxiliary pulses Servo motor safety encoder Safety signal module Motion IO Servo ampl
29. signal Y20A X20A is turned OFF and the STO signal is immediately turned OFF c SS2 is disabled with the reset switch X101 Create the program so that SOS is disabled only when the switch is turned ON to OFF preventing accidental start when the reset switch is shorted or welded 2 35 2 SAFETY OBSERVATION FUNCTION 4 Timing chart The timing chart for this function is shown below Safety input signal such as door signal etc SS2 command SS2 status SOS status Deceleration Standstill monitoring monitoring Note SOS state 1 4 Motor speed avr cedback speed Standstill speed speed N 1 I N 1 1 i 0 p SOS movement amount allowance Motor position gt t 0 Note 1 The SS1 SS2 operation time or the time until motor stop is detected 2 SAFETY OBSERVATION FUNCTION 2 9 4 Sequence program example for speed monitoring SLS1 to SLS4 The following is an example of a user safety sequence program Motion CPU side for supporting the SLS1 to SLS4 of the servo amplifier Create the user safety sequence program on the PLC CPU side with the same logic 1 Devices X102 General signal Reset switch input x200 Note Safety signal Safety switch input y303 Mea Note 3 Functional safety command SLS1 command M21 Trailing edge detection flag of reset switch input Note 1 When the start device number of safety signal module is set to 200
30. use Safe Brake Control SBC as mechanical lock or perform Safe Torque Off STO Encoder position feedback data does not guarantee the range out of the small oscillation Therefore make sure that motor encoder feedback position can operate normally in the machine mobile region At least the performance check of motor mobile region is required The position assurance of the motor with SOS is 1 75 pulses and 1 pulse with safety encoder with the external auxiliary input pulse conversion 1 4 6 Safe brake control SBC 1 This function guarantees only that power to mechanic brake is properly supplied Abrasion of the brake cannot be detected Make sure regularly that the mechanic brake operates 1 OVERVIEW 1 4 7 Safety communication function 1 The safety communication function cannot detect an incorrect servo amplifier station number setting Check that the station number setting for the Motion control program and the axis select rotary switch setting of servo amplifier match 2 For servo amplifiers that support the safety communication function check that safety communication is connected Refer to Section 2 9 5 for details 3 To ensure that PLC CPU executes the safety communication function within the safety communication cycle refer to Section 3 4 1 4 c make a sequence program with the maximum scan time less than or equal to the value below If the scan time of the sequence program exceeds the value below add mor
31. 0 0 1 0 0 O The total number of 1 s is set in BIN In this example 8 is set 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 33 Decoding from 8 to 256 bits DECO Usable device Digit inl desig x y ui smje r clolwi r c sof z k H P N nation S D n O Usable Instruction Command DECO H DECO S Setting data Setting data Description BIN 16 bits Number of the devices where the decoding result will be stored BIN 16 bits S D n Valid bit length 1 to 8 Function 1 Turns ON the bit position of D which corresponds to the binary value designated by the lower n bits at S 2 The value of n can be designated between 1 and 8 3 No processing is conducted if n 0 and there are no changes in device designated at D 4 Bit devices are treated as 1 bit and word devices as 16 bits Error The range 2 bits from exceeds the range of the corresponding device or the value of n is other than 0 to 8 sequence program error occurs Safety observation warnings SM24 are turned ON and error code SD32 10 detail code SD33 8015H are stored 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU Program Example 1 Program to decode the three bits 0 to 2 of D2020 and turn the bits corresponding in D2100 ON eine Hi b15b14b13b12b11b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 bO D2020 of of ojofo fojojofo ojo 1 a 1 o Dn
32. 19 U3EW GO 698 U3JEW GO 699 20 U3EW GCO 700 U3EMN GO1 701 21 U3EM GO 702 U3EM GO 703 24 U3EM GC 708 UBEW GO 709 27 U3EM GO 714 UZEM GO 715 28 U3EM GO 716 U3EM GO 717 29 U3EM GO 718 UZEM GO 719 30 U3ZEM GO 720 U3EM GO 721 31 UZEM GO1 722 U3EM GO 723 Note 1 W is 0 PLC CPU side W is 1 Motion CPU side is Multiple CPU shared device start address of safety communication parameter 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU E 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU This chapter describes the devices and instructions used to create a sequence program for Motion CPU 5 1 Description of the Device for the Sequence Program This section describes the devices available for the user safety sequence program of the Motion CPU For the available device range refer to Section 3 5 2 POINTS Not available the bit specification for the word device If it is used sequence program will be error Safety observation errors SM57 are turned ON and error code SD32 10 detail code SD33 2700H are stored 5 1 1 Input output X Y 5 Input output X and Y are used to transfer data between the sequence program and I O module safety signal module 1 Input X a This issued commands or data from an external device su
33. CPU side 1400 points Multiple CPU Shared Device Note 1 Refer to the Q173D S CPU Q172D S CPU Motion controller User s Manual for the station number setting of safety signal module 3 START UP PROCEDURES b Speed monitoring parameter Set the even number as the Multiple CPU shared device start address of safety signal comparison parameter setting to use the speed monitoring function If the odd number is set Safety observation error error code 27 will occur The following 16 types of parameters can be registered as one parameter block and up to 32 blocks When the multiple parameter blocks are enabled for the same axis the monitoring process is executed with the lowest safety speed for the same axis Setting range Speed Monitoring Axis No Set the axis No which performs the speed monitor When 0 is set the corresponding block is unused 0 to 32 Speed Monitoring Error Detection Time Axis Unit Setting Note 2 Note 3 Number of Pulses per Motor Revolution Note 2 Note 3 Set the detection time to detect that the motor speed during the speed monitoring while the speed monitoring is permitted exceeds the safe rotation speed Select the unit of the axis which performs the speed monitor This setting should be as the servo data setting Set the feedback pulse per motor rotation which is determined by machine systems of the axis which performs the speed monitor This setting sho
34. Cancel All Selections Module Name Data Name Title Project Name Target Detail ie Last Change Target Memory Seq Program Program File Po SAFETY_2 2012 03 23 16 22 52 2164 Bytes H SAFETY 3 2012 03 23 16 22 52 2164 Bytes HD SAFETY 4 2012 03 23 16 22 54 2160 Bytes lt SAFETY_1 Convert ERROR 2012 03 23 16 27 22 2392 Bytes aa Detail a Device Data g lt Screen GX Works2 gt Former program name is added to the title The program of error is renamed the name ERRLAD L Note Do not read the faulty sequence program file ERRLAD D and do not use it Unexpected data is included which may cause a malfunction 6 TROUBLESHOOTING 2 Confirmation of step No where error occurred and correction of sequence program The step where an error occurred can be confirmed using the PLC comparison function e Edit data Select the original sequence program file of GX Works2 GX Developer e Module data Select the sequence program file where an error occurred ERRLAD O of the Motion CPU After performing the PLC comparison the contents of the mismatch are displayed as the example below Online Data Operation r Connection Channel List Serial Port PLC Module Connection System Image knji C Read C Write ic Verify Delete fi PLC Module a Intelligent Function Module Execution Target Data No f Yes Title Por
35. D 2 D 3 e The division operation result is stored in 64 bits and both the quotient and remainder are stored Quotient Stored at the lower 32 bits D D 1 Remainder Stored at the upper 32 bits D 2 D 3 e Values for and can be designated at between 2147483648 and 2147483647 BIN 32 bits e Judgment whether values for S1 S2 D and D 2 are positive or negative is made on the basis of the most significant bit b31 Sign is attached to both the quotient and remainder 0 Positive 1 Negative 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 7 Incrementing and decrementing 16 bit BIN data INC DEC Usable device Digit Settin j desig ee x r usu e r c o w r celso z k u r n naton c e E E T e eo Res e a ee ee O Usable Instruction Command INC INC D Command DEC D Setting data D Number of devices for INC 1 DEC 1 operation BIN 16 bits Function 1 Incrementing 16 bit BIN data INC e Adds 1 to the device designated by D 16 bit data e When INC operation is executed for the device designated by D whose content is 32767 the value 32768 is stored at the device designated by D 2 Decrementing 16 bit BIN data DEC e Subtracts 1 from the device designated by 16 bit data e When DEC operation is executed for the device designated by D whose content is 32768 the value 32767 is stored at the device designated
36. EEEE asc aft sane ts argh st aes stadt Nadel EET 5 12 524 lndexomament ai a Seaton ee ees eee a ae ee a ae re a ee ae am a 5 12 5 2 5 Digit designat ON 2 ccsccesceeeeeeneeseeeeceeeeeeaeeedeeeseeeeeesecedeceaeeseeeseeseceuaeeeeeeensecenenseaecseeesecenaeenaetoes 5 13 5 3 Basic INStructions e n ceapliviad ete coated a Ea a aE a E E EE A Ada 5 16 5 3 1 Operation start series connection parallel connection LD LDI AND ANI OR ORI 5 16 5 3 2 Ladder block series connection and parallel connection ANB ORB ccccccccssceeesseeessseeeeees 5 17 5 3 3 Out instruction OUT excluding timers counters ssessessesresresrerrsinesnssnsrnnrnernennseneincenennntneeneennne 5 18 23 4 HINNED 1G A a E EE E AEE E E EE EEE ET EE eed 5 19 5 3 5 Counter OUT Caminen eel ded a ie elle lel elie led 5 21 5 3 6 Setting and resetting devices SET RST ecececeeceeceeeeeseeeseeeseeeseeeseeeseeeseeeseeeseeeseeeseeeseeesenteaeeeaes 5 22 5 3 7 Setting and resetting the master control MC MCR eceecceeceeeceteeeeeeeeeeeeeeeseeeseeeseeeeeaeseeeeeneeeneeees 5 23 5 3 8 Leading edge and trailing edge outputs PLS PLF o e eee eeceeeeeeeeeeeeeeeeeeeteeeseneeeeeseaeseneeeneeeneeees 5 25 5 3 9 Bit device Shifts SFT a a a a ee a aa a a aa a aa e aa aa aaa aae aa aada aai aata ra aadnk 5 26 5 3 10 Operation results push read pop MPS MRD MPP cccccccsssscceesseeeeesseeeeessaeeeeessaeeesessaeees 5 27 5 4 EUNCH
37. Error CPU Detect CPU PLC CPU PLC CPU scan time error Motion CPU PLC CPU 24 Motion CPU scan time error l Motion CPU 141 When the error occurred please reduce the number of steps of sequence programs and shorten the scan time 2 10 5 Voltage monitoring of Motion CPU circuit The safety observation function constantly monitors that the normal and stable DC voltage is supplied to Motion CPU internal main electric parts CPU system LSI etc If the internal voltage has failure status voltage rise voltage drop Safety observation error error code 150 will occur and the shut off signal will turn OFF No particular precaution is given for the parameter setting and program creation of this function 2 10 6 Temperature monitoring of Motion CPU module The safety observation function constantly monitors if the Motion CPU internal main electric parts CPU system LSI etc executes within the permissible temperature If the temperature is abnormal overheated Safety observation error error code 151 will occur and the shut off signal will turn OFF When the error occurred be sure that the Motion CPU ambient temperature is below 55 C and take measure for heat release No particular precaution is given for the parameter setting and program creation of this function 2 SAFETY OBSERVATION FUNCTION A i eee ee 2 11 Speed Monitoring Function Omitting External Auxiliary Pulse Input The speed monitoring fun
38. Example K2MO Example D2000Z0 Note 1 The word device refers to T C Dand W Zn Bit designation MOV D2000Z0 K2Y20 MOV K2M0 D2000Z0 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU Caen 5 2 5 Digit designation A digit may need to be designated for the bit device X Y M SM F How many points of 4 point unit bit devices are to be used with the 16 bit or 32 bit instruction is selected with this digit designation Use device K when designating the digit The designation range is as shown below A random bit device can be set for the bit device 1 16 bit instruction K1 to 4 4 to 16 points Example Setting range with digit designation of XO to F 16 bit data XF XC XB X8 X7 X4 X3 K1 designation range 4 points K2 designation range 8 points K3 designation range 12 points K4 designation range 16 points 2 32 bit instruction K1 to 8 4 to 32 points Example Setting range with digit designation of XO to 1F 32 bit data X1F X1CX1B X18X17 X14X13 X10XF XC XB X8 X7 X4 X3 XO K1 designatio range 4 points K2 designation rangel 8 points K3 designation range 12 points K4 designation range 16 points K5 designation range 20 points K6 designation range 24 points K7 designation range 28 points K8 designation range 32 points 5 SEQUENCE INSTRUCTIONS FOR MO
39. Index registers Z The index registers are used as ornaments for the device T C D W Refer to Section 5 2 4 159 e Smok zo D2000Z0 indicat 165 _ __ mov K4X0 D2000Z0 Peas D 2000 Z0 D2003 1 The index register has a 1 point 16 bit configuration and can be read and written in 16 bit units 2 The data stored in the index register is cleared when the power is turned OFF 3 Values that can be stored e Decimal 32768 to 32767 e Hexadecimal 0000h to FFFFh BIN16 bit signed data 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU E 5 1 9 Nesting N 1 This indicates the master control nesting structure 2 The master control nesting N is used in order from smallest number MC NO M15 NOL M15 B Execute when A conditions are set MC N1 M16 lt gt Execute when A B conditions are set MC N2 M17 Reset MC2 to 7 Execute when A B conditions are set Reset MC1 to 7 Execute when A conditions are set Reset MCO to 7 Execute when A B C conditions are set gt Execute regardless of A B C conditions a The conditions for each master control to turn ON are as follow e MC NO M15 ON when condition A is ON e MC N1 M16 ON when conditions A B are ON e MC N2 M17 ON when conditions A B C are ON b The timer and counter when the master control is OFF is as follows 100ms timer 10ms timer The count value is set to 0 100ms integrated
40. No pulses execute the small oscillation operation Note 6 Check the machine connection of the external auxiliary pulse input Check the machine connection of the motor At a small oscillation consistency of the Check if the consistency of the motor travel Small oscillation change the feedback position from motor and the external auxiliary pulse input travel error encoder and the change of external matches auxiliary pulse input did not match For the external auxiliary pulse input set the A B phase mode Confirm the ON status of the in position signal before executing small oscillation Safety ob ti EY eens on An error is detected at the internal process Explain the error symptom and get advice internal processing Note 7 check for safety observation from our sales representative error Set the scan time to 25ms or less such as PLC CPU scan The scan time of PLC CPU reached 25ms aes the program or adding A ELG ti g puso SENAR Check the software version serial No of the PLC Reduce the number of steps of the user oo00H p The process cycle of safety observation of safety sequence program so that the Deseo em eno Motion CPU reached 25ms or more process cycle of safety observation is 25ms ot safety or less observation of Th TTEN m 5 Motion CPU e safe yo servation processing 0001H execution time of the Motion CPU A 4 Explain the error symptom and get advice exceeded the limit m ER from our sales representa
41. Program sFc Device yo Assignment Multiple CPU Setting serial Communication Timer Limit Setting loa Speedi 190 ms ims 1000ms Common Pointer No P After 0 4095 High Speed 10 00 ms 0 01ms 100ms RUN PAUSE Contacts Points Occupied by Empty Slot 1 16 v Points RUN x X0 X1FFF System Interrupt Settings PAUSE X 80 X1FFF N Fixed Scan Interval 128 100 0 ms 0 5ms 1000ms Latch Data Backup Operation Valid Contact Device Name x Remote Reset I Allow Output Mode at STOP to RUN 129 40 0 ms 0 5ms 1000ms 130 20 0 ms 0 5ms 1000ms 131 10 0 ms 0 5ms 1000ms Figh Speed Interrupt Settings Previous State Interrupt Program Fixed Scan Program Setting C Recalculate Output is 1 scan later Tl High Speed Execution A PLC Compatibility Setting T Pe I Use special relay special register from SM SD 1000 Intelligent Function Module Setting Interrupt Pointer Setting Module Synchronization Service Processing Setting Execute the process as the scan De 10 e time proceeds Specify service process time ms 0 2ms 1000ms c Specify service process Times 1 10 Times execution counts r C Execute it while waiting for constant scan setting IV Synchronize intelligent module s pulse up 1 Setting should be set as same when using multiple CPU PLC Module Change Setting PLC Module Change Setting Print Window Print Window Preview Acknowledge XY Assignme
42. S S dof E tase be o aoo smal CT TileFBHorizontaly EK OE JOpenHeader dod E Backto Zoom SFC Biok J oo dx k MovesFC Cursor dx Ee Open instructionHelp ECE o d O Available Available with restrictions X Unavailable Note 1 Usable Only IN Peripheral If In PLC occur an error at run Note 2 Online change cannot be executed to Motion CPU Make the STOP state before writing 3 Label setting functions Seea Pf Expand Declaration CE OE Colapse Declaration dod OE New Declaration Before CS Eee New Declaration After Delete Row Read from CSV File E e Write to CSV File a ee O Available A Available with restrictions X Unavailable App 5 APPENDICES 4 Device comment functions Middle item Small item Support a S Redo I I I Ia eeo Select All ese oo a eee Import from Sample Comment PO Some available Clear All Eoo sae e a ee O Available Available with restrictions X Unavailable 5 Setting connection destinations Pesem CT CT PicsideF OT Transfer Other Station Setting xT Setup Network CommunicationRoute x Connection Co existenceNetworkRoute x Mutipe CPU seting dodd o Targetsystem d x d O Available Available with restrictions X Unavailable 6 Online Functions Middle item Small item Support TargetMemoy o O a Noe E PLC Data Program O E e T E Read from e
43. Speed monitoring enabled flag z Note Device No Signal name F PLC CPU side Motion CPU side Speed monitoring enabled flag U3E0 GU1 50 U3SEO GO 51 U3E1 GO 50 U3E1 GO 51 Note 1 O is Multiple CPU shared device start address of safety signal comparison parameter Function Status of execution enable of the speed monitoring SLS function is stored Operation After speed monitoring request signal is turned ON and speed monitoring parameter consistency check is completed normally the bits of the corresponding parameter block will be turned ON This signal does not show the executing state of the speed monitoring Confirm the executing status by Speed monitoring executing flag Low side F E o C B A 9 8 7 6 5 4 3 2 1 0 bit Se monitoring parameter block No 1 Speed monitoring parameter block No 2 Speed monitoring parameter block No 16 High side F E D C B A 9 8 7 6 5 4 3 2 1 0 bit SSS SS SS SS monitoring parameter block No 17 Speed monitoring parameter block No 18 Speed monitoring parameter block No 32 2 Speed monitoring executing flag Note Device No Signal name F PLC CPU side Motion CPU side Speed monitoring executing flag U3E0 GU1 52 U3E0 GO 53 U3E1 GO 52 U3E1 G Note 1 O is Multiple CPU shared devic
44. amplifier operating processing Servo amplifier communication processing Motion SFC event task processing etc Motion operation processing Communication processing with peripheral Motion main equipment Automatic refresh device processing Motion SFC normal task processing etc processing 10 Sequence program check When the PLC READY flag M2000 of Motion CPU turns from OFF to ON check of the sequence program detection of unavailable instructions device range check etc is executed If any error is detected Safety observation error error code 10 occurs and the Motion CPU cannot run the program Confirm a detailed error code SD33 remove the cause of the error and turn M2000 from OFF to ON Refer to chapter 6 for the contents of error codes and how to handle them 3 START UP PROCEDURES 3 6 Validation of Parameter or Program The following shows how to transfer safety observation function parameters and user safety sequence programs created by programming software to CPU modules re es ee ae py Oy ee E a a 1 USB PLC CPU Motion CPU RS 232 l Transfer 3 l Einemet Safety observation Safety observation MT Developer2 function parameter function parameter Consistency l l check l User safety User safety USB RS 232 l sequence program sequence program USB Ethernet I RS 232 Ethernet GX Works2 GX Developer GX Works2 GX
45. b Create the program so that the start switch is enabled only when the switch is turned ON to OFF preventing accidental start when the start switch is shorted or welded c When the safety switch is turned OFF the SS1 command Y301 is turned ON d When the safety observation error is detected in the controller or servo amplifier during operation the shut off signal Y20A X20A is turned OFF and the STO signal is immediately turned OFF During SS1 operation commands from the Motion CPU are ignored and operation is at the command speed of the servo amplifier Because the commands from the Motion CPU are ignored the command speed changes when SS1 stops and a safety observation error may occur when speed monitoring function is being executed by the Motion CPU f When this function is used during synchronous control axis positions of synchronized axes can no longer be synchronized To maintain synchronization between axes turn the SS1 command ON after stopping the axes e 4 Timing chart The timing chart for this function is shown below Safety input signal such as door signal etc SS1 command 1 SS2 operating time SS1 status STO status SBC status STO status Feedback speed Motor speed Na o 2 34 2 SAFETY OBSERVATION FUNCTION 2 9 3 Sequence program example for standstill monitoring SOS SS2 Stop category 2 The following is an example of a user safety seque
46. by IEC 60204 1 Execute the ON OFF control of shutoff signal STO signal output signal of safety signal module and timer delay processing for motor deceleration time SS1 using safety signal comparison process in user safety sequence program Safety input signal Safety door etc V i Start of deceleration Motor speed 0 Power shut off signal STO signal i 1 The timer delay processed by user safety sequence program 2 6 1 Sequence program example for shut off function STO SS1 Stop category 1 The user safety sequence program example Motion CPU side for corresponding to STO SS1 stop category 1 is shown below Create the user safety sequence program of PLC CPU side in the same logic as Motion CPU 1 Devices X100 Note e signal Start switch input x200 N Safety signal Safety switch input x20a Nolet Safety signal Shutoff signal feedback input y20a oe Safety signal Shutoff signal control by system y20B N Safety signal STO signal MO Trailing edge detection flag of start switch input M1 Start enable signal M3 Stop request flag Nt T16 100ms timer SS1 delay time 1 08 Ae Note 1 When the start device number of safety signal module is set to 200 Note 2 Create the Motion SFC program etc to stop the positioning with stop request flag M3 ON Not required to embed it in a user safety sequence program Note 3 Set the deceleration time and SS1 delay t
47. can be registered up to 8k steps 32k byte However a large size sequence program may affect the Motion operation cycle Create a program of around 1k steps The following figure shows the overall configuration of a user memory area for storing a sequence program of Motion CPU Information area for file management Control information 3 Generated automatically at the PC memory format Sequence program Sequence program Upto 10 programs and up to 8000 steps User memory step 1 4 bytes can be registerd Up to 64k bytes Data Comments Data Comments L Capacity excluding control information and sequence program from full capacity of user memory area can be used 3 START UP PROCEDURES 3 Handling of user memory for sequence program The user memory area is stored in the built in backup memory The following operations are possible with MT Developer2 e ROM operation by Export to ROM Format function e Data clear by Clear CPU Memory function e Backup and load of data by CPU Backup function Refer to the Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON or help of MT Developer2 for details of each function 3 START UP PROCEDURES 4 Available devices The following devices can be used Refer to Chapter 5 for details The local devices cannot be used Status of each device is shared in all sequence programs X Y M F SM SD DW is also shared with the general control positioning dedic
48. cannot be written 3 Forced stop input setting Follow the procedure below to put all axes into forced stop status servo OFF when the safety observation function detects an error Select System Setting Basic Setting System Basic Setting Assign an internal relay M in Forced Stop and turn this siganl from ON to OFF in the user safety sequence program ON Forced stop cancel OFF Forced stop status Basic Setting Base Setting Multiple CPU Setting 5 j SSCNET Setting CPU Name Setting Built in Eth 4 gt 1 Operation Cycle Operation at STOP to RUN 0 8ms X M2000 is turned on by switching from STOP to RUN M2000 is turned on by switching From STOP to RUN Error Setting on Servo Alarm and setting 1 in the set register Output Error Not Output Error Forced Stop C Nothing xX PxX mM Error Check M 0 a 0to8191 JV Perform Battery Check Latch Range Latch 1 Latch 1 Latch 2 Latch 2 Start End Start End Internal relay M_ Oto 8191 Linkrelay B Oto 1FFF Datareaister D Oto 8191 tinkresister w oto 1FFF Latch 1 It is possible to clear using the remote operation latch clear 1 1 2 Latch 2 It is possible to clear using the remote operation latch clear 1 2 lt Screen MT Developer2 gt 3 START UP PROCEDURES 4 Parameters for safety observation function a Safety signal comparison parameter Set the parameter for safe
49. designated by D 1 and the first matched device number in the relative number from S2 is stored at the device designated by D 2 No processing is conducted if n is O or a negative value 3 If no matches are found in the search the devices designated at D and D 1 become 0 Error The range of n exceeds that of the device specified in S2 or the points specified in n exceed those of the corresponding device specified in D sequence program error occurs Safety observation warnings SM24 are turned ON and error code SD32 10 detail code SD33 8014H are stored 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 32 16 bit data checks SUM Usable device Digit ele desig x y mi smje r cololwi r c sof z k H P N nation te Ce a E E E E A E E A E E E D O Usable Instruction Command na Setting data Setting data Description S Number of the devices where the total number of bits of 1 is counted BIN 16 bits D Number of the devices where the total number of the bits will be stored BIN 16 bits Function 1 From the 16 bit data in the device designated by S stores the total number of bits where 1 is set in the device designated by D 16 bits b15 bO S before execution 1 1 oJ oJ 1 0 1 1 of 0 1 1 of of of 1 B16 SH2s ssSS es ea ee bO D after execution 0 0 0 0 0 0 0 0 0 0
50. engineering software MELSEC PLC programming software package Note 1 This software is included in Motion controller engineering environment MELSOFT MT Works2 Note 2 In the case of using only safety signal comparison function Note 3 In the case of using both safety signal comparison function and speed monitoring function Note 4 In the case of using safety observation functions with safety signal comparison function speed monitoring function and safety communication function 1 15R or later 8 68W or later Note 5 In the case of using safety observation functions with safety signal comparison function speed monitoring function safety communication function and safety encoder Refer to the Q173D S CPU Q172D S CPU Motion controller User s Manual for Installation and wiring and Inspection and maintenance of safety observation function compatible Motion controller 1 19 1 OVERVIEW MEMO 2 SAFETY OBSERVATION FUNCTION 2 SAFETY OBSERVATION FUNCTION This chapter describes the safety observation function performed by safety observation function compatible Motion CPU 2 1 Configuration of Safety Observation Function The safety observation function is structured by the following e Safety signal comparison which monitors the signal mismatch status with input output signals on both CPUs side e Speed monitoring which monitors if the motor speed exceeds the safety speed or not e User saf
51. error error code 121 or Safety observation warning error code 203 occurs and small oscillation does not complete correctly Standstill monitoring SOS function cannot be used when set to not use external auxiliary pulse input At power supply ON Safety observation error error code 27 detail code HOO61 occurs and shut off signal does not turn ON 2 SAFETY OBSERVATION FUNCTION 1 Speed monitoring parameter Setting range Set the input X device No on the PLC CPU side occupies two points of the safety signal module which inputs pulses of the pulse output system connected mechanically to the servo axis performing speed monitor In the Motion CPU side the input X device number corresponding to the input X device number set on the PLC CPU side is assigned Make sure to set the A phase B phase mode to use the standstill monitoring SOS Setting device number is an even number A phase B phase mode e External auxiliary pulse input A phase X setting device No e External auxiliary pulse input B phase X setting device No 1 Setting device number is an odd number 1 phase mode External auxiliary pulse input X Setting device No 0000 to 1FFF Setting device number 1 can be used as a general input The actual maximum IO External sensor input X Setting example number is OFFFh If a device No Block No number more than or External sensor input X device number equal to 1000h is set it
52. error cannot be resolved explain the error symptom and get advice from our sales representative Write the user safety sequence program in the Motion CPU again Make the same first device number setting of the safety signal module Set the output mode at error for the safety signal module to Clear Delete the sequence programs for safety observation SSU_CMP SLS_CMP SNT_CMP and turn off the controller and then on again Check the device point setting Do not change the time limit setting of the high speed timer from 10 00 Write the PLC parameter of the PLC CPU Relevant CPU ie PLC Motion 6 TROUBLESHOOTING Detail code SD33 D o gt A aS N Error RI jote ao oO oa jo Speed monitoring parameter block No device No Table 6 1 Safety observation error list Continued Error contents Safety observation device memory check error PLC CPU Safety observation device memory check error Motion CPU Safety signal output off check error at power on PLC CPU Safety signal output off check error at power on Motion CPU Output off check error PLC CPU Output off check error Motion CPU Speed monitoring parameter comparison error Servo axis data error Command speed monitoring error Feedback speed monitoring error Feedback position monitoring error Speed deviation value monitoring error Externa
53. function should operate on an external system to Motion controller when any failure or malfunction occurs 2 Our Motion controller is designed and manufactured as a general purpose product for use at general industries Therefore applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies and also which require a special quality assurance system including applications for railway companies and government or public offices are not recommended and we assume no responsibility for any failure caused by these applications when used In addition applications which may be substantially influential to human lives or properties for such as airlines medical treatments railway service incineration and fuel systems man operated material handling equipment entertainment machines safety machines etc are not recommended and we assume no responsibility for any failure caused by these applications when used We will review the acceptability of the abovementioned applications if you agree not to require a specific quality for a specific application Please contact us for consultation Microsoft Windows Windows NT and Windows Vista are registered trademarks of Microsoft Corporation in the United States and other countries Ethernet is a trademark of Xerox Corporation All other company names and product names used in this manual are trademarks or registered tradem
54. instruction codes and the 32 bit instruction constant K or H use two steps Note Number of steps described above is the number of internal steps when executing the sequence program in Motion CPU The number of steps that appear in GX Works2 GX Developer may be different 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU E 5 2 3 END instruction With the END instruction both the circuit mode and the list mode are automatically created so programming is not necessary 5 2 4 Index ornament 1 The index ornament is used to add an index Z0 Z1 to a device add the details of the directly designated device number and index register and designate the device number 2 The index Z0 Z1 can be set between 32768 to 32767 with a sign added 3 The index ornament is used only for the MOV instruction 4 The usable instruction format is shown below a Transmission of data to ZO Z1 MOV Kn ZO mov __ Use Kn or Hn ZO or Z1 b Possible device combinations of MOV instruction with index ornament r S source D destination Program example Constant Kn or Hn Word device Noi Zn MOV K100 D2000Z0 Example K100 Example D2000Z0 Word device Note 1 Word device N Zn Example D2000 Example D2100Z1 Word device N Zn Word device N MOV MOV D2000Z0 D2001Z0 Example D2000Z0 Example D2001Z0 Note 1 MOV D2000 D210021 Word device Example D2000Z0 Example K2Y20 Bit designation Word device 1 Zn
55. observation function Safety observation functions cannot be used in combination with the high speed universal model QNUDVCPU PLC CPU module 1 17 1 OVERVIEW 1 6 Equipment Configuration of Safety Observation Function Compatible Motion Controller Part name PLC CPU module Note 1 Motion CPU module Safety signal module Main base unit Servo amplifier Note 2 MR J4 1 Module list Safety observation function compatible product Model name Q03UDCPU Q04UDHCPU QO6UDHCPU Q10UDHCPU Q13UDHCPU Q20UDHCPU Q26UDHCPU QO03UDECPU Q04UDEHCPU QO6UDEHCPU Q10UDEHCPU Q13UDEHCPU Q20UDEHCPU Q26UDEHCPU Q50UDEHCPU Q100UDEHCPU Q173DSCPU Q172DSCPU Q173DCPU S1 Q172DCPU S1 Q173DSXY Q312DB Description Program capacity 30k steps LD instruction processing speed 0 02us Program capacity 40k steps LD instruction processing speed 0 0095uUs Program capacity 60k steps LD instruction processing speed 0 0095uUs Program capacity 100k steps LD instruction processing speed 0 0095us Program capacity 130k steps LD instruction processing speed 0 0095us Program capacity 200k steps LD instruction processing speed 0 0095us Program capacity 260k steps LD instruction processing speed 0 0095us Program capacity 30k steps LD instruction processing speed 0 02us Built in Ethernet port Program capacity 40k steps LD instruction processing speed 0 0095us Built in Ethernet port Program capacity 60k steps LD instruction processing spe
56. observation function 0 0 cece eeeeteeeeeeeeeeeeeeeaeeeaeeeeeeaeeeaeeas 2 43 2 10 4 Scan time Checki is Aaa a E ihe auntie anal Aaa giv lata 2 44 2 10 5 Voltage monitoring of Motion CPU circuit 0 ee eceeeeeneeeneeeeeeeeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeateateeas 2 44 2 10 6 Temperature monitoring of Motion CPU module 0 0 ee eeceeeeeeeeeeeeeeeeeeeeeeeeaeeeeeeaeeeaeeeaeesneeaeenas 2 44 2 11 Speed Monitoring Function Omitting External Auxiliary Pulse Input eee eeeeeeeeeeeeeneeeneteneteees 2 45 3 1 Start up Procedures Flow Chiarhsits cient ie ete aa aa a nim kia lee as deat 3 1 3 2 Communication between GX Works2 GX Developer and Motion CPU ccceeeeeeeeeeeeeeeeteeesaees 3 3 3 3 PLC Memory Formating t ncc isiiei aie Aelita dade aie lai ad aiea 3 4 34 Parameters Seng a 4 4 kai galet ate dag atelier eal pa ade 3 5 3 4 1 Parameter setting Of Motion CPU ec ececeeeeeeeceneeeeeeeeeeaeeeaeeeaeeeaeseaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeas 3 5 3 4 2 Parameter settings for PLC CPU ec eeceeceeneeeeeeeneeeeeeeaeeeneseaeeeaeeeaeeeaeseaeeeaeseaeeeaeeeaeecaeeeaeeeeeeateas 3 11 3 5 Creating User Safety Sequence Program ecccecseceeeeeeeeeeeeeeeeaeeeaeceaeeeaeeeaeeeaeeeaeseaeeeaeesaeeeaeeeeeeeeeatenas 3 17 3 5 1 Creating PLC CPU side user safety sequence program ecceeceeeeeeteeeeteeeteeeteeeteeeteneteneteneteneeaaes 3 17 3 5 2 Creating Motion CPU side user safety sequence program eeceeeeeeeeeeeeeete
57. operating the product always return the covers and partitions to the designated positions and operate according to the instruction manual REVISIONS x The manual number is given on the bottom left of the back cover Jan 2015 IB NA 0300183 B Revisions regarding the addition of safety communication function and safety encoder Additional correction partial correction Chapter 1 section 1 1 section1 2 section 1 3 section 1 4 2 section 1 4 5 section 1 5 section 1 6 section 2 1 section 2 2 section 2 4 1 section 2 7 1 section 3 4 1 section 3 4 2 section 3 5 1 section 4 1 section 4 2 section 4 3 2 section 6 1 section 6 2 section 6 4 Additional Section 1 4 7 section 2 9 section 2 9 1 section 2 9 2 section 2 9 3 section 2 9 4 section 2 9 5 section 2 9 6 section 2 11 section 4 3 5 section 4 3 6 Japanese Manual Number IB NA 0300182 This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2012 MITSUBISHI ELECTRIC CORPORATION A 11 INTRODUCTION Thank you for choosing the Mitsubishi Motion controller Q173D S CPU Q172D S CPU Before using the equipment please read this manual carefully to develop full familiarity with the functions and performance o
58. output error 1B l Safety signal output error 1F 4 DEDICATED DEVICES 5 Safety signal comparison status 2 Note Device No Signal name 7 PLC CPU side Motion CPU side Safety signal comparison status 2 U3E0O GO 29 U3E1 G Note 1 O is Multiple CPU shared device start address of safety signal comparison parameter Function The safety signal comparison status is stored Operation Each bit corresponds to the following signals Output off check error Device memory check error backup Safety communication function enable Only Motion CPU Speed monitoring function enable Only Motion CPU e Bit 0 Output off check error This signal is turned ON when an error is detected in output signal by output off check This is the inverted signal of bit F of safety signal comparison status e Bit 1 Device memory check error backup This signal is turned ON when the CPU detects device memory check error This is the same signal as bit 7 of safety signal comparison status e Bit E Safety communication function enable Only Motion CPU This signal is turned ON when the safety communication parameter is set e Bit F Speed monitoring function enable Only Motion CPU This signal is turned ON when the speed monitoring parameter is set 6 Safety signal comparison activity check information z Note Device No Signal name 7 PLC CPU side Motion CPU side
59. position return Before starting test operation set the parameter speed limit value to the slowest value and make sure that operation can be stopped immediately by the forced stop etc if a hazardous state occurs 6 Usage methods A CAUTION Immediately turn OFF the power if smoke abnormal sounds or odors are emitted from the Motion controller servo amplifier or servomotor Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized Do not make any modifications to the unit Keep the effect or electromagnetic obstacles to a 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 User s manual 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 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 predic
60. pulse sec Note 6 Linear motor use mm s Note 7 Set the allowance value of position deviation on the basis of model control gain PG1 set to the servo amplifier Speed command pulse frequency pulse s Droop pulse pulse PGI Since the droop pulse is calculated in theory by the formula above set the allowance value of position deviation based on the set travel distance per motor rotation 3 START UP PROCEDURES c Safety communication parameter Set the parameter for safety communication function Setting is only possible when the amplifier model in system settings is MR J4 W B RJ Setting range Servo Amplifier Function Set whether to use the servo amplifier functional safety unit or not When using 0 Not use Safety Module ees the functional safety unit with the servo amplifier set 1 Use 1 Use Note 1 0 Standard Encoder Encoder Type Set the t f der to b ted R ete 1 Safety Encoder Set the start device number occupies 32 points each for the X Y device of the signal of safety observation functions for safety communication function Set device numbers in units of 16 points These devices cannot be assigned to actual devices on the safety signal module Make sure the device numbers of the functional safety signal do not overlap with other axis settings Set device numbers on the PLC CPU side and Motion CPU side Functional safety status X F E D A 0
61. register details _ AY 0 Function 1 When the operation results up to the OUT instruction change from OFF to ON 1 is added to the present value count value and the count up status present value 2 set value and the contacts respond as follows A Contact Continuity B Contact Non continuity 2 No count is conducted with the operation results at ON There is no need to perform pulse conversion on count input 3 If the operation results change from OFF to ON after the count up status present value 2 set value the contact will remain unchanged and the current value will be increment 32768 gt 0 1 32767 32768 4 A negative number 32768 to 1 cannot be set as the setting value for the timer If the set value is 0 the processing is identical to that which takes place for 1 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 3 6 Setting and resetting devices SET RST Usable device Digit Settin i desig dat ii appe a e Totes epep fetal e p N nation O Usable A Usable partly Note 1 Only RST instruction Instruction Command SET SET D Command RST D Setting data Setting data Device number to be set or reset Function 1 Setting devices SET e The designated device turns ON when the execution command turns ON e Devices turned ON by the instruction remain ON when the same command is turned OFF Devices turned ON by
62. safety of machines cannot be secured unless the safety operation test is performed on the machines e At the shipment to end users confirm the safety related setting by monitoring status and displayed details of the programming tools and displays Also record and save the setting data of safety related information and programming tools by using check sheet etc Safety cannot be secured unless assembling installation wiring and adjustment of the machine are completed For the installation wiring and adjustment follow the instructions in the user s manual of each module e Only qualified personnel are authorized to install start up repair or service the machines in which components are installed Only trained engineers should install and operate the equipment ISO 13849 1 Table F 1 No 5 e Separate the wiring for safety observation function from other signal wirings ISO 13849 1 Table F 1 No 1 e Protect the cables with appropriate ways routing them in a cabinet using a cable guard etc e To use the switch relay and sensor which complies with the safety standards is recommended In case of using the switch relay and sensor which does not comply with the safety standard please apply them for the certifications e Keep the required clearance creepage distance depending on voltage e Time to detect the safety observation error depend on the process cycle of safety observation of each CPU The residual risk in each function of s
63. the SET instruction can be turned OFF by the RST instruction e When the execution command is OFF the status of devices does not change 2 Resetting devices RST e When the execution command is turned ON the status of the designated devices becomes as shown below Bit device Turns coils and contacts OFF Timers and counters Sets the present value to 0 and turns coils and contacts OFF e When the execution command is OFF the status of devices does not change 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 3 7 Setting and resetting the master control MC MCR Usable device Digit Settin j desig ee x r usu e r c o w r celso z k n r n ration mA T E 7 ua oo E E E E E D O Usable Instruction Command MC n Setting data Setting data Description Nesting NO to N7 Device number to be turned ON Function 1 Setting the master control MC If the execution command of the MC instruction is ON when master control is started the result of the operation from the MC instruction to the MCR instruction will be exactly as the instruction ladder shows If the execution command of the MC instruction is OFF the result of the operation from the MC instruction to the MCR instruction will be as shown below Device Device status 100ms timer Count value goes to 0 coils and contacts all go OFF 10ms timer 100ms retentive timer Coils go OFF but counter values
64. the device points setting of PLC CPU is changed turn OFF and ON the controller after deleting the sequence programs for safety observation SSU_CMP SLS_CMP SNT_CMP once The write inhibited password is set for the sequence programs for safety observation SSU_CMP SLS_CMP SNT_CMP Input sFTy to delete the password If self diagnostic error error code 2500 in the PLC CPU or Safety observation error error code 34 in the Motion CPU will occur at the system s power supply ON or after 24 hour continuous operation check the following items 1 The device range Refer to Section 4 2 used in the sequence programs for safety observation is included in the device point setting D excluding extended D M T 2 When the device points setting or Indexing setting of ZR device is changed the sequence programs for safety observation is delete once Be sure to check that the devices shown in Section 4 2 are not used in the user program before shipment 3 START UP PROCEDURES 4 PLC system setting Check that the value of High speed set in Timer limit setting is 10 00 default value PO to P19 are used as local pointers in the safety observation sequence program Use P20 or later as common pointers If a common pointer No is set to be a smaller number than P20 the self diagnostic error error code 4021 occurs in the PLC CPU the PLC CPU will stop when the pointer is used Q Parameter Setting LC File PLCRAS Boot File
65. timer The current count value is retained e Counter The current counter value is retained e OUT instruction All turn OFF 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU ee 5 1 10 Pointer P The pointer indicates the branch instruction CJ CALL jump destination The pointer number assigned at the jump destination head is called the label Pointer Xx Jump to label CJ P20 P20 step 501 when X13 turns ON X 17 X17 turns ON 1 For pointer PO to P249 can be used without restriction 2 P255 always indicates END It can be used as a jump destination of a CJ instruction It cannot be used as a jump destination of a single label or CALL instruction 3 P252 and P370 to P378 are labels for start which indicate the head of the program Do not use them as a device of CJ instruction or CALL instruction Even for only a main program do not omit P252 refer to section 3 5 2 5 1 11 Special register SD As the same as special relay SM special register is a 16bit register which has predetermined applications in the system Do not use special register for temporary memory 1 Turning the power OFF initializes this device 2 The special register number is expressed as a decimal 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU A 5 1 12 Decimal constant K The decimal constant can be used in the following ways 1 Timer counter setting value Designate in the range of 1 to 32767 2 Bit device di
66. to the M flag b All output signals from the safety signal module are turned OFF c Confirm that the feedback signals are turned OFF within a certain period of time d Return the output to the original status When the output off check is completed Output off check incomplete signal is turned OFF Safety observation error occurs if output off signals are not confirmed If an error is detected during the PLC CPU side output check Safety observation error error code 50 occurs For Motion CPU side Safety observation error error code 51 occurs If all output are not turned OFF for 24 hours the check will be turned ON Output off check not complete l SM27 Ji When output off check not complete Safety signal output off check S 4 output off check execute SM28 j When output off check execute all axis servo ready is turned OFF Servo ready status ESA All output signals turned OFF All output signal of Ss eae safety sugnal module Feedback input signals of the output signals When all output signals are confirmed as OFF the output off check is complete When Output off check incomplete signal is output make sure to execute the output off check using the output off check function The sequence program below is additionally required to execute the output off check automatically when output off check incomplete signal is turned ON Output off check enable signal below is a signal that i
67. 1 S1 S2 1 S2 Quotient D 1 D Remainder D 3 D 2 D 1 D D 1 D 1 D 1 D D 1 gt D D 1 D 1 D 1 D 3 START UP PROCEDURES Instruction Category Symbol d BCD e BIN conversion instruction Processing Details BCD conversions S gt D T BIN 0 to 9999 BCD conversions S 1 8 BCD conversions T BIN O to 99999999 D 1 D BIN conversions Instruction Category Symbol Symbol S BIN conversions D T BCD 0 to 9999 S 1 S BIN conversions C BIN 0 to 99999999 D 1 D Processing Details Steps 16 bit data transfer MOV MOV S D S gt D 3 32 bit data transfer DMOV S 1 S gt D 1 D 16 bit data exchange D1 gt D2 32 bit data exchange D1 1 D1 gt D2 1 D2 Block transfer S D ae Identical 16 bit data block transfers Instruction Category Symbol Jump D af Processing Details Jumps to Pn when input conditions are met Termination Termination of main program Subroutine Executes subroutine program Pn when input condition is met program calls Returns from subroutine program 3 START UP PROCEDURES g Logical operation instruction Instruction Category Sumbo Processing Details y
68. 1 6 Data register D The data register is the memory that stores the data in the Motion CPU The data register has a 1 point 16 bit configuration and can be read and written in 16 bit units 1 To handle 32 bit data two points must be used The data register number designated with the 32 bit instruction will be the low order 16 bit and the designated data register number 1 will be the high order 16 bit a The following is an example of the circuits using the DMOV instruction 0 F DMOV K8X0 D2000 The X0 to 1F data is stored in D2000 2001 b Data storage D2001 D2000 Hight order 16 bit Low order 16 bit X1F to X10 XF to X0 2 Turning the power OFF clears this device Latch setting can be applied with the system setting 3 The data register number is expressed as a decimal 4 Part of D is used in the system of the Motion CPU for the positioning dedicated signal etc The use of that is restricted Refer to the Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual REAL MODE or Q173D S CPU Q172D S CPU Motion controller SV22 Programming Manual VIRTUAL MODE for details 5 5 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU E 5 1 7 Link register W Link register W can be used in the same way as data register D 1 Turning the power OFF clears this device Latch setting can be applied with the system setting 2 The link register number is expressed as a hexadecimal 5 1 8
69. 1 GO1 11 Safety signal module2 input error U3E0 GO1 12 U3E0 GO 13 U3E1 GO 12 U3E1 GO1 13 Safety signal module3 input error U3E0 GO1 14 U3E0 GOI 15 U3E1 GO 14 U3E1 GO1 15 Note 1 O is Multiple CPU shared device start address of safety signal comparison parameter Function The comparison status between the safety signal input to Motion CPU side and PLC CPU side from safety signal module 1 to 3 is stored Once the signal is turned ON the signal status will not change until the power is turned ON again or is reset Operation Each bit corresponds to the following signals If safety signal comparison error a corresponding signal bit will be turned ON Safety signal input error 00 Safety signal input error 01 Safety signal input error OF Safety signal input error 10 Safety signal input error 11 Safety signal input error 1F 3 Safety signal output status y Note Device No Signal name PLC CPU side Motion CPU side Safety signal module1 output status U3E0 G U3E1 GO1 20 20 Safety signal module2 output status U3E0O GO 21 U3E1 GO 21 Safety signal module3 output status U3E0 GO 22 U3E1 GO1 22 Note 1 O is Multiple CPU shared device start address of safety signal comparison parameter Function The output status of saf
70. 21 4 3 6 Detailed description of shared device for safety COMMUNICATION eeeceeeceeteeeeeeteeeteeeteeetteeteees 4 22 5 1 Description of the Device for the Sequence Program cc ccceecceeeeeeeeceeeeneeeeaeeeeaeeeeaeeesaneeseaeesseetnes 5 1 5 1 1 Input output X Y J nnna iiia aa eee edi edad ede edad iia a aaa aaan 5 1 5 1 2 Internal relays M F asenn aoran naa a E a A R AE TAAA aN 5 2 543 Special relays SM niaranra a A T E T 5 3 STE P TAAT a AR ESEE occ ieee one AE ei Lm See AA E E E A EE 5 3 SUES Na CG EEE EE E E T E T PO E A T E E E A P PT A AE E 5 5 5S6 Dataregistor D eiae REA EAE AEAT RAA A EAER RRRA RARR 5 5 SE Link register W e iira a e a e aA 5 6 5 1 8 Index registers Z minrimanta deeded at del A E EA a a 5 6 9 1 9 Nesting N eroaa a a a a A a AT ET E E ddd A A ee 5 7 51 10 POME PL eea E A AE E RN 5 8 StITSpecdal registo SDR ienaa a a E a eaa a A E E R dh 5 8 SA2 Decimal constant IK 4 2 kane wate aie nae aed nau NAN ate aoe ANE A 5 9 5 1 13 Hexadecimal constant H 2 c2ccscce este ceecseceteedeeceteediesstsedtecsivedtecstsedtecteedhecsteedhecsteediecneuediessieedie 5 9 5 2 Configuration of INStrUCtIONS ce ceceeeeeeeeeene tence A a a 5 10 5 2 1 How to read the instruction table ccccecceeecceeeceeeeeeeeeeeeeeeeeeeeceeceaeeecaeeeceeeesaeeseaeeecaeeseeeeeseaeessaees 5 10 5 22 Number of steps ctf a a abla te A et A nat adasa aaa a aa 5 11 B23 EE NDiIMStUCHON EEEE EEE EE
71. 27 module Power supply modules Servo amplifiers SSCNETII cables and Synchronous encoder and the maintenance inspection for the system trouble shooting and others Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON IB 0300134 This manual explains the Multiple CPU system configuration performance specifications common 1XB928 parameters auxiliary applied functions error lists and others Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual IB 0300135 Motion SFC 1XB929 This manual explains the functions programming debugging error lists for Motion SFC and others Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual 1B 0300136 REAL MODE 1XB30 This manual explains the servo parameters positioning instructions device lists error lists and others Q173D S CPU Q172D S CPU Motion controller SV22 Programming Manual VIRTUAL MODE This manual explains the dedicated instructions to use the synchronous control by virtual main shaft 1B 0500137 1XB931 mechanical system program create mechanical module servo parameters positioning instructions device lists error lists and others Q173DSCPU Q172DSCPU Motion controller SV22 Programming Manual Advanced Synchronous Control IB 0300198 This manual explains the dedicated instructions to use the synchronous control by synchronous control 1XB953 parameters device lists error lists and others
72. 3 Restorable error a STO by user program axes maintained Controller All di ted axes disconnecte Non restorable error 9 Note 4 All axes in STO Note 1 Sn ore Error axis disconnected Note 4 s jif Restorable error A Error axis in STO Communication with Other axes in STO by user program other axes maintained ote Non restorable error Note 3 Network Note 1 Error due to an external factor speed monitoring error safety signal comparison error etc Note 2 Error due to an internal factor memory error etc Note 3 The transition to STO is executed by the user safety sequence program The user safety sequence program does not stop Note 4 Communication with SSCNETII H is maintained Restrictions 1 When operation cycle is 0 22ms a safety observation error occurs and safety observation function cannot be used 2 There is a restriction on the number of servo amplifier axes per line for SSCNET M H communication where safety communication can be used depending on the connection configuration of the servo amplifiers and SSCNETII H head module The number of axes per line for SSCNET M H communication where safety communication can be used is shown below Table 2 1 Number of servo amplifier axes where safety communication can be used Note 1 Number of SSCNETID H_ Number of connected axes per SSCNETII H communication line head module stations 16 15 14 13
73. 3 2 Ladder block series connection and parallel connection ANB ORB Usable device Digit Settin Bit device desig ee i xdTy Tw tswPe rfc fo wire solz kTxt e N nation H cia cee rete Wo oon cee De A A e EE E O Usable Instruction ANB TAbiock B block Ablock a SOR or ORI is used for the one contact parallel connection Function 1 Ladder block series connection ANB e Performs an AND operation on block A and block B and takes the resulting value as the operation result e The symbol for ANB is not the contact symbol but rather is the connection symbol e Up to 7 ANB instructions 8 blocks can be written consecutively If consecutive instructions are 8 or higher The Motion CPU will not be capable of performing correct operations 2 Ladder block parallel connection ORB e Conducts an OR operation on Block A and Block B and takes the resulting value as the operation result e ORB is used to perform parallel connections for ladder blocks with two or more contacts For ladder blocks with only one contact use OR or ORI there is no need for ORB in such cases e The ORB symbol is not the contact symbol but rather is the connection symbol e Up to 7 ORB instructions 8 blocks can be written consecutively If consecutive instructions are 8 or higher The Motion CPU will not be capable of performing correct operations 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 3 3 Out in
74. 500 CAN T EXE PRG occurs in a PLC CPU and the cause is in a sequence programs for safety observation file name SSU_CMP QPG SLS_CMP QPG SNT_CMP QPG follow the procedure below In addition the name of the faulty sequence program can be confirmed in the PLC diagnostic screen of GX Works2 GX Developer SSU_CMP QPG SLS_CMP QPG SNT_CMP QPG had a CAN T EXE PRG error in the PLC CPU Safety observation error occurs NO Factor of error 1 at Motion CPU Factor of error 1 A function incompatible with Motion CPU is used at device setting A new function not listed in Note 1 is being used YES Factor of error 2 Necessary device points are not set for operation of sequence programs for safety observation at device setting YES y Change the incompatible functions setting YES Factor of error 2 Factor of error 3 SSU_CMP SLS_CMP SNT_CMP is not updated after change of points setting at device setting SSU_CMP SLS_CMP SNT_CMP is not updated after change of ZR device index qualification setting at device setting Safety observation error 34 detailed code 31H Vv Change the device points setting YES Factor of error 3 Safety observation error 34 detailed code 30H y Erase SSU_CMP SLS_CMP SNT_CMP and turn power supply back ON Eliminate the factor of the error and turn power supply back ON
75. 6 points 1 bit 16 bits 10ms increment timer T16 to T95 T144 to T239 176 points 1 bit 16 bits 100ms increment timer T96 to T103 T240 to T255 24 points 1 bit 16 bits 100ms retentive timer CO to C127 128 points 1 bit 16 bits Counter ZO Z1 2 points 16 bits Address index register NO to N7 8 points Nesting level PO to P249 Program label P252 P255 P370 to P378 26 1 points P252 user safety sequence program label K 32768 to K32767 Decimal constant for 16 bit instruction K 2147483648 to K2147483647 Decimal constant for 32 bit instruction HO to HFFFF Hexadecimal constant for 16 bit instruction HO to HFFFFFFFF Hexadecimal constant for 32 bit instruction Note 1 Examples for case when the safety signal module I O assignments as Module 1 200 Module2 220 and Module 3 240 Note 2 The devices used in the system by Motion CPU such as positioning dedicated signals are included Refer to the Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual REAL MODE for details Note 3 These devices are added for the Motion CPU sequence program processing and cannot be used by Motion SFC program etc 3 START UP PROCEDURES 5 Available sequence instructions The following sequence instructions can be used in the user safety sequence programs of Motion CPU side The following pulse generation instructions OP cannot be used If used they are always process
76. 7 Safety observation error flag Note 1 When the speed monitoring I O device No is set to 300 Note 2 Turn it on by the user program at intervals within one hour during the standstill monitoring 2 SAFETY OBSERVATION FUNCTION 2 Program example Small oscillation P370 M100 X300 X301 M2001 M2402 SM57 7 A Vt PLS M101 H Small SOS exec Small Axis1 Start Axis1 In Axis1 Safety Small oscillation uting oscillation accept flag position Servo ON observation oscillation enable executing error start M101 11 SET Y301 H Small Small oscillation oscillation start request RST M100 H Small oscillation enable 14 END 3 Operation outline a When M100 is turned ON program during standstill monitoring small oscillation request signal Y301 is turned ON At this time confirm that the target axis axis 1 for the small oscillation is e Not during positioning e In the state of servo ON and in positioning b When the small oscillation is completed Y301 is automatically turned OFF 2 SAFETY OBSERVATION FUNCTION 2 8 Safe Brake Control SBC Control the external brake ON OFF by output signals for external brake control output signal of safety signal module of both CPUs in the user safety sequence program Connect the relay for the brake to each of the output signals of Motion CPU and PLC CPU 2 8 1 Sequence program example for safe brake control SBC P252 oO a The user safety
77. 9 MITSUBISHI ELECTRIC MOTION CONTROLLERS Drive Safety integrated wee MOTION CONTROLLER 3 Q series Safety Observation ponr Q173DCPU S1 Q172DCPU S1 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 Q173D S CPU Q172D S CPU Users manual for a description of the Motion controller safety precautions In this manual the safety instructions are ranked as DANGER and CAUTION Indicates that incorrect handling may cause hazardous i AN DAN G F R conditions resulting in death or severe injury Indicates that incorrect handling may cause hazardous AN CAU T O N conditions resulting in medium or slight personal injury or i physical damage N a a a a a a a a a M a a eee ee M i Depending on circumstances procedures indicated by A CAUTION may also be linked to serious results In any case it is important to follow the directions for usage Please save this manual to make it accessible when required and always forward it to the end user For Safe Operations 1 Prevention of electric shocks ZADANGER Never open the front case or terminal covers while the po
78. 99 R Motor encoder resolution U3E1 GO 500 to U3E1 GO 525 9 U3E1 GU1 526 to U3E1 GO1 551 Number of pulses per external sensor U3E1 GO 552 to U3E1 GO 577 rotation U3E1 GU 578 to U3E1 GO1 603 Movement amount per external sensor U3E1 GO 604 to U3E1 G 629 rotation U3E1 GO1 630 to U3E1 GO1 655 14 Safety speed U3E1 GO 656 to U3E1 GL1 681 U3E1 GO1 682 to U3E1 GO 707 Safety motor speed U3E1 GO 708 to U3E1 GO 733 10 1 2 3 4 5 U3E1 GO 292 to U3E1 GO 317 7 U3E1 GO 786 to U3E1 GO 811 Allowance speed deviation value U3E1 GO 812 to U3E1 GO 837 U3E1 GO1 838 to U3E1 GO1 863 3 SSM hysteresis width U3E1 GO1 864 to U3E1 GO1 889 U3E1 GO1 890 to U3E1 GO 915 24 SSM output Y device number U3E1 GO1 916 to U3E1 GL1 941 25 External sensor input X device number U3E1 GO 942 to U3E1 GO 967 U3E1 GO1 968 to U3E1 GO 993 U3E1 GO 994 to U3E1 G Note 1 O is Multiple CPU shared device start address of safety signal comparison parameter 4 19 4 DEDICATED DEVICES 8 Speed monitoring function control status Total 10 words per axis Note Device No Signal name R PLC CPU side Motion CPU side
79. BIF on the output side of the servo amplifier Correctly connect the output side terminal U V W and ground 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 signals etc Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning Servo amplifier Servo amplifier 24VDC Control output Control output signal signal DICOM DICOM For the sink output interface For the source output interface Do not connect or disconnect the connection cables between 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 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
80. BIN 16 bits Data for multiplying dividing or head number of the devices where the data for multiplying dividing is stored BIN 16 bits Head number of the devices where the multiplication division operation result will be stored BIN 32 bits Function 1 BIN 16 bit multiplication operation e Multiplies BIN 16 bit data designated by S1 and BIN 16 bit data designated by S2 and stores the result in the device designated by D D 1 As BIN 32 bits e Values for S1 S2 can be designated between 32768 and 32767 BIN 16 bits e Judgments whether S1 S2 and D are positive or negative are made on the basis of the most significant bit b15 for S1 and S2 for D and b31 0 Positive 1 Negative 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU E 2 BIN 16 bit division operation e Divides BIN 16 bit data designated by S1 and BIN 16 bit data designated by S2 and stores the result in the device designated by D D 1 e Result of the division operation is stored as 32 bits and both the quotient and remainder are stored Quotient Stored at the D lower 16 bits Remainder Stored at the D 1 upper 16 bits e Values for S1 and S2 can be designated between 32768 and 32767 BIN 16 bits e Judgment whether values for S1 S2 D and D 1 are positive or negative is made on the basis of the most significant bit b15 Sign is attached to both the quotient
81. CEDURES Instruction Category Symbol b Comparison instruction Processing Details Conductive status when S1 S2 Non Conductive status when S1 S2 BIN 16 bit data comparisons Conductive status when S1 gt S2 Non Conductive status when S1 lt S2 Conductive status when S1 lt S2 Non Conductive status when S1 2 S2 Conductive status when S1 1 S1 S2 1 S2 Non Conductive status when S1 1 S1 S2 1 S2 BIN 32 bit data comparisons Instruction Category Symbol BIN 16 bit addition Conductive status when S1 1 S1 gt S2 1 S2 Non Conductive status when S1 1 S1 lt S2 1 S2 Conductive status when S1 1 S1 lt S2 1 S2 Non Conductive status when S1 1 S1 2 S2 1 S2 Processing Details S1 S2 gt D and subtraction operations S1 S2 D BIN 32 bit addition S1 1 S1 S2 1 2 gt D 1 D and subtraction operations S1 1 S1 S2 1 S2 gt D 1 D BIN 16 bit S1 x S2 gt D 1 D multiplication and division operations S1 S2 Quotient D Remainder D 1 BIN 32 bit S1 1 S1 x S2 1 S2 gt D 3 D 2 D 1 D multiplication and division operations BIN data increment and decrement S1
82. CPU side Speed monitoring enabled flag U3E0O GO 50 U3E0 G U3E1 GO 50 U3E1 G Speed monitoring executing flag U3E0 GL1 52 U3E0 G U3E1 GO 52 U3E1 G monitoring parameter consistency U3EO GO 54 U3EO GO 55 U3E1 G0 54 U3E1 G check Fas sae patie aca U3E0 GOI 56 to U3E0 G U3E1 GO1 56 to U3E1 G Bie monitoring error status U3E0 GO1 60 to U3E0 G U3E1 GO 60 to U3E1 G Pies block 1 to 32 Cumulative external input pulses 5 U3E0 GO 92 to U3E0 G U3E1 GO 92 to U3E1 G Parameter block 1 to 32 Travel value per motor encoder rotation U3E0 GO 124 to U3E0 G U3E1 GO1 124 to U3E1 G Parameter block 1 to 32 2 words block 2 words block 7 Speed monitoring parameter U3E1 GLO1 188 to U3E1 G Parameter block 1to 32 26 words block Speed monitoring function control status U3E1 GO1 1020 to U3E1 G me 1 to 32 10 words axis Unusabe 2 U3E1 GO 1340 to U3E1 G a O is Multiple CPU shared device start address of safety signal comparison parameter Device numbers are for when PLC CPU is CPU No 1 and Motion CPU is CPU No 2 4 DEDICATED DEVICES 4 3 4 Detailed description of shared device for speed monitoring 1
83. Developer 3 6 1 How to validate parameter Check the safety parameters transferred from MT Developer2 to Motion CPU on screen of MT Developer2 or touch panel GOT etc connected to CPU module by monitoring the parameter information assigned to the Multiple CPU shared device Make sure to confirm the parameters by comparing them to parameters written in the setting value list Notet Lock safety parameters by passwords to prevent from changing the setting Motion CPU Parameter transfer MT Developer2 Lock by a passwords to prevent from the Monitor the parameter setting change information assigned to the Multiple CPU shared device on touch panel GOT etc Verification Verification Setting value list V of N 7 sA s Program designer Operator Note 1 List of safety observation function parameter printed by print function of MT Developer2 3 START UP PROCEDURES 3 6 2 How to validate user safety sequence program Check the user safety sequence programs created by programming software and user safety sequence programs written in the CPU module by using different tools one of GX Developer GX Works2 GOT Ladder monitor function in writing or reading each Lock user safety sequence programs by passwords to prevent from changing the setting Write Write rc al M 4 PLC CPU Motion CPU User safety User safety seque
84. ENGO2 U3E1G Note 1 O is Multiple CPU shared device start address of safety communication parameter Function The encoder setting of the axis that conducts safety communication is stored Operation When the safety encoder is used the bits of the corresponding axis No will be turned ON and when the standard encoder is used the bits of the corresponding axis No will be turned OFF Low side F e o C B A 9 8 7 6 5 4 3 2 1 0 vit aie Axis 2 Axis 16 High side F E D c B A 9 8 7 6 5 4 3 2 1 0 vit L axis 17 Axis 18 Axis 32 4 DEDICATED DEVICES 3 Functional safety signal start device number Note Device No Signal name R PLC CPU side Motion CPU side Functional safety signal start device U3E1 GO 4 to U3E1 G number Note 1 O is Multiple CPU shared device start address of safety communication parameter Function The functional safety signal start device number of the PLC CPU side and Motion CPU side for each axis is stored Operation The functional safety signal start device number of the PLC CPU side and Motion CPU side for each axis is stored Axis 7 U3E1 GO 4 to U3E1 GO 5 6 to U3E1 GO 7 SN Signainame O 10 to U3E1 G o Functional safety signal start de
85. G Function The safety communication Multiple CPU shared device start number PLC side is stored Operation The value set in the safety communication Multiple CPU shared device of the safety communication parameter on the PLC CPU side is set at all times 5 Safety communication Multiple CPU shared device Motion side Signal name A 3 PLC CPU side Motion CPU side Safety communication Multiple CPU s eae U3E1 GO 69 shared device Motion side Note 1 O is Multiple CPU shared device start address of safety communication parameter Function The safety communication Multiple CPU shared device start number Motion side is stored Operation The value set in the safety communication Multiple CPU shared device of the safety communication parameter on the Motion CPU side is set at all times 6 Safety communication cycle A Note Device No Signal name 7 PLC CPU side Motion CPU side Safety communication cycle SSS U3E1 GO1 70 Note 1 O is Multiple CPU shared device start address of safety communication parameter Function The safety communication cycle is stored Operation The value set in the safety communication cycle of the safety communication parameter is set at all times 4 DEDICATED DEVICES 7 Safety communication enabled bit Note Device No Signal name R PLC CPU side Motion CPU side
86. H result of operation takes a negative value K 32768 K 2 K32766 Since bit 15 value is 0 8000H FFFEH 7FFEH result of operation takes a positive value 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU eee 2 BIN 16 bit subtraction operation e Subtracts 16 bit BIN data designated by S1 from 16 bit BIN data designated by S2 and stores the result of the subtraction at the device designated by D e Values for S1 S2 and D can be designated between 32768 and 32767 BIN 16 bits e The judgment of whether data is positive or negative is made by the most significant bit b15 0 Positive 1 Negative The following will happen when an underflow or overflow is generated in an operation result The carry flag in this case does not go ON K 32768 K2 K32766 Since bit 15 value is 0 8000H 0002H 7FFEH result of operation takes a positive value K32767 K 2 K 32767 Since bit 15 value is 1 7FFFH FFFEH 8001H result of operation takes a negative value Error When the same device is specified in S1 and d or S2 and d a sequence program error occurs the safety observation errors SM57 are turned ON and error code SD32 10 detail code SD33 2700H are stored 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 4 BIN 32 bit addition and subtraction operations D D Setting Usable device Digit data desig 2 ret Tw sul 7 pelotwlrlclmlztx al e wl nation
87. MOTION CPU 5 3 Basic Instructions 5 3 1 Operation start series connection parallel connection LD LDI AND ANI OR ORI Usable device Digit Settin i desig dat 2 rx v w sul 7 elo wit clslzik u e n nation SEC A ord ors ow cl ese RV EENE e e O Usable _7 Device No i i N Instruction S Am LD ix oO xi Bx a t Function 1 Operation start LD LDI e LD is the A contact operation start instruction and LDI is the B contact operation start instruction They read ON OFF information from the designated device and use that as an operation result 2 Series connection AND ANI e AND is the A contact series connection instruction and ANI is the B contact series connection instruction They read the ON OFF data of the designated bit device perform an AND operation on that data and the operation result to that point and take this value as the operation result AND and ANI can be series connection up to 240 3 Parallel connection OR ORI e OR is the A contact single parallel connection instruction and ORI is the B contact single parallel connection instruction They read ON OFF information from the designated device and perform an OR operation with the operation results to that point and use the resulting value as the operation result OR and ORI can be parallel connection up to 23 5 16 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5
88. Name Extension Cable 1 Setting should be set as same when using multiple CPU Export to CSV Fil Import Multiple CPU Parameter Read PLC Data Print Window Print Window Preview Acknowledge XY Assignment Default Check Cancel lt Screen GX Works2 gt If the start device number of safety signal module is different from the safety observation function parameter of Motion CPU Safety observation error error code 34 will occur at the system s power supply ON or after 24 hour continuous operation 3 START UP PROCEDURES b Following settings in safety signal module is Intelligent Function Module Detailed Setting Error Time Output Mode Clear e I O Response Time 10ms e Control PLC PLC No 1 Error Time Ea yo Response Control Output Mode Eee PLC 1 Intelligent Function Module Detailed Setting Alfa lala lala laiaiaiata 1 Setting should be set as same when using multiple CPU Cancel lt Screen GX Works2 gt If the Error Time Output Mode of safety signal module is not set to Clear Safety observation error error code 34 will occur at the system s power supply ON or after 24 hour continuous operation 3 START UP PROCEDURES 2 Safety observation sequence program setting Make sure to add the program name of sequence programs for safety observation SSU_CMP Safety signal comparison sequence program SLS_CMP Spee
89. Note 1 Value calculated from the time derivative of command position from servo amplifier to Motion CPU VA Speed monitoring error detection time Parameter Error occurs Safety motor speed gt t Parameter Motor speed gt t 0 Safety observation error SM57 Shut off signal lt lt lt 8 8 8 YOA 2 4 8 Position feedback monitoring Both Motion CPU and PLC CPU monitor if the difference between the feedback position and command position of Motion CPU does not exceed the allowance value of position deviation during speed monitoring If the difference continues to exceed the allowance value over speed monitoring error detection time Safety observation error error code 112 occurs and the shut off signal is turned OFF Set the allowance value of position deviation and speed monitoring error detection time by parameter Position deviation depends on the amplifier parameter position gain etc Set the allowance value of position deviation in consideration of the amplifier parameter Speed monitoring error detection time Parameter PA Allowance value of position deviation Parameter Error occurs Command position _ Feedback position Safety observation error SM57 Shut off signal YOA De 2 SAFETY OBSERVATION FUNCTION 2 4 9 Speed deviation monitoring Both Motion CPU and PLC CPU monitor
90. O SS1 1 STO function disables energy supply to the servo motor by electrical shut off The function does not mechanically disconnect electricity from the motor Therefore it cannot prevent exposure to electric shock install a magnet contactor or a molded case circuit breaker to the main circuit power supply L1 L2 and L3 of the servo amplifier STO function can disable the energy to servo motor by the electrical shutoff This function does not guarantee the procedure of stopping the servo motor and deceleration control SS1 function only guarantees the delay time before STO becomes effective If SS1 delay time is shorter than servo motor deceleration time or forced stop function has an error STO becomes effective during motor rotation dynamic brake stop or free run stop is activated Even if STO function becomes effective with a STO switch voltage may be left in the servo motor due to the inherent delay of the equipment When the servo amplifier is replaced make sure that new one is the same type as the old one After installation make sure to check the performance of safety observation function before operating the system Check the safety at a certain cycle or with machinery which is defined by the safety standard to prevent the accumulation of failures Check the safety at least once a day regardless of system safety level If a power module of a servo amplifier shorted at the upper and lower positions the servo mot
91. O Usable Instruction Command Setting data Setting data Description e Data to be logical sum or head number of device where data is stored D e The logical sum results are stored in D device BIN 32 bits Function 1 Conducts a logical sum operation on each bit of the 32 bit data for the device designated by D and the 32 bit data for the device designated by S and stores the results at the device designated by D 2 For bit devices the bit devices after the points designated by digit specification are regarded as 0 in the operation 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 22 16 bit exclusive OR operation WXOR Setting Usable device Digit data desig 2 Pet Tw sul 7 pelotwlrlclmlztx al e w nation S1 s2 O Usable Note 1 Cannot specify the same device in S1 and D or S2 and D Instruction Command WXOR H wor S1 Setting data Setting data Description S1 Data for a exclusive OR operation or the head number of the devices S2 where the data is stored BIN 16 bits D Head number of the devices where the exclusive OR operation result will be stored BIN 16 bits Function 1 Conducts a exclusive OR operation on each bit of the 16 bit data of the device designated by S1 and the 16 bit data of the device designated by S2 and stores the results at the device designated by D 2 For bit devices the bit devices after
92. OJO O O O O JOJO O JOJO O JOJO O JO OI O JOJO O JOJO O JOJO O JO O Can be applied X Cannot be applied Note 1 Assumed as safety communication function compatible Note 2 When a safety encoder is connected to a servo amplifier not compatible with safety encoders the safety encoder functions as a standard encoder 1 OVERVIEW 1 2 1 Q173DSXY Safety signal module The safety signal module is the I O combined module that has 20 input points x2 lines and 12 output points x2 lines Number of occupied I O points 32 points per slot Up to three safety signal modules can be used The safety signal module cannot be used on the extension base unit One output point is controlled by the system as a shut off signal Safety observation is normal ON abnormal OFF Communication method is the following e Bus communication between safety signal module and PLC CPU e Remote I O communication between safety signal module and Motion CPU Refer to the Q173D S CPU Q172D S CPU Motion controller User s Manual for details of I O specifications and installation Safety Safety Safety signal signal signal module1 module2 module3 Q173DSXYjQ173DSXY Q173DSX 9 9 o ai Z 2 eg ojlo ojlo ojlo im o Y O o Q
93. ON 2 i oscillation Note 3 parameter oscillation is being executed again after small oscillation is completed block No Confirm the occurrence of errors such as servo errors or minor major errors and execute the small oscillation after resetting the errors Correct the position of machine so that the auxiliary sensor can move 0 6pulse or more at the small oscillation Small oscillation Small oscillation was not completed within timeout the specified time 6 TROUBLESHOOTING Table 6 2 Safety observation warning list Continued Error Detail Relevant CPU code Error contents Error cause Corrective action PLC Motion Reset SD32 Correct the program so that the small Small oscillation cannot be started since oscillation request signal is not turned on Small oscillation the axis to which the small oscillation has during positioning start disabled been requested is during the positioning Also correct the program so that positioning operation is not started while the small oscillation execute flag is on Mode switching Small oscillation is cancelled by turning Execute small oscillation again after the during small off on the real virtual mode switching completion of the real virtual mode Speed monitoring parameter block No oscillation request M2043 during small oscillation _ switching Speed monitoring is not executed because the speed monitor request signal Remove the cause of the safety observat
94. ON INStUCHONS y 2446 e 0 nt edteestiie eerie eee ee aaa ae eee et 5 28 5 4 1 16 bit data comparisons lt gt cccccccessccecsseeecesseeeeeceseeeeeseeeesesseeeecseaeeeeesaeeeeessaeeeseeeeeessaeeesees 5 28 5 4 2 32 bit data comparisons D D lt D gt ccccecccccccesssececesseeecesaeeecessseeccesaeeceessaeeesesseeeeeesaeeessaeeeees 5 29 5 4 3 BIN 16 bit addition and subtraction Operations cccccccccssseceessseeceessseeecesseeeesssseeesessseeesesseeees 5 30 5 4 4 BIN 32 bit addition and subtraction operations D D c ccccccccesseceeesseeceessseeeseseeeesseeeeessaeeeses 5 32 5 4 5 BIN 16 bit multiplication and division operations cc ccccccceeeeeeseeeeeeeeeeeeeeseeeeeeaeeteeeteieetieetss 5 34 5 4 6 BIN 32 bit multiplication and division operations D D cc ccceeceeeeeceeeceeeeeeeeeaeeeeeeeeeeeeeteneetsaees 5 36 5 4 7 Incrementing and decrementing 16 bit BIN data INC DEC 00 ee eceeeseeeeeeeeeeeeeteeteeteeteeeeeaes 5 38 5 4 8 Incrementing and decrementing 32 bit BIN data DINC DDEC ee eeeeeeeeeeeeeeeeeneeeneeenreeas 5 39 5 4 9 Conversion from BIN to BCD 16 bits 32bits BCD DBCD eee ceeceeeceeeeeeeeeeeeeeeeeeteeeteeeetsaees 5 40 5 4 10 Conversion from BCD to BIN 16 bits 32bits BIN DBIN eeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeteeeeneees 5 42 5 4 11 16 bit and 32 bit data transfers MOV DMOV cccccccccccccssessceeeececcessssaceeeeceeeessssaaeeeeeeeeessate
95. PU Table 4 2 devices for safety observation When SD980 is1 Device range Used for the safety signal Device Used for the safety signal Used for the safety signal comparison the speed Used only for the safety i l S type comparison and the speed comparison and the safety monitoring function and signal comparison an Se i Ae monitoring function communication function the safety communication function 192 points of end of 1500 points of end of 2492 points of end of 3800 points of end of device area device area device area device area 1192 points of end of device area 1492 points of end of device area device area device area device area device area pen Note 1 Uses the pointer P is used as a local pointer Even after power turns OFF the setting value of SD980 is not erased because SD980 is the latch device However this device is not included in ROM operating data When using SD980 in ROM operation create the Motion SFC program that sets the value of SD980 4 DEDICATED DEVICES 4 3 Multiple CPU Shared Device for Safety Observation Functions PLC CPU and Motion CPU exchange information about the safety observation each other by using the high speed transmission area among multiple CPUs Monitoring this area by using the sampling trace function of GX Works2 GX Developer or digital oscilloscope function of MT Developer2 can be a help to perform the troubleshooting Z CAUTION The device in thi
96. Project Open Other Data Read ASC Format File Import GX Configurator QP Data Export to GX Developer Format File App 1 APPENDICES Create CT o msan ooo do y O Deinsa o y O Reload CT y O 4 Open cose o do y O ChangePassword o d lsweas y O sae i dod Hep i dod A ChangePassword o d OT Data Security Setting Rie ee ee PrintPreview d o S PrintWwindow CM o i O Print Window Preview ooo d o y O PrnterSeup d o i O Recentyusedflesttoa CE o i O Stat ex Deveoper do y y O ewoo o o o uno ooo i d o d Pase ooo CrossReference doo y O Devicolist PC ef findDevice Pf O Find instruction d o O Find Contatore o o oo do y O Fnasrins ooo l do O Find Replace Repiace Deve doo y Y O Replace instruction doo O Replace string doo y O Change Open Close Contat J ooo dod Y OE Device Batch Replace doo O Register to Device Batch Replace doo O CO eS TE ee Compile Online ProgramChange tL x o O Rebuild A do yY O foobar Pf O D Statusa ooo l doo y O Colorandront Pf Y OE DockingWindow Pf y O App 2 APPENDICES Star Stop Simulation CE OE Instructions Unsupported by Simulation EK ModifyValue O Soe e e C E 2 Cancellation T Sampling Trace Oooo Scan Time Measurement PLC Diagnostics OO dax Ethemet Diagnostics booo O CCIE Control Diagnostics ee ee Diagnostics MELSECNET Diagnostics GE U CC Link Diagnostics E i O O oe S
97. Q173D S CPU Q172D S CPU Motion controller Programming Manual Safety Observation Eio This manual explains the details safety parameters safety sequence program instructions device lists 1XB945 and error lists and others for safety observation function by Motion controller Motion controller Setup Guidance MT Developer2 Version1 5 i IB 0300142 This manual explains the items related to the setup of the Motion controller programming software MT Developer2 2 PLC Manual Name Manual Number Model Code QCPU User s Manual Hardware Design Maintenance and Inspection This manual explains the specifications of the QCPU modules power supply modules base units SH 080483ENG extension cables memory card battery and the maintenance inspection for the system trouble shooting 13JR73 error codes and others QnUCPU User s Manual Function Explanation Program Fundamentals y SH 080807ENG This manual explains the functions programming methods and devices and others to create programs 13JZ27 with the QCPU QCPU User s Manual Multiple CPU System This manual explains the Multiple CPU system overview system configuration I O modules SH 080485ENG communication between CPU modules and communication with the I O modules or intelligent function 13JR75 modules QnUCPU User s Manual Communication via Built in Ethernet Port SH 080811ENG This manual explains functions for the communication via built in Ethern
98. R J3W LB Servo amplifier SSCNETITI Interface Direct Drive Servo MR J3 LJB RJO80W Servo amplifier Instruction Manual SH 030079 This manual explains the I O signals parts names parameters start up procedure and others for Direct 1CW601 Drive Servo MR J3 LJB RJO80W Servo amplifier SSCNETI interface Drive Safety integrated MR J3 L1B Safety Servo amplifier Instruction Manual SH 030084 This manual explains the I O signals parts names parameters start up procedure and others for safety 1CW205 integrated MR J3 LB Safety Servo amplifier Manual Page Organization The symbols used in this manual are shown below Symbol Symbol that indicates correspondence to only Q173DSCPU Q172DSCPU Symbol that indicates correspondence to only Q173DCPU S1 Q172DCPU S1 A 18 1 OVERVIEW 1 OVERVIEW This manual describes the safety observation function and start up procedure in Motion controller and the devices and instructions for creating a sequence program for the safety circuit In this manual the following abbreviations are used Generic term Abbreviation Motion CPU built in safety observation 7 46 pyjQ172DSCPU Q173DCPU 81 Q172DCPU S1 Motion CPU module module or Motion CPU module Safety signal module Q173DSXY Safety signal module General name for Servo amplifier model MR J4 O1B MR J4W OB MR J3 O1B MR J3W OB QCPU PLC CPU or PLC CPU module QnUD E H CPU Multiple CP
99. SAFETY OBSERVATION FUNCTION 2 5 Safe Speed Monitor SSM The safe speed monitor signal SSM signal is turned ON if both the command speed and feedback speed are the safety speed or lower during speed monitoring The output signals of safety signal module are used as SSM signal If the command speed or feedback speed exceeds the safety speed SSM signal output is turned ON to OFF regardless of the speed monitoring error detection time If both command speed and feedback speed become smaller than the hysteresis width from safety speed SSM signal output is turned OFF to ON again The SSM signal chattering can be prevented by setting hysteresis width when the motor speed fluctuates around the safety speed Set the device number of SSM signal output and hysteresis width by parameter Motor speed V SLS monitoring speed Specified speed Safety speed Hysteresis width 1 i gt lt _ Ifthe speed continues to exceed 1 Shut off signal i the safety speed the error occurs YOA EE SSM signal output SSM signal output is constantly updated regardless of the safety observation error while the speed monitoring enabled signal is ON SSM output is OFF when the speed monitoring enabled signal is OFF 2 SAFETY OBSERVATION FUNCTION 2 6 Shut off Function STO SS1 The power shut off is required after timer delay processing for motor deceleration in user Sequence program to correspond to the safe stop category 1 defined
100. Safety signal comparison sequence program Speed monitoring sequence program Sends receives safety information and compares the Motion CPU side safety information Created by system Safety communication Bus A sequence program Ads Shut off signal transmission Multiple CPU high speed transmission Safety signal Comparison error __ gt Safety signal Comparison error Command detected speed SLS error SLS error Safety information Safety information RIO transmissi Safety signal module Motion CPU Controls machine systems Created by user Machine control Motion program Controls safety User safety sequence program signal I O Created by user Compares the PLC CPU Safety signal comparison side safety signal Executed by system Speed monitoring Monitors if motor speed is within the safety speed Executed by system Safety communication function Sends receives safety information and compares the PLC CPU side LJ safety information Shut off on signal Safety information Safety communication compatible servo Executed by system Servo motor safety encoder or PLC CPU side safety signal amplifier standard encoder I Motion CPU side safety signal System internal process by Motion CPU KZ Process created
101. Start requset Rees X200 x101 i om PLF m1 H Safety Reset switch Reset switch switch ON to OFF input p M11 7 JP _ Ase M3 H Reset switch Stop reques SS2 delay timer ON to OFF q X200 2 10 SET M3 H Safety Stop switch input request M3 K10 3e m7 H Stop SS2 delay SOS request time T17 18 y300 H SS2 delay SOS time request 21 a AEN LD H The user safety sequence program example Motion CPU side for corresponding to SOS SS2 stop category 2 is shown below 1 Devices X101 Note signal Reset switch input x200 N Safety signal Safety switch input y300 Ne SOS request signal m3 Noe Stop request flag M11 Trailing edge vaca ma of reset switch input T17 100ms timer SS2 delay time 1 0s Note 1 When the start device number of safety signal module is set to 200 Note 2 When the speed monitoring I O device No is set to 300 Note 3 Create the Motion SFC program etc to stop the positioning with stop request flag M3 ON Not required to embed it in a user safety sequence program Note 4 Set the deceleration time and SS2 delay time so that a motor completes the deceleration within SS2 delay time 2 Program example 2 SAFETY OBSERVATION FUNCTION 3 Operation outline a When the safety switch input X200 is turned OFF the speed monitor request signal SOS request signal is turned ON after SS2 delay time T17 elapse b When SOS starts or the safety ob
102. T Developer2 Terminal block p l oa o y Terminal block a E E PLCCPU 4 Servo amplifier Shut df i STO Shut df ISTO N External auxiliary pulses NPL a Mechanical attachment IA eia esis Emergency stop Safety door Light curtain SSCNET I H switch switch Safety communication compatible servo amplifier Servo motor safety encoder or standard encoder N te 1 Note 1 When performing standstill monitoring an external auxiliary pulse generator is required 1 OVERVIEW System combinations that support safety observation function and the safety observation functions that can be applied by the Motion CPU are shown below vec Safety observation function Motion CPU Servo amplifier Encoder STO SS1 SS2 SOS S Standard encoder n n n Not safety encoder Standard encoder and compatible external auxiliary pulse Note 2 Not safety encoder Safety encoder 018 2 Note 1 compatible Standard encoder Safety encoder Standard encoder and compatible external auxiliary pulse Safety encoder Standard encoder Not safety encoder Standard encoder and Note 1 compatible external auxiliary pulse N Safety encoder Safety encoder compatible Standard encoder Safety encoder Standard encoder and compatible external auxiliary pulse Safety encoder ol lolol o folol o folol o ole ol lolol o fofo o folol o olg O O JOJO O JOJO O J
103. TION CPU eee 3 When a digit is designated on the source S side The values that can be handled as source data will be as shown below Table 5 1 Table of digit designations and values that can be handled For t6 bit instruction For 32 bit instruction K4 16 points 32768 to 32767 0 to 65535 k5 20points o ows O ke 24 points f o owes K7 28 point Ss oto2es4asass K8 32 points 2147483648 to 2147483647 T Program example Process off s For 16 bit m kov Ro 02000 Becomes 0 J mamaa instruction Source S data kokak r Becomes 0 J a For 32 bit DMOV K1X0 D2000 instruction Source S data Becomes 0 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 4 When a digit is designated on the destination D side Number of points designated by the digit will be the target of the destination side Source Program example Process data S 1 2 3 4 H1234 0 H c Mov H1234 gor Destination D side m mov Kmo ndi Destination D side Bit device M108 M107 M104 M103 M100 K2M100 ofo o ohf 1 Does not change Ois The M3 to MO transmitted data is transmitted Word MOV D2000 K2M1 oH device Destination D side K2M100 1 0 Does not change 5 SEQUENCE INSTRUCTIONS FOR
104. U system or Motion system Abbreviation for Multiple PLC system of the Q series Operating system software General name for SW8DNC SV13QO SW8DNC SV22Q0 Programming software package General name for MT Developer2 GX Works2 GX Developer MR ConfiguratorO Abbreviation for Motion controller engineering environment MELSOFT MT Works2 Note 1 Abbreviation for Motion controller programming software MT Developer2 Version 1 34L or later Abbreviation for Programmable controller engineering software MELSOFT GX Works2 Version 1 15R or later Abbreviation for MELSEC PLC programming software package GX Developer Version 8 48A or later AMP or Servo amplifier MELSOFT MT Works2 MT Developer2 GX Works2 GX Developer SSCNETID H N scneT I C SCNETI H General name for SSCNETII H SSCNETII s l High speed synchronous network between Motion controller and servo amplifier Multiple CPU high speed transmission Dedicated bus communication between PLC CPU and Motion CPU Bus transmission Communication between PLC CPU and safety signal module via base unit Safety signal I O signal in the safety circuit such as such safety door signal and light curtain ser safety sequence program User sequence program for I O control of the safety signal ser program General name for user sequence program or Motion control program Safety signal comparison sequence Program for PLC CPU to compare safety signal program Automatically crea
105. act Non continuity B Contact Continuity A Contact Continuity B Contact Non continuity 100ms retentive Timer Maintains the present value Non continuit Continuity Continuity Non continuit 3 To clear the present value of a retentive timer and turn the contact OFF after time up use the RST instruction 4 A negative number 32768 to 1 cannot be set as the setting value for the timer If the setting value is O the timer will time out when the time the OUT instruction is executed 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU E 5 The following processing is conducted when the OUT instruction is executed e OUT T coil turned ON or OFF e OUT T contact turned ON or OFF e OUT T present value updated In cases where a JMP instruction or the like is used to jump to an OUT T instruction while the OUT T instruction is ON no present value update or contact ON OFF operation is conducted Also if the same OUT T instruction is conducted two or more times during the same scan the current value is may be changed in the same scan 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 3 5 Counter OUT C Usable device Digit Settin j Level cei dat i Pty Tw sul tele wir clelztk Hl e nation Device Setting Value O Usable _7 Setting value Instruct 1 to 32767 is valid Instruction K50 OUTC H e cr 7 Setting value oo H 1 to 32767 is valid for the data
106. aeeseaeeesneeseaeeseeeesieeeieeees 5 57 5 4 24 Complement of 2 of BIN 16 bit data NEG 0 eccceecceceeceeeeceeeceeeeceeseaeeceaeeseeeeesaeeseneesseeeeieeeeneess 5 58 5 4 25 Right rotation of 16 bit data ROR RCR cccccceeecceeeeeeeeeeeeeeeeeeeeseaeeseaeeseaeeesaeeseneeseeeeeneeseeess 5 59 5 4 26 Right rotation of 32 bit data DROR DRCR ccccccceecceeeceeeeeeeeeeeeceaeeeeaeeseaeeeeneeeeaeeseaeeesneeeenees 5 61 5 4 27 Left rotation of 16 bit data ROL RCL ccccccsssssseeeeeeeeessessaeeeeeeeesesesaeeeseeeceesseseeeeseseesaaeees 5 63 5 4 28 Left rotation of 32 bit data DROL DRCL cccceccsceccceeecssssnseeeeeeeesesssaeeeeeeeesesssaaeeeeeeeerneees 5 65 5 4 29 n bit shift to right or left of 16 bit data SFR SFL ceccceecccceecceeeeeeeeeeeeeeeeeeceeseeeeseneeeeeeeeieeeeeees 5 67 5 4 30 1 word shift to right or left of n word data DSFR DSFL ceccceeecceeeceeeeeeeeeeeeeeeeeeseeeteneessaees 5 69 5 4 31 16 bit data searches SER ccccccecesceeenceeeeceecneeeeneeecaeeceacecsaneesneeseaeeseacessneeseaeessaeesaeesesineessaees 5 71 5 4 32 16 bit data checks SUM Sanana aai ahi ele aa ida ade een le aaa a a ede 5 72 5 4 33 Decoding from 8 to 256 bits DECO oe ianei ea Ki NEA E Aa R E KORE 5 73 9 4 34 7 segment decode SEG nera Ee adnan Raa anata ade kde REIRA RIARTE E FREAR KIRKE FAE 5 75 5 4 35 Calculation of average value S AVE ooo eeeceeceecececeeeeeeeeeseeeseeeeeeeseeeseeeseeeseeeseeesee
107. afety observation function is shown below 1 OVERVIEW 1 4 1 Safety signal comparison 1 Make sure that the mounting location of the safety signal module MT Developer2 number head device and GX Works2 GX Developer I O assignments are correctly set 2 When a signal error occurs make sure that safety is secured within the signal mismatch permissible time that is set by a parameter 3 Even when a signal error occurs the servo motor does not stop automatically Give a forced stop command and execute a forced stop processing 4 Make sure that the ladder name to be written to a PLC CPU is not the same as that of sequence programs for safety observation 5 Make sure that the safety signal is properly input via two different paths 6 Make sure that the screws will not get loose after fixing the connector on the safety signal module 7 Make sure that all the modules are firmly inserted into the main base unit or extension base unit 8 Scan time processing must be within 100ms so that PLC CPU performs the comparison function within a certain process time Make sure that the program contents can be handled less than 100ms If the scan time is 100ms or longer PLC CPU should be added for safety to distribute the load of the safety process 1 4 2 Speed monitoring function SLS 1 Under the condition that the failure rate of the additional pulse encoder components does not exceed 195FIT 395FIT the resulting PFD PFH will b
108. afety signal module1 start device No U3EO0O GO 34 U3E1 GO 34 Safety signal module2 start device No U3E0 GO 35 U3E1 GO 35 Safety signal module3 start device No U3E0 GO 36 U3E1 GO1 36 Note 1 O is Multiple CPU shared device start address of safety signal comparison parameter Function The safety signal start device No of PLC CPU side of the safety signal module 1 to 3 is stored Whether the set data is transmitted correctly from Motion CPU to PLC CPU is confirmed Operation The set value of Safety signal start device No PLC CPU side in the safety observation function parameter is always stored 11 The number of safety signal module ote N Device No Signal name 7 PLC CPU side Motion CPU side The number of safety signal module U3E0 GO 38 U3E1 GO 38 Note 1 O is Multiple CPU shared device start address of safety signal comparison parameter Function The number of safety signal modules is stored Whether the set data was correctly transmitted from Motion CPU to PLC CPU is confirmed Operation The set value of The number of safety signal modules in the safety observation function parameter is always stored 4 DEDICATED DEVICES 4 3 3 Shared device list for speed monitoring Table 4 4 Shared device list for speed monitoring Note Device No Signal types 7 PLC CPU side Motion
109. ail code Description Parameter type SD33 ie HAA80 Functional safety signal start device number error at the PLC CPU side HAAS81 Functional safety signal start device number error at the Motion CPU side H0082 Safety communication function multiple CPU shared device start number error at the PLC CPU side H0083 Safety communication function multiple CPU shared device start number error at the Motion CPU side H0084 Safety communication function multiple CPU shared device start number overlap at the PLC CPU side Safety H0085 Safety communication function multiple CPU shared device start number overlap at the Motion CPU side communication When the safety communication function is used the multiple CPU area device address parameter CPU No 1 CPU No 2 is an odd number Stores the speed monitor parameter block number Example When the speed monitor axis number is detected in parameter block 25 the detail code is H2540 AA Stores the axis number Example When there is a functional safety signal start device number error at axis 25 of the PLC CPU side the detail code is H2580 O O Stores the line number Example When the number of axes set to safety communication on SSCNETII H communication line 1 exceeds the limit the detail code is H0188 Note 5 Bits 0 to 2 correspond to the station numbers 1 to 3 of the safety signal module where the error is detected respectively Note 6 When the safety observation error r
110. an time display CPU state display Monitor Write mode Decimal Hexadecimal Device Contact Coil Setting value Current value Device batch Monitor format Bit amp word Bit Word Display 16bit integer 32bit integer Real number ASCIl character Value DEC HEX T C set value Reference program Monitor Device test lt a m is m Q L m x App 12 APPENDICES Device test x Note 5 Check disable executional conditioned A Execution x device test Register executional conditioned device test Check disable executional conditioned device test Batch disable executional conditioned device test Executional conditioned device test Forced input output registration cancellation Devus o G PLC status RUN STOP PAUSE Latch clear STEP RUN Reset Remote operation Operation during RUN Specify execution destination E operation Program memory batch transfer Latch data backup operation Safety CPU operation Password setup F Clear PLC memory Format PLC Target memory memory Format Type Arrange PLC memory same O O YY MM DD Hr Min Sec Day of week Specify execution destination O Available Available with restrictions X Unavailable Note 1 Only program memory Note 2 Device data is impossible Note 3 Can be saved only by one file align the Common and Local Note 4 Possible to set it during monitoring When restarting after the monitoring stops the er
111. and Setting data Setting data Description D Device number to shift bits Function 1 Shifts to a device designated by D the ON OFF status of the device immediately prior to the one designated by D and turns the prior device OFF 2 Turn the first device to be shifted ON with the SET instruction 3 When the SFT are to be used consecutively the program starts from the device with the larger number 4 If the device number specified by D is 0 the instruction is not processed 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 3 10 Operation results push read pop MPS MRD MPP Usable device Digit Settin j desig ee x r usu e r c o w r celso z k n r n ration Sta e E e e E e ae aS ee eee O Usable In the ladder display MPS MRD and MPP are not displayed Command Command MPS Instruction Command MRD Command Function 1 Operation result push MPS e Stores the memory of the operation result ON or OFF immediately prior to the MPS instruction e Up to 4 MPS instructions can be used successively If the MPP instruction is used during this process the number of uses calculated for the MPS instruction will be decremented by one 2 Operation result read MRD e Reads the operation result stored for the MPS instruction and uses that result to perform the operation in the next step 3 Operation result pop MPP e Reads the operation resul
112. and contacts all maintain Counter current status Devices in OUT instruction SET RST SFT devices All turned OFF in the following Maintain current status instructions e Nesting can be used up to 8 times NO to N7 When using nesting nests should be inserted from the lower to higher nesting number N with the MC instruction and from the higher to the lower order with the MCR instruction 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU E e By changing the device designated by D the MC instruction can use the same nesting N number as often as desired Coils from devices designated by D are turned ON when the MC instruction is ON Further using these same devices with the OUT instruction or other instructions will cause them to become double coils so devices designated by D should not be used within other instructions 2 Resetting the master control MCR e This is the instruction for recovery from the master control and indicates the end of the master control range of operation Do not place contact instructions before the MCR instruction 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 3 8 Leading edge and trailing edge outputs PLS PLF Usable device Digit Settin j desig ee fx ty Tu su r c o w r celso z k n r n ration C E S e E e E E EEEE O Usable Instruction Gorrand PLS Setting data Description D Pulse conversion device bits Function
113. and remainder 0 Positive 1 Negative 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 6 BIN 32 bit multiplication and division operations D D Usable device Digit il desig rxty Tw sul 7 peletwlrlclmlztx al e wl nation S1 s2 O Usable Instruction Command D m D Command D __ Setting data Setting data Description Head number of the devices where the data to be multiplied divided is stored BIN 32 bits Data for multiplying dividing or head number of the devices where the data for multiplying dividing is stored BIN 32 bits Head number of the devices where the multiplication division operation result will be stored BIN 64 bits Function 1 BIN 32 bit multiplication operation D e Multiplies BIN 32 bit data designated by S1 and BIN 32 bit data designated by S2 and stores the result in the device designated by D D 1 D 2 D 3 As BIN 64 bits e Values for S1 S2 can be designated between 2147483648 and 2147483647 BIN 32 bits e Judgments whether S1 S2 and D are positive or negative are made on the basis of the most significant bit 031 for S1 and S2 b63 for D 0 Positive 1 Negative 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU E 2 BIN 32 bit division operation D e Divides BIN 32 bit data designated by S1 and BIN 32 bit data designated by S2 and stores the result in the device designated by D D 1
114. anty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider However we will charge the actual cost of dispatching our engineer for an on site repair work on request by customer in Japan or overseas countries We are not responsible for any on site readjustment and or trial run that may be required after a defective unit are repaired or replaced Gratis Warranty Term The term of warranty for Product is thirty six 36 months after your purchase or delivery of the Product to a place designated by you or forty two 42 months from the date of manufacture whichever comes first Warranty Period Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work Gratis Warranty Range 1 You are requested to conduct an initial failure diagnosis by yourself as a general rule It can also be carried out by us or our service company upon your request and the actual cost will be charged However it will not be charged if we are responsible for the cause of the failure 2 This limited warranty applies only when the condition method environment etc of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product 3 Even during the term of warranty the repair cost will be charged on
115. arks of their respective companies IB NA 0300183 B MOTION CONTROLLER Qseries Programming Manual Safety Observation Q173D S CPU Q172D S CPU MODEL Q173D P ANZ E MODEL CODE IB NA 0300183 B 1501 MEE 1XB945 MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission Specifications subject to change without notice
116. as n If the value specified as n is out of range the remainder of n 32 is used for rotation As n is BIN 16 bits unsigned value For example when n 34 the contents are rotated two bits to the right since the remainder of 34 32 1 is 2 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU E 2 Right rotation of 32 bit data Include the carry flag DRCR e Rotates 32 bit data including carry flag at device designated by D n bits to the right The carry flag goes ON or OFF depending on its status prior to the execution of the DRCR instruction D 1 D Carry flag SM12 b31b30b29 b16b15 b2 b1 bO n bit rotation e Specify any of 0 to 31 as n If the value specified as n is out of range the remainder of n 32 is used for rotation As n is BIN 16 bits unsigned value For example when n 34 the contents are rotated two bits to the right since the remainder of 34 32 1 is 2 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 27 Left rotation of 16 bit data ROL RCL Usable device Digit Settin j Level cei dat is rxty Tw sul tele wl tlc elztk Hl e nation O Usable Instruction Command ROL Command Setting data Setting data o o Number of device where left rotation data is stored BIN 16 bits i e ol Times 0 to 15 Function 1 Left rotation of 16 bit data Not include the carry flag ROL e Rotates 16 bit data of the device des
117. at can be used with the D D instruction are circled Instruction Command D E Command D The D D instruction circuit display format is indicated Setting data Setting data Description S1 Number of the devices where the data to be added to subtracted from is stored BIN 32 bits Data for additing subtracting or number of the devices where the data for additing subtracting is stored BIN 32 bits Number of the devices where the addition subtraction operation result will be stored BIN 32 bits Koo Indicates the data set for each instruction and the data type 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 2 2 Number of steps The basic number of steps in the sequence instruction includes step 1 to step 6 Main examples of each step are shown below Basic No of steps Instruction mnemonic Circuit display LD ANI ANB ORB AES SPRA FEND RET P PRA f i FEND ae INC DEC PLS PLF TINC D2000 ee CJ CALL CALL P20 f MOV K100 D2000 f D2000 D2001 Step 3 MOV BCD OUT T BCD D2000 D2001 K1 It gt DMOV K12345 D2000 L2 steps worth Step 4 DMOV XCH D2000 K100 D2001 XCH D2000 D2010 2 steps worth D D2000 H12345678 D2010 Step 5 D D L2 steps worth 2 D D2000 H123456 D2010 The instruction code source and destination in basic number of steps for the instruction are equivalent to one step each Only some of the
118. ated signal Motion SFC etc of Motion CPU Device Device range Description X0000 to OAFF 2816 points Input signal in sequence program Motion CPU side input signal from safety signal module 1 32 points Return of output signal including X20A to X20F and X21A to X21F Motion CPU side input signal from safety signal module 2 32 points Return of output signal including X22A to X22F and X23A to X23F Motion CPU side input signal from safety signal module 3 32 points Return of output signal including X24A to X24F and X25A to X25F Y0000 to OE7F 3712 points Output signal in sequence program X200 to x21F Noe 1 X220 to X23F Note 1 X240 to X25F Noe 1 Note 1 Shut off signal Controlled by system Only monitoring Y20A 1 points possible Note 1 Y20B to Y20F aren Motion CPU side output signal f fety signal module 1 YO1Ato yzqp Note points jotion side output signal trom satety signal module Y22A to Y22F NO Note 1 12 points Motion CPU side output signal from safety signal module 2 Y23A to Y23F Y24A to Y24F NO Y25A to Y25F Note 1 12 points Motion CPU side output signal from safety signal module 3 8192 points Internal relays F FO to F127 128 points 1 bit Internal relays DO to D8191 8192 points 16 bits Data register WO to W1FFF 8192 points 16 bits Data register SMO to SM127 128 points 1 bit Special relays SDO to SD127 128 points 16bits Special register TO to T15 T104 to T143 5
119. automatically by Motion CPU 2 SAFETY OBSERVATION FUNCTION 2 2 Sequence Programs for Safety Observation on PLC CPU This section describes the procedure that the Motion CPU transfers the sequence programs for safety observation to PLC CPU and executes the comparison 1 Transfer of sequence programs for safety observation The sequence programs for safety observation is embedded in Motion CPU system The Motion CPU transfers the program to PLC CPU at the Multiple CPU system start The program is structured by the safety signal comparison sequence program Program name SSU_CMP speed monitoring sequence program Program name SLS_CMP and safety communication sequence program Program name SNT_CMP If the speed monitoring function is not to be used the sequence program will not be transferred If the safety communication function is not to be used the sequence program will not be transferred PLC CPU Writ Motion CPU Write user rite user i z Sa Write user Motion sequence dram Machine control program Machine control prog program sequence program sequence program eae N User safety GX Works2 GX Developer Sar S MT Developer2 sequence program sequence program r Safety signal Safety signal comparison comparison sequence program Transfer at starting up sequence program the controller Speed monitoring lt Speed monitoring
120. axis AC Servo MR J4W2 _B MR J4W3 _B Servo amplifier Instruction Manual SH 030105 This manual explains the I O signals parts names parameters start up procedure and others for Multi 1CW806 axis AC Servo MR J4W2 _B MR J4W3 _B Servo amplifier Functional safety unit MR D30 Instruction Manual i SH 030132 This manual explains the I O signals parts names parameters start up procedure and others for 1CW817 functional safety unit MR D30 SSCNETI interface MR J3 OB Servo amplifier Instruction Manual SH 030051 This manual explains the I O signals parts names parameters start up procedure and others for 1CW202 MR J3 OB Servo amplifier SSCNETI Compatible Linear Servo MR J3 OB RJ004U0 Instruction Manual SG agneA This manual explains the I O signals parts names parameters start up procedure and others for Linear 1 CW943 Servo MR J3 OB RJ004U 0O Servo amplifier SSCNETI Compatible Fully Closed Loop Control MR J3 L1B RJ006 Servo amplifier Instruction Manual SH 030056 This manual explains the I O signals parts names parameters start up procedure and others for Fully 1CW304 Closed Loop Control MR J3 L1B RJ006 Servo amplifier SSCNETI interface 2 axis AC Servo Amplifier MR J3W 0303BN6 MR J3W LB Servo amplifier Instruction Manual SH 030073 This manual explains the I O signals parts names parameters start up procedure and others for 2 axis 1CW604 AC Servo Amplifier MR J3W 0303BN6 M
121. by D 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 8 Incrementing and decrementing 32 bit BIN data DINC DDEC Usable device Digit Settin j desig ee x r usu e r c o w r celso z k u r n naton c e E E T e eo Res e a ee ee O Usable Instruction Command DINC DINC D Command shee CER Setting data Setting data D Head number of devices for DINC 1 or DDEC 1 operation BIN 32 bits Function 1 Incrementing 32 bit BIN data DINC e Adds 1 to the device designated by D 32 bit data e When DINC operation is executed for the device designated by D whose content is 2147483647 the value 2147483648 is stored at the device designated by D 2 Decrementing 32 bit BIN data DDEC e Subtracts 1 from the device designated by 32 bit data When DDEC operation is executed for the device designated by D whose content is 2147483648 the value 2147483647 is stored at the device designated by D 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 9 Conversion from BIN to BCD 16 bits 32bits BCD DBCD Usable device Digit els desig x y mi smMje r clolwi r c so z k H P N nation E a 0 ll 2 D Usable A Only BCD instruction 16 bits Instruction BCD Command Setting data Setting data Description BIN 16 32 bits BCD 4 8 digits Function 1 Conversion from BIN to BCD 16 bits BCD e Con
122. ch as a safety door safety curtain EMG buttons to the Motion CPU b Assuming that there is a hypothetical relay Xn built in the Motion CPU per input point the program uses the A contact and B contact of that Xn c There is no limit to the number of A contacts and B contacts of the input Xn that can be used in the program d The input number is expressed with a hexadecimal Motion CPU Input circuit Program 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU Caen 2 Output Y a This outputs the results of the program control to the solenoid magnetic switch signal lamp or digital indicator etc b The output Y can be retrieved with the equivalent of one A contact c There is no limit to the number of A contacts and B contacts of the output Yn that can be used in the program d The output number is expressed with a hexadecimal ee See eect Program Output circuit 5 1 2 Internal relays M F The internal relay are auxiliary relays in the Motion CPU that cannot directly output to an external source F device doesn t provide the function as the annunciator fault detection 1 The relay is cleared when the power is turned OFF Latch setting can be applied to the system setting 2 There is no limit to the number of A contacts and B contacts of the internal relays that can be used in the program 3 The internal relay number is expre
123. clutches for the target output axes and turn OFF the all connected clutches If the small oscillation request signal is turned ON at the clutches being ON Safety observation warning error code 202 occurs and the small oscillation does not start If the small oscillation cannot be completed within five seconds Safety observation warning error code 203 is output Confirm that servo error does not occur during motor operation and the time until in position signal is turned ON is not too long after the motor operation After the confirmation execute the small oscillation again H 0 6pulse Corresponding value of external auxiliary input pulse Cs reu ees F t Li When small oscillation is normal When small oscillation is error 1 i Execute it within one hour lt ____________ gt t Small oscillation request signal Small oscillation executing flag Start accept flag M2001 to M2032 Safety observation error g 4 SM57 Shut off signal YODA During the small oscillation the speed monitoring continues to execute using the safety speed where the external auxiliary pulse is 1 pulse s not using the user specified safety speed Chattering might occur during small oscillation because the safe speed monitor signal SSM signal is output for the safety speed 2 SAFETY OBSERVATION FUNCTION 2 7 2 Sequence program example for standstill monitoring SOS SS2 Stop category 2
124. ction Channel List Serial Port PLC Module Connection System Image a i ie Read Write C Verify Delete OB Pic Module i Intelig METLE m Connection Channel List ES Edit Data Connection InterFace fomi lt gt Puc Module Module Name Target PLC Network No fi Station No Host PLC Type Q03UD PLC Data I Program Program Fi Target Memory EEE E SAFETY _1 wl SAFETY 2 m Format Type H SAFETY 3 F SAFETY _4 Do not create a user setting system area the required system area only Parameter Create a user setting system area High speed monitor area From other s COMMENT aE K of multiple blocks Necessary Setting No Writing Size OBytes Related Functions lt lt Execute Close aM wo a Remote Set Clock PLC User Data Write Title Format PLC J Clear PLC Memory Arrange PLC Operation Memory Memory lt Screen GX Works2 gt 3 START UP PROCEDURES 3 4 Parameters Setting 3 4 1 Parameter setting of Motion CPU 1 System configuration setting There are no items setting as the safety observation function Do not set a safety signal module in the system configuration of Motion CPU because the safety signal module is set as PLC CPU control module No 1 2 SSCNET configuration setting Make sure to set one or more servo amplifier axis regardless of connecting or non connecting An error will occur when writing the parameter to Motion CPU and the system setting
125. ction conducts a double observation by monitoring the command speed and motor feedback speed with two CPUs In order to maintain safety when stopped command speed or motor feedback speed is 0 the motor rotation pulse generated from an external sensor is input and checked for consistency with the motor feedback position When speed monitoring parameter External sensor input X device number is set to 4FFF and Number of pulses per external sensor rotation and Movement amount per external sensor rotation is set to 2147483647 this consistency check is disabled and speed monitoring can be conducted without external auxiliary pulse input ZA CAUTION When not using external auxiliary pulse input the safety performance level in a stopped state during speed monitoring command speed or motor feedback speed is 0 is PL d category 2 If stopping for a long period stop with a mechanical lock such as a brake SBC or shut off operation STO When not using external auxiliary pulse input the longest time a motor stopped status command speed or motor feedback speed is 0 can be maintained is one hour Without external auxiliary pulse input the encoder cannot diagnose small oscillation and so after one hour in the stopped status Safety observation error error code 120 occurs and the shut off signal turns OFF Do not turn ON the small oscillation request signal when set to not use external auxiliary pulse input Safety observation
126. cuted in the Motion CPU and PLC CPU individually The speed monitoring function monitors both the command speed and feedback speed It also uses external auxiliary pulses to ensure safety when the motor is stopped When performing speed monitoring function with a safety encoder compatible Motion CPU and safety encoder compatible servo amplifier external auxiliary pulse input is not necessary Refer to Functional safety unit MR D30 Instruction Manual for details of safety communication function compatible servo amplifiers and safety encoder compatible servo amplifiers Only one PLC CPU CPU No 1 and one Motion CPU CPU No 2 execute safety observation The other CPUs CPU No 3 or later cannot execute safety observation 1 OVERVIEW The diagram below shows the system configuration for safety observation function Motion CPU Safety PLC built in signal CPU safety module Main base QnUDO obser Q173 Q30DB CPU vation DSXY oS me g B ele Power O o o L supply Q 6OP 0 a A E X g f O oO A olj a Main power USB RS 232 I O cable i ee ee Ethernet RIO bl i Ethernet oe SSCNETM H When using servo amplifier without a STO GX Works2 GX Developer M
127. cution l VA an eA y 0 is entered After execution 0 e The device designated by D is filled with 0 e The T C shift will be a current value attribute value or count value shift Shifting with the setting value is not possible 5 69 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU Caen Error The points specified in n exceed those of the corresponding device specified in D sequence program error occurs Safety observation warnings SM24 are turned ON and error code SD32 10 detail code SD33 8012H at DSFR or 8013H at DSFL are stored 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 31 16 bit data searches SER Usable device Digit il desig x y mui smje r cololwi r c so z k H P N nation S1 ojojo S2 ojojoj ol o D ojojoj ol o n oJloloJoJlo O Usable Instruction Command S1 S2 Setting data Setting data Description S1 Number of the devices where the search data is stored BIN 16 bits S2 Head number of the devices where the data to be searched is stored BIN 16 bits D Head number of the devices where the search result will be stored BIN 16 bits n Number of searches BIN 16 bits Function 1 Searches n points from the 16 bit data of the device designated by S2 regarding 16 bit data of the device designated by S1 as a keyword Then the number of matches with the keyword is stored at the device
128. d can be designated from 1 to 32767 x0 1 s The data register D data can also be used as the setting value Current value counter value of the 100ms retentive timer at power is 0 K100 x5 C el o l lt T1004 R seconds j x k k Input conditions X7 Reset input reset instruction T100 contact __ RST T100 j 1100 coil al 100ms 1 5 seconds 6 seconds retentive timer X7 9 seconds E i T100 1 seconds 6 seconds T100 current value 0 gt 1 to 90 gt 91to100 gt 0 1to60 gt 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU Caen 5 1 5 Counter C The counter counts up and detects the rising edge of the input conditions Thus the count will not take place when the input conditions are ON 1 The value is set with a decimal and can be designated from 1 to 32767 The data register D data can also be used as the setting value 2 The counter count value will not be cleared even if the input conditions turn OFF The counter count value must be cleared with the RST instruction 3 With the device C the contact coil is handled as bit device and the current value counter value is handled as word device In the function instructions described after the word device C indicates the current value counter value even if there is no description about it 4 Turning the power OFF clears this device current value 0 5 The counter number is expressed as a decimal 5
129. d in corresponding device by single precision floating point data 32 bit at every the parameter block PLC CPU U3E0 GO 124 Parameter block No 1 to U3E0 GO 187 Parameter block No 32 Motion CPU U3E1 GO 124 Parameter block No 1 to U3E1 GO 187 Parameter block No 32 4 DEDICATED DEVICES 7 Speed monitoring parameter Total 26 words per block i Note Device No Signal name 2 R PLC CPU side Motion CPU side Speed monitoring parameter U3E1 GO 188 to U3E1 GO 1019 Note 1 O is Multiple CPU shared device start address of safety signal comparison parameter Function The setting data in the speed monitoring parameter is stored Only Motion CPU side Compare this device value and the setting value list and confirm the parameter is transferred to CPU unit correctly Refer to section 3 6 1 Operation The setting data is stored in each parameter block Block No U3E1 GO 188 to U3E1 GO 213 U3E1 GO 214 to U3E1 GO 239 U3E1 GO 240 to U3E1 G P Signal name i ed fn Be 4 U3E1 G0 266 to U3E1 G0 291 os 6 a 7 U3E1 GO 318 to U3E1 GO 343 Axis unit setting U3E1 G01 344 to U3E1 GO 369 8s U3E1GO 370 to U3E1 GO 395 Number of pulses per motor rotation 9 U3ENGO 396 to U3E1 GO 421 U3E1 GO 422 to U3E1 G Travel value per motor rotation U3E1 GO 448 to U3E1 GO 473 U3E1 GO 474 to U3E1 GO 4
130. d monitoring sequence program SNT_CMP Safety communication sequence program to Program setting of PLC CPU to execute the safety observation function These programs are automatically created by Motion CPU system Message The program name does not match with the name in the project is displayed in order to specify a program name that does not exist in the project However an error will not occur by transferring the setting program from Motion CPU Select OK to end the parameter setting eine fo Parameter Setting PLC Name PLC System PLCFile PLCRAS BootFile Program sFc Device 1 0 Assignment Multiple CPU Setting Serial Communication Program MAIN Add SSU_CMP Scan SLS_CMP Scan and SNT_CMP Scan Note Note 1 Not required when not using speed monitoring function Note 2 Not required when not using safety communication function C ji MELSOFT Series GX Works2 pO m s i The program name does not match with the name in the Ww project If writing to the PLC an error may occur Insert Delete FPS YES je ji S a i e fi YS FE S je Je IN Jom When operating POU in navigation window When data was deleted A row for pri When data was changed Program name corresponding to the one in program setting would be changed Select OK to end Print Window Print Windo
131. dard regulation or law and take appropriate safety measures for the system in which the Product is installed or used and shall take the second or third safety measures other than the Product MELCO is not liable for damages that could have been prevented by compliance with any applicable safety standard regulation or law Standstill monitoring SS2 SOS Safe brake control SBC Safety communication function taps amp For Declaration of Conformity DoC MITSUBISHI ELECTRIC EUROPE B V declares that the Motion controllers are in compliance with the necessary requirements and standards 2006 42 EC 2004 108 EC and 2006 95 EC You can obtain the copy of Declaration of Conformity from our website 1 OVERVIEW 1 4 Risk Assessment Define all risk assessments and residual risks for the whole machine to ensure safety The company and or individuals who constructed the system take responsibility for everything in terms of safety system installation and commission In addition to correspond to EC Machinery Directive the safety standard needs to be certified as the whole system Execute all risk assessment and safe level verification for the equipment and the whole system It is recommended to use third party certifier as a final certifier of the system The residual risk in safety observation function of this product is shown below e This function does not detect errors among the parameters and programs that are set by you Therefore
132. decode SEG ISEG s D Calculates the mean of n point devices in 16 bit units Calculation of SAVE S D n H starting from the device specified by S and then stores averages l A the result into the device specified by D 3 START UP PROCEDURES 6 Statement note comment Line space statement and note can be used only in Peripheral type If they are used in PLC type the sequence programs cannot be executed correctly and Safety observation error error code 10 Sequence program error will occur In addition a device comment of each program cannot be held in Motion CPU Use only Global Device Comments GX Works2 Common Comments GX Developer as device comments 7 Execution order of sequence programs Up to 10 user safety sequence programs can be registered in Motion CPU and executed in series The execution order of more than one programs depends on the label No which is described on the head of each program Label No Execution priority cena First must be set even when there is only one main program P370 to P378 to P378 Second to tenth has higher priority as the number becomes smaller The following shows an execution example of more than one sequence programs Program name Program name Program name Program name SAFETY1 SAFETY2 SAFETY3 SAFETY4 P25 P370 P371 SV Execaution order of P252 to P370 P371 The sequence
133. dule Execute the RUN of Each CPU RUN LED is displayed of PLC CPU Check that the RUN LED of Motion CPU is displayed Start safety observation function The safety signal comparison is executed When the speed monitoring parameter is set the speed monitoring is started by the speed monitoring request flag END 1 Format the PLC memory before writing a user safety sequence program to Motion CPU first Not doing so cause an error message Error in specified drive and the program cannot be written 2 Do not change PLC parameter of Motion CPU side from default setting In addition do not write PLC parameter when writing the user safety sequence program to Motion CPU The safety observation function may not operate properly In addition if PLC parameter is selected as a writing target file an error message Application has turned unstable will display 3 The online change of sequence program cannot be executed in Motion CPU If the online change is executed an error message The executed function is not supported will be displayed Write the sequence program after setting the remote STOP switch or RUN STOP switch to STOP position 3 START UP PROCEDURES 3 2 Communication between GX Works2 GX Developer and Motion CPU Change the rotary switch setting at the front side of Motion CPU as the figure below to communicate with GX Works2 GX Developer for writing or monitoring of the user safety sequence
134. e instruction manual Other combinations may lead to faults If safety standards ex robot safety rules etc apply to the system using the Motion controller servo amplifier and servomotor make sure that the safety standards are satisfied Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system In systems where coasting of the servomotor will be a problem during the forced stop emergency stop servo OFF or power supply OFF use dynamic brakes Make sure that the system considers the coasting amount even when using dynamic brakes In systems where perpendicular shaft dropping may be a problem during the forced stop emergency stop servo OFF or power supply OFF use both dynamic brakes and electromagnetic brakes Z CAUTION The dynamic brakes must be used only on errors that cause the forced stop emergency stop or servo OFF These brakes must not be used for normal braking The brakes electromagnetic brakes assembled into the servomotor are for holding applications and must not be used for normal braking The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max speed Use wires and cables that have a wire diameter heat resistance and bending resistance compatible with the syst
135. e PLC CPUs and distribute the processes Maximum scan time lt safety communication cycle 3 555 ms 4 Safety communication function can only be used with SSCNETIV H communication Safety communication function cannot be used with SSCNETH communication 1 15 1 OVERVIEW 1 5 Restrictions There are following restrictions to use this function 1 2 4 Install Q173DSXY into the main base unit It cannot be used on the extension base unit Q173DSXY is controlled by PLC CPU Q173DSXY can be connected to only Motion CPU CPU No 2 in the Multiple CPU system Do not connect Q173DSXY to Motion CPU CPU No 3 or No 4 The safety observation functions cannot be executed in Motion CPU CPU No 3 or No 4 Some devices are used for safety observation process in the system These devices cannot be used in user programs When a sequence program for safety observation is not stored in PLC CPU at the initial start up the sequence programs for safety observation is transferred from Motion CPU to PLC CPU If PLC CPU starts running before completion of transfer an error will occur in PLC CPU Turn the power ON again or reset the PLC CPU Communication between Motion CPU and GX Developer GX Works2 can be executed when the safety observation function parameters are set in the Motion CPU and the rotary switch SW 2 at the front side of CPU is changed to 1 Make sure to set the safety observation function parameters i
136. e case of 1 phase mode internal counter counts up regardless of rotating direction In the case of an operation pattern where the inverse rotation for motor rotating direction is repeated in a short time a speed monitoring error may occur because an internal counter miscounts by input pulse chattering Use A phase B phase mode to prevent the miscount 2 SAFETY OBSERVATION FUNCTION n en a Ca ee c The safety speed depends on the number of external auxiliary pulse per revolution and PLC CPU scan time One pulse ON to OFF OFF to ON must be longer than one scan time If there are two or more pulse edges OFF to ON ON to OFF in one scan the count cannot be executed properly Calculate the detectable maximum speed pulse frequency from the longer time the PLC CPU scan time or input response time Example Number of pulses per revolution of external pulse 8 pulse rev PLC CPU scan time 25 ms In the case of maximum allowable scan time for speed monitoring function Input response time 10 ms e Maximum input frequency 1 easan saa Note T 25 ms x 107 x 2 M 20 Hz 20 pulse s Note 1 Two scans are required to detect the pulse input of OFF to ON Detectable maximum speed 20 Hz x 60 s min B pulse rev 150lr min Set 150 r min or less as the safety speed of the external auxiliary pulse generation mechanism part 25ms 25ms or more or more j j i f f t i l Make the pulse width 1 phase
137. e less than 195FIT 395FIT See below diagram Q170DSCPU Q173DSXY Encoder H MR J4 0B Motion Mee ok Common Comp Common PSU Additional Pulse QnUDHCPU Encoder Comp and Q3nDB om aes erence 1 2 Avoid the continuous use about 8 hours of the same Speed Monitor parameter block to prevent the accumulation of errors 1 OVERVIEW 3 10 11 Safely limited Speed function guarantees the motor control the motor rotation speed but it does not guarantee the actual machine safety speed Make sure to set parameters so that the safety speed of the machine is the same as the safety speed of the motor When using Safely limited Speed function when there is no speed command from the Motion controller or the command speed is 0 using an external encoder external auxiliary input pulses or a safety encoder and switching to Safe Operating Stop SOS is required The accuracy of safety speed observation depends on the performance of the external auxiliary pulses or the safety encoder Therefore when using external auxiliary pulses the number of the external input pulses for safety speed must be determined considering the external auxiliary pulses resolution and the allowance input pulse frequency Check if the rotation speed of the monitored servo axis is the same as the actual speed by using a tachometer etc considering the speed includes an error caused by the encoder re
138. e 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 CAUTION Always install a leakage breaker on the Motion controller and servo amplifier power source If installation of an electromagnetic contactor for power shut off during an error etc is specified in the instruction manual for the servo amplifier etc always install the electromagnetic contactor Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off Use the Motion controller servo amplifier servomotor and regenerative resistor with the correct combinations listed in the instruction manual Other combinations may lead to fire or faults Use the Motion controller base unit and motion module with the correct combinations listed in th
139. e start address of safety signal comparison parameter Function The monitoring status of monitoring of the speed monitoring SLS function is stored 4 DEDICATED DEVICES Operation This flag shows the executing status of the speed monitoring function When the speed monitoring is processing the bit of the corresponding parameter block No will be turned on Low side F e D C B A 9 8 7 6 5 4 3 2 O bit ae monitoring parameter block No 1 Speed monitoring parameter block No 2 Speed monitoring parameter block No 16 High side F E D C B A 9 8 7 6 5 4 3 2 1 0 bit SS Ss monitoring parameter block No 17 Speed monitoring parameter block No 18 Speed monitoring parameter block No 32 3 Speed monitoring parameter consistency check flag x Note Device No Signal name PLC CPU side Motion CPU side Speed monitoring parameter U3E0O GO 54 U3E0 G U3E1 GO 54 U3E1 G consistency check flag Note 1 O is Multiple CPU shared device start address of safety signal comparison parameter Function The consistency check and comparison status of speed monitoring parameter is stored Operation The execution status of the consistency check Refer to section 2 4 4 in the speed monitoring paramet
140. e that the software of Motion CPU and PLC CPU executing safety observation function operates correctly When error is detected Safety observation error error code 132 occurs and the shut off signal is turned OFF e Multiple CPU high speed transmission memory check for safety observation function eel e PLC CPU internal clock check e Motion CPU internal clock check e Motion CPU internal work memory consistency check Stuck check for Motion CPU internal processing e Transmission memory access check for safety signal module e Motion CPU internal processing watchdog timer check e Motion CPU internal processing code CRC check e Motion CPU internal processing execution sequence check e Continuity check for Motion CPU internal processing Note 1 Execute only when the speed monitoring function is used Not need to execute at safety signal comparison only No particular precaution is given for parameter setting and the program creation of this function 2 SAFETY OBSERVATION FUNCTION 2 10 4 Scan time check Execute the scan time check to guarantee that the PLC CPU and Motion CPU execute the observation function within a certain process time during the safety observation function Both Motion CPU and PLC CPU execute the scan time check Safety observation error occurs if the scan time is the following case Scan time with only safety signal comparison 100 ms Scan time with safety signal comparison and speed monitoring function 25 ms
141. eading If the parameters are mismatched Safety observation error error code 101 occurs and the shut off signal is turned OFF 2 4 6 Speed command observation Both Motion CPU and PLC CPU monitor if the absolute value of command speed eeu by Motion CPU does not exceed the safety speed during speed monitoring If the command speed continues to exceed the safety speed over speed monitoring error detection time Safety observation error error code 110 occurs and the shut off signal is turned OFF Set the safety speed and speed monitoring error detection time by parameters Note 1 Value calculated from the time derivative of command position from servo amplifier to Motion CPU VA Speed monitoring error detection time Parameter Error occurs Safety speed Y 4 Parameter i Command speed 200 S Qoqoqou4uw e8 H t Safety observation error SM57 Shut off signal YODA 2 SAFETY OBSERVATION FUNCTION 2 4 7 Feedback speed observation Both Motion CPU and PLC CPU monitor if the motor speed N does not exceed the safety motor speed during speed monitoring If the motor speed Note 1 continues to exceed the safety motor speed over speed monitoring error detection time Safety observation error error code 111 occurs and the shut off signal is turned OFF Set the safety motor speed and speed monitoring error detection time by parameter
142. ed 0 0095us Built in Ethernet port Program capacity 100k steps LD instruction processing speed 0 0095us Built in Ethernet port Program capacity 130k steps LD instruction processing speed 0 0095us Built in Ethernet port Program capacity 200k steps LD instruction processing speed 0 0095us Built in Ethernet port Program capacity 260k steps LD instruction processing speed 0 0095us Built in Ethernet port Program capacity 500k steps LD instruction processing speed 0 0095us Built in Ethernet port Program capacity 1000k steps LD instruction processing speed 0 0095us Built in Ethernet port Safety observation function compatible Max 32 axes control Safety observation function compatible Max 16 axes control Safety observation function compatible Max 32 axes control Safety observation function compatible Max 8 axes control Input 20 points 2 lines Output 12 points 2 lines Multiple CPU high speed bus 4 slots Number of I O modules 5 slots Multiple CPU high speed bus 4 slots Number of I O modules 8 slots Multiple CPU high speed bus 4 slots Number of I O modules 12 slots Note 1 Use PLC CPU module which the first five digits of the serial number are 10102 or later 2 Servo amplifiers safety observation function compatible product Supported version Reo Safety observation function compatible Note 3 Note 4 B3 or later B5 or later ag Note Functional safety AO
143. ed in the same way as execution instructions SFTP gt SFT BINP DBINP gt BIN DBIN MOVP DMOVP gt MOV DMOV BMOVP gt BMOV FMOVP FMOV XCHP DXCHP XCH DXCH WANDP WORP WXORP gt WAND WOR WXOR RORP RCRP ROLP RCLP ROR RCR ROL RCL DRORP DRCRP DROLP DRCLP DROR DRCR DROL DRCL SFRP SFLP gt SFR SFL SUMP SUM SEGP gt SEG CALLP gt CALL a Basic instruction Instruction F Category Snel Processing Details y Starts logic operation Starts a contact logic operation Starts logical NOT operation Starts b contact logic operation Logical product a contact series connection Logical product NOT b contact series connection Logical sum a contact parallel connection Logical sum NOT b contact parallel connection Contact AND between logical blocks Series connection between logical blocks OR between logical blocks Series connection between logical blocks Connection Memory storage of operation results Read of operation results stored with MPS instruction Read and reset of operation results stored with MPS instruction Device output Sets device Resets device Generates 1 cycle program pulse at leading edge of input signal Generates 1 cycle program pulse at trailing edge of input signal 1 bit shift of device Starts master control Master control Resets master control 3 START UP PRO
144. eeeeeeeeeeeeeeeeaeeeaeeeaeesaeesaeesaeesaeeeaeesaeesaeesaeeeaeeneesteeateeas 1 15 1 5 Restrictions ivi scc canine i ia AA RAT RA A R 1 16 1 6 Equipment Configuration of Safety Observation Function Compatible Motion Controller 1 18 2 1 Configuration of Safety Observation FUNCTION 2 00 ccceceeeceeeeeeeeeeeeeeeeeeeeeaeeeaeeeaeesaeeeaeesaeesaeeeaeeeaeeerseatenas 2 1 2 2 Sequence Programs for Safety Observation on PLC CPU 0 ee ceceeceeceeereeneeeeeeeneesieetieetieesieesieetieeeines 2 3 2 2 1 Activity check in sequence programs for safety ObSErvatiON ccceeceeeeeeeeeeeeeeeeereeeeeeaeeeeeeateas 2 6 2 3 Satety SIGnalS COMPSON aeiee E EEE EE datel ead coveted Lethal pud cetedes dabvadgudcetatescettedend cet 2 7 2 9 Restart alter Omron onua ahi cawanti uh oniaaeen ts heh cawaafieheniaaeen a nani 2 7 2 4 Speed Monitoring Function SLS Jorien aae T A E EE A EA ATAR 2 8 2 4 1 System configuration of speed monitoring function eee eee eee eeeeeeeeeeeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeess 2 8 2 4 2 Timing of Speed monitoring FUNCTION ee eect eeeeeeeeteeeeeeeeeeeeeaeeeaeeeaeseaeeeaeeeaeeeaeeeaeeeaeeeaeeeneaeeeaeeeas 2 12 2 4 3 Example of speed monitoring start Operation ccccccececceeeceeeeeeeeeeeeeeeeeeeaeeseaeeseeeeeseeeseaeeesneetaees 2 13 2 4 4 Parameter Consistency CHECK cccecceeeeeeeeeneeeeeeeeeceeeeeeeeeaeeeaeseaeeeaeeeaeseaeeeaeeeaeenaeeeaeeeaeeeaeeerseaeeeateeas 2 14 2 4 5 Compa
145. eeeeeeeeeeteneteeeteneeeneeeaes 3 19 3 6 Validation of Parameter or Program cecccescceceeeeeeneeeeeseeeeeeeaeeeaeeeaeeeaeeeaeeeaeseaeeeaeseaeseaeeeaeeeaeeaeeeaeeeatesas 3 29 3 6 1 How to validate parameter cccccceceecceeneeeeeeeeeeceeeeeeceaeecaeescaeeeseneeseaeeseaeeseaeeesceeseaeeseasseneeeseeess 3 29 3 6 2 How to validate user safety SEQUENCE PFOGlaMN ceceeceeeeeeeeeeeeteeeeeeeeeeeseeeteeeseneseeeeeneteneseaeeeneeats 3 30 4 1 Special Relay Special Register for Safety Observation Function 0 eececeeeeeceeeneeeeeeeeteeeeeeeteeeteneeaes 4 1 4 2 Device Used in Sequence Programs for Safety Observation on PLC CPU Side eeeeeeereees 4 3 4 3 Multiple CPU Shared Device for Safety Observation FUNCTIONS ccceeceeceeeeeeeeeeeeeteeeteeetieeteneteeeeee 4 4 4 3 1 Shared device list for safety signal COMPALISON eeceeeceeeeeeeeeeeeeteeeeeeeaeeeaeeeaeeeaeeeaeeeaeeteeeeeeaeeas 4 5 4 3 2 Detailed description of shared device for safety signal COMPATISON cecceeceeeteeteteeeteeeteeeeteees 4 6 4 3 3 Shared device list for speed monitoring s ssessessesresnesrernesnesnesnernesnenasnnstnsnnetnnnnetnnnncnnnnnennnnsesinennnt 4 13 4 3 4 Detailed description of shared device for speed MONItOLING ceecceeeceeeeeeeeeeeeeeneeeeeeeeteeesenees 4 14 A 13 4 3 5 Shared device list for safety COMMUNICATION ee eeeeeeeeteeeneeeneeeeeeeeeeeaeeeaeeeaeeeaeeeaeeeaeesaeeeaeesaneateeas 4
146. ele wl tlc elztk Hl e nation O Usable Instruction Command DROL Command Setting data Setting data o o Number of device where left rotation data is stored BIN 32 bits i e ol Times 0 to 31 Function 1 Left rotation of 32 bit data Not include the carry flag DROL e The 32 bit data of the device designated at D not including the carry flag is rotated n bits to the left The carry flag turns ON or OFF depending on its status prior to the execution of the DROL instruction D 1 D Carry flag SM12 b31b30b29 b16b15 b2 b1 bO ee ee n bit rotation e Specify any of 0 to 31 as n If the value specified as n is out of range the remainder of n 32 is used for rotation As n is BIN 16 bits unsigned value For example when n 34 the contents are rotated two bits to the left since the remainder of 34 32 1 is 2 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 2 Left rotation of 32 bit data Include the carry flag DRCL e Rotates 32 bit data of the device designated by D including the carry flag n bits to the left The carry flag turns ON or OFF depending on its status prior to the execution of the DRCL instruction D 1 D r A v A Carry flag b31b30b29 b16b15 b2 b1 bO SM12 et EEEH n bit rotation e Specify any of 0 to 31 as n If the value specified as n is out of range the remainder of n 32 is used fo
147. em 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 A CAUTION Set the parameter values to those that are compatible with the Motion controller servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode servo amplifier and servo power supply module The protective functions may not function if the settings are incorrect Set the mechanical brake output and dynamic brake output validity parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect Set the stroke limit input validity paramet
148. en the SS1 command is turned ON the SS1 function of the servo amplifier operates e Bit 2 SS2 command When the SS2 command is turned ON the SS2 function of the servo amplifier operates SLS1 to SLS4 command When the SLS1 to SLS4 command is turned ON the SLS function of the servo amplifier operates Bit 1 Note 2 Bit 3 to 6 N Note 1 The high side devices 16 bits allocated to the functional safety command are not be used Note 2 The bits are in reverse to the bits of the command signals for safety observation function of the servo amplifier 4 DEDICATED DEVICES Note 1 Device No Signal name o usem eDres2 UsEMor ess 662 USEM GL 663 U3EM GO 664 UZENN GO 665 es sea 666 U3EmGO 667 XK Sigainame i 4 U3EM GO 668 UZEM GO 669 o l Functional safety command 5 USEM GO 670 USENNGO 671 6 U3EM GO 672 UZEM GD 673 7 USEM GO 674 UZEM GO 675 8 USEM GO 676 U3EMN GO 677 10 U3EM GO 680 U3EMN GL 681 11__ USEMN GO1 682 USEMN GL 683 12 U3EM GO 684 US3EMN GO 685 13__ US3EMN GL1 686 USEMN GL 687 14 USEM GL1 688 USEMN GL 689 15 USEM GO 690 UZEMNGO 691 16 USEM GO 692 UZEMNGO 693 17__ U3EM GO 694 U3ZEM GD 695 18 U3EW GO 696 U3JEW GO 697
149. er is stored If the speed monitoring or the small oscillation starts the bits of the corresponding parameter No will be turned ON Low side F elolelela o e 7 e s 4 s 2f o vit Speed monitoring parameter block No 1 Speed monitoring parameter block No 2 Speed monitoring parameter block No 16 Speed monitoring parameter block No 17 Speed monitoring parameter block No 18 Speed monitoring parameter block No 32 4 DEDICATED DEVICES 4 Speed monitoring error status Note Device No Signal name 7 PLC CPU side Motion CPU side Speed monitoring error status U3E0 GO 60 to U3E0 G U3E1 GO1 60 to U3E1 G Note 1 O is Multiple CPU shared device start address of safety signal comparison parameter Function The error status detected by speed monitoring function is stored Operation The error factor detected by speed monitoring is stored in the corresponding device of each speed monitoring parameter block Each bit corresponds to the signals below If the error factor is ON the bit of the corresponding signal will be turned ON Bit 0 to 6 reflect the monitoring result of the corresponding signal in real time If one of the bits 0 to 6 continues to be ON over speed monitoring error detection time bit 7 will be turned ON and safety observation error will occur Within the detection time the all bits corresponding to the detected erro
150. er s Motion CPU module Motion unit M anua PLC CPU peripheral devices for sequence program design Small oscillation Manual relevant to each module I O modules and intelligent function module e Multiple CPU system configuration e Performance specification Q173D S CPU Q172D S CPU Motion controller e Design method for common parameter Programming Manual COMMON e Auxiliary and applied functions common e Design method for Motion SFC program V13 SV22 e Design method for Motion SFC parameter e Motion dedicated PLC instruction Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual Motion SFC e Design method for positioning control program in the real mode Q173D S CPU Q172D S CPU Motion controller e Design method for positioning control SV13 SV22 Programming Manual REAL MODE parameter Q173D S CPU Q172D S CPU Motion controller SV22 Virtual mode program Programming Manual VIRTUAL MODE SV22 Advanced e Design method for synchronous control Q173DSCPU Q172DSCPU Motion controller SV22 synchronous parameter Programming Manual Advanced Synchronous Control 1 OVERVIEW 1 1 Functional Overview Motion controller has safety observation functions such as safety signal comparison speed monitoring function safe speed monitor shut off function standstill monitoring and safe brake control in addition to the general purpose Motion control functions Furthermore for Motion CPUs that su
151. er 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 Use the program commands for the program with the conditions specified in the instruction manual A CAUTION Set the sequence function program capacity setting device capacity latch validity range I O assignment setting and validity of continuous operation during error detection to values that are compatible with the system application The protective functions may not function if the settings are incorrect Some devices used in the program have fixed applications so use these with the conditions specified in the instruction manual The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error etc Thus an error corre
152. error remains in the program memory Sequence program error One or more program is registered but the P252 label does not exist The internal memory for executing the sequence program is insufficient The PLC parameters of GX Works2 project on Motion CPU side are changed from the default settings A mismatch between safety signals that were input to the PLC CPU and those that were input to the Motion CPU was detected The following causes are assumed Cable disconnection e Faulty door switch The control status of the output signal by the user safety sequence program differs between the Motion CPU and the PLC CPU Error device No HEX Safety signal compare error Note 2 sequence program of the Motion CPU Decrease the number of steps of the user safety sequence program of the Motion CPU Write the user safety sequence program to the Motion CPU in the status that the PLC parameters are set to the default settings Check the wiring Correct the sequence program so that the Motion CPU and the PLC CPU have the same control logic H 6 TROUBLESHOOTING transfer request device No HEX Note 3 Parameter Table 6 1 Safety observation error list Continued Error contents Sequence programs for safety observation transfer error Sequence programs for safety observation transfer timeout Sequence programs for safety observation comparison error Safety obs
153. ers FMOV Usable device Digit desig rety Tw sul 7 pelotwlr clslztx al e w nation O Usable Instruction Command FMOV H FMov 9 Setting data Setting data Description S Data to be transferred or the head number of the devices where the data to be transferred is stored BIN 16 bits D Head number of the devices of transfer destination BIN 16 bits n Number of transfers BIN 16 bits Function 1 Transfers 16 bit data at the device designated by S to n points of devices starting from the one designated by D f 0 fi D 1 0 Transfer D 2 0 of o0 gt 403 o In D n 2 0 D n 1 0 ly Error The points specified in n exceed those of the corresponding device specified in D sequence program error occurs Safety observation warnings SM24 are turned ON and error code SD32 10 detail code SD33 8010H are stored 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 15 Pointer branch instructions CJ Usable device Digit Settin j desig ee x r usu e r clo w r celso z k n r n ration eee e E e S e E e aS ee eee O Usable Instruction Command Setting data Description p Pointer number of jump destination PO to P249 Function 1 Executes the program specified by the pointer number within the same program file or the other program file when the execution command is ON 2 When the execution command is OFF
154. ervation processing stop PLC CPU Safety observation processing stop Motion CPU Error cause A data transfer request from Motion CPU to PLC CPU was not correctly handled An access from the Motion CPU is unavailable because a password is registered for the sequence programs for safety observation of the PLC CPU SSU_CMP SLS_CMP SNT_CMP Corrective action Explain the error symptom and get advice from our sales representative Do not change the password settings of the sequence programs for safety observation SSU_CMP SLS_CMP SNT_CMP The user ladder area doesn t have enough available area to write the sequence programs for safety observation A data transfer request from Motion CPU to PLC CPU was aborted This error may occur when access to the sequence program file using other devices such as GX Works2 and a GOT is attempted A mismatch between sequence programs for safety observation written in PLC CPU and that stored in Motion CPU was detected It is assumed that the PLC CPU or Motion CPU may be damaged The safety observation processing of the PLC CPU is not working or delayed The following reasons may be responsible SSU_CMP or SLS_CMP when the speed monitoring function is used is not registered to PLC parameter on Program setting page The scan time of the PLC CPU exceeds 100ms when the speed monitoring function is not used or 25ms when the speed monitoring funct
155. es the bit devices after the points designated by digit specification are regarded as 0 in the operation 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 20 Logical sums with 16 bit data WOR Setting Usable device Digit data desig 2 Pet Tw sul 7 pelotwlrlclmlztx al e w nation S1 s2 O Usable Note 1 Cannot specify the same device in S1 and D or S2 and D Instruction Command WOR wor S1 Setting data Setting data Description S1 Data for a logical sum operation or the head number of the devices where S2 the data is stored BIN 16 bits D Head number of the devices where the logical sum operation result will be stored BIN 16 bits Function 1 Conducts a logical sum operation on each bit of the 16 bit data of the device designated by S1 and the 16 bit data of the device designated by S2 and stores the results at the device designated by D 2 For bit devices the bit devices after the points designated by digit specification are regarded as 0 in the operation Error When the same device is specified in S1 and D or S2 and D a sequence program error occurs the safety observation errors SM57 are turned ON and error code SD32 10 detail code SD33 2700H are stored 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 21 Logical sum with 32 bit data DOR Usable device Digit evel des rxty Tw sul a pelo wir celztk ule nation
156. eseeeseaeseneteateneeaaes 5 77 6 1 Safety Observation Error Listar eisini ieina nienia ainiai aran aaa raian aai ierai nia 6 1 6 2 Safety Observation Warning LiSt eeecceeceeeeeeeeeeeeeeeeeeeeeeeeaeeeaeesaeesaeeeaeesaeesaeeeaeesaeesaeesaeeeeeeseesaeeeatenas 6 8 6 3 How to Correct Errors of Motion CPU Side Sequence Program cecceeceeeeeeteeteeeeeeeeeeeireeieeseeereenesas 6 10 6 4 Troubleshooting when the Error CAN T EXE PRG Occurs in a PLO CPU cee eeeeereeeeeeeeeeneeennees 6 13 APPENDIX 1 Functions of GX Works2 GX Developer available for Motion CPU ceseeeee App 1 APPENDIX 1 1 GX Works2 features SUPPOMT ccccccececceeeeeeeeeeeeeeeeeeaeeeeaeeeseaeeseaeeseaeeecaeeesneeseaeensaees App 1 APPENDIX 1 2 GX Developer features support cccccceeecceeeeeeeeeeeeeeeeeeeeeeseaeeseaeeteaeeseaeeesaneeseaeessaees App 8 APPENDIX 2 Example of Checklist for User Documentation cccccceesceeeeeeeeeeeeeeeeeeeeeeteeeeteneeeeneeees App 14 About Manuals The following manuals are also related to this product In necessary order them by quoting the details in the tables below Related Manuals 1 Motion controller Model Code Q173D S CPU Q172D S CPU Motion controller User s Manual This manual explains specifications of the Motion CPU modules Q172DLX Servo external signal interface 1B 0300133 module Q172DEX Synchronous encoder interface module Q173DPX Manual pulse generator interface 1XB9
157. eset enable SM810 is turned ON resetting is possible by executing the remote STOP of Motion CPU and then executing the remote RUN from MT Developer2 Operate after confirming safety Note 7 Safety observation internal processing error detail codes Detail code Description SD33 i H0001 Motion CPU internal work memory Motion CPU internal work memory consistencycheck ssid check H0002 Motion CPU internal processing code CRC check H0003 Stuck check for Motion CPU internal processing H0004 H0007 i A HOOOA Motion CPU internal processing consistency check H0005 H0006 H000B H0008 Transmission memory access check for safety signal module H0009 Motion CPU internal clock check HO00C Motion CPU internal processing execution sequence check H8008 PLC CPU internal clock check H8010 Multiple CPU high speed transmission memory check area for safety observation function Note 8 Safety communication error detail codes a D i ee scription z t 7 Safety station receive data error Safety station product information mismatch Safety observation timeout error Motion CPU internal processing watchdog timer check OC to OF ores the axis number Example When a safety station product information mismatch occurs at axis 25 the detail code is H250B Note 9 Safety communication internal processing error detail codes Detail code D ipti eos escription Safety communication internal process
158. et port of the CPU module 13JZ29 MELSEC Q L Programming Manual Common Instruction i N A ae Ae SH 080809ENG This manual explains how to use the sequence instructions basic instructions application instructions and 13JW10 micro computer program MELSEC Q L QnA Programming Manual PID Control Instructions SH 080040 This manual explains the dedicated instructions used to exercise PID control 13JF59 MELSEC Q L QnA Programming Manual SFC SH 080041 This manual explains the system configuration performance specifications functions programming 13JF60 debugging error codes and others of MELSAP3 I O Module Type Building Block User s Manual sioi This manual explains the specifications of the I O modules connector connector terminal block 13 JL99 conversion modules and others MELSEC L SSCNETII H Head Module User s Manual FRR SH 081152ENG This manual explains specifications of the head module procedures before operation system 13JZ78 configuration installation wiring settings and troubleshooting 3 Servo amplifier Kanal Name Manual Number Model Code SSCNETMI H interface AC Servo MR J4_B RJ MR J4_B4 RJ MR J4_B1 RJ Servo amplifier Instruction Manual SH 030106 This manual explains the I O signals parts names parameters start up procedure and others for AC 1CW805 Servo MR J4_B RJ MR J4_B4 RJ MR J4_B1 RJ MR J4 CB Servo amplifier SSCNETMI H interface Multi
159. eturn of subroutine program CALL RET Usable device Digit Settin j desig ee x r umsu e r c o w r celso z k n r n ration MM O Usable Instruction Command caL H Setting data Setting data Head pointer number of a subroutine program PO to P249 Function 1 Subroutine program calls CALL e When the CALL P instruction is executed executes the subroutine program of the program specified by P 2 Return from subroutine programs RET e Indicates end of subroutine program e When the RET instruction is executed returns to the step following the CALL instruction which called the subroutine program Error In any of the following cases sequence program abnormal warning occurs Safety observation errors SM57 are turned ON and error code SD32 10 detail code SD33 0400H are stored e There is no subroutine program for the pointer specified in the CALL instruction e The CALL instruction was executed on subroutine program Nesting is not possible 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 18 Logical products with 16 bit data WAND Setting Usable device Digit data desig 2 Pet Tw sul 7 pelotwlrlclmlztx al e w nation S1 s2 O Usable Note 1 Cannot specify the same device in S1 and D or S2 and D Instruction Command WAND wanp S1 Setting data Setting data Description S1 Data for a logical pr
160. ety sequence program Motion CPU side that issues a STO signal Create the user safety sequence program on the PLC CPU side with the same logic 1 Devices X100 aoe signal Start switch input X200 ee Safety signal Safety switch input x204 Nee one signal Shut off signal feedback input x300 Noe Functional safety status STO status y20a ery Safety signal Shut off signal output control by system 300 Note Functional safety command STO signal y301 Ne Functional safety command SS1 command MO Trailing edge detection flag of start switch input M1 Start enable signal Note 1 When the start device number of safety signal module is set to 200 Note 2 When the start device number of functional safety signal is set to 300 2 Program example P252 X200 X100 0 PLF MO Safety Start Start switch eaten switch ON to OFF inpu MO g p SET M1 3 Start switch Start enable ON to OFF RST Y301 SS1 command STO X300 Y20A X20A 10 Y300 STO Shut df Shut dff STO signal status system system M1 FB X300 M1 J RST M1 Start STO Start Start enable enable status enable SS1 x200 X300 S T SET Y301 Safety STO SS1 command switch status input 23 END 2 SAFETY OBSERVATION FUNCTION 3 Operation outline a When the start switch X100 is pushed after confirming safety safety switch input X200 is ON the STO signal Y300 is output
161. ety sequence program which controls safety signal output e Safety communication with safety communication compatible servo amplifiers Motion CPU and PLC CPU execute the safety observation function 1 Safety signal comparison Speed monitoring function Motion CPU executes safety signal comparison and speed monitoring function as internal processing And PLC CPU executes these functions in the sequence program created automatically by Motion CPU Refer to Section 2 2 1 2 User safety sequence program The safety circuit is configured as a software program instead of hard wired safety relay logic Store the same logic program to each of the CPUs The CPUs check the processing of the program 2 SAFETY OBSERVATION FUNCTION 3 Safety communication function Communicates safety information with the servo amplifier by using the safety communication in a system compatible with safety communication Also checks the operation and status of safety observation functions in the servo amplifier with the safety sequence program of the user Created by user Controls machine systems PLC CPU Controls safety signal and functional safety signal Created by user safety communication I O NJ Machine control sequence program User safety sequence program Compares the Motion CPU side safety signal Created by system Monitors if motor speed is within the safety speed Created by system
162. ety signal from the safety signal module 1 to 3 is stored 4 DEDICATED DEVICES Operation Each bit corresponds to the following signals If a signal is ON the corresponding signal bit will be turned ON Safety signal output OA Safety signal output 0B l Safety signal output OF Safety signal output 1A Safety signal output 1B l Safety signal output 1F 4 Safety signal output feedback comparison error R Note Device No Signal name i PLC CPU side Motion CPU side Safety signal module1 output error U3E0 GO 24 U3E1 GO 24 Safety signal module2 output error U3E0 GO 25 U3E1 GO1 25 Safety signal module3 output error U3E0 GO 26 U3E1 GO1 26 Note 1 O is Multiple CPU shared device start address of safety signal comparison parameter Function The comparison status between safety signal output from safety signal module 1 to 3 and its return input signal is stored Once the signal turns ON the signal status will not be changed until the controller power is turned ON again Operation Each bit corresponds to the following signal If signal comparison error occurs the corresponding bit will be turned ON Fle oj c B a9 s 7 6 5 4 3 2 o vit pe i ar signal output error OA Safety signal output error 0B I Safety signal output error OF Safety signal output error 1A Safety signal
163. f 2 is performed is stored BIN 16 bits Function 1 Reverses the sign of the 16 bit device designated by D and stores at the device designated by D 2 Used when reversing positive and negative signs 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 25 Right rotation of 16 bit data ROR RCR Usable device Digit Settin j Level cei dat is rxty w sul a ele wl tlc letzte ule nation O Usable Instruction Command ROR Command Setting data Setting data o Number of device where right rotation data is stored BIN 16 bits Times 0 to 15 Function 1 Right rotation of 16 bit data Not include the carry flag ROR e Rotates 16 bit data of the device designated by D not including the carry flag n bits to the right The carry flag is ON or OFF depending on the status prior to the execution of the ROR instruction D _ ___Jr UM Carry flag b15b14b13b12b11b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 bO SM12 n bit rotation e Specify any of 0 to 15 as n If the value specified as n is out of range the remainder of n 16 is used for rotation As n is BIN 16 bits unsigned value For example when n 18 the contents are rotated two bits to the right since the remainder of 18 16 1 is 2 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU E 2 Right rotation of 16 bit data Include the carry flag RCR e Rotates 16 bit data
164. f the Motion controller you have purchased so as to ensure correct use CONTENTS pately Precautions aii i a a ee ae a es A 1 Revisio NS iena NE E AEEA ater piatiatiacdi ada pddl eanels sta padiatecdiatenddi EE A 11 COMEM Sca ea a at aie atein atin walle atin aie walt atin tal ate waited ate A 12 About Manuals warea ue cece vhe ces tads sere eke sce c ade vce ec oe ct ed ve eee A sae tees perce dee tad emcees tees vata A 16 Manual Page Organizations iiia iiie A 18 1 1 Functional Overview nonsiiirnniniaii naiai ia ad i ai ai ia aa aiai aiaia 1 3 12 System Configuration nnn RA AE 1 5 1 2 1 Q173DSXY Safety signalmod le siure iR AAR ER ER EARNER AANA 1 8 1 3 Applicable Saa T a a a le e 1 9 TA RISKASSeSSMONt oar anaia a TaS aE a Aa aE AEE NATE a AA ANa ave 1 10 14 1 Safety signal COMpPAMISON isc es ceecesidescee cee eeidetiedeaceeiensideviedea cele neadetiedeaeevieesidveiedeecevianeseadeunedeecevns 1 11 1 4 2 Speed monitoring function SLS eee eee eeeeeeeceeeeeeeeeeeeeeseesaeesaeeeaeesaeesaeesaeeeaeesaeeeaeeseeneeseeeatesas 1 11 1 4 3 Safe speed monitor SSM eecceeceeeeeeeeeeeeeeeeeceeeeeeeeeeeeesaeeeaeeeaeesaeesaeesaeesaeeeaeesaeesaeeeaeeeateaeeseeeatesas 1 12 14 4 Shutoff TuNnction STOs SSA sciecteccescesiccte ban E EE E EEE 1 13 1 4 5 Standstill monitoring SOS SS2 ooo eee ee e TA OA EARTE RE Ai 1 14 1 4 6 Safe break Control SBO orssed innri iaa ard aaan aiara 1 14 1 4 7 Safety communication FUNCTION ee eeceeeecee
165. flag is turned ON and move the motor so that the external auxiliary pulse both edges are detected Movement amount 0 6pulse 1 2pulse 0 6pulse Command speed 1pulse s Both are the conversion value of external auxiliary pulse input Both edges of external auxiliary pulse input must be defined according to user system During standstill monitoring which uses a safety encoder encoder consistency check by small oscillation is not necessary External pulse input A B phase A phase 2 a o S B phase d Foe o oo o 0 6pulse 0 6pulse 1 2pulse Make small oscillation so that the both edge can be detected and check the consistency between motor encoder travel amount 2 21 2 SAFETY OBSERVATION FUNCTION If the difference between value of motor encoder and external auxiliary pulse input occurs Safety observation error error code 121 occurs and the shut off signal is turned OFF The positioning cannot be executed during small oscillation If the positioning JOG servo program is started during small oscillation Safety observation warning error code 201 occurs and the positioning does not start Also when small oscillation request signal is turned ON for an axis which is in the middle of positioning or synchronous control Safety observation warning error code 203 occurs and the small oscillation does not start In the case that the small oscillation request signal is turned ON in the virtual mode set
166. ges the safety signal inputs of the PLC CPU to control the safety signal output of the PLC CPU Z CAUTION User safety sequence program controls output of safety signals The safety cannot be ensured with incorrect sequence program Make sure to check the safety signal control logic 1 Devices to use Create the PLC CPU side user safety sequence program using the I O device of safety signal module Other devices as temporary memory timer counter etc will follow the QnU series PLC CPU s specification However as the PLC CPU side sequence programs for safety observation uses the devices shown in Section 4 2 they cannot be used for the user program 2 User program name Do not use user program name SSU_CMP SLS_CMP and SNT_CMP These are the name of sequence programs for safety observation used in the system 3 START UP PROCEDURES 3 User program size The following size is necessary for the sequence programs for safety observation Secure the following area by the user program as an empty area e Only safety signal comparison use 17kbyte approx 4300 steps e Both safety signal comparison and speed monitoring 27kbyte approx 7000 steps e Both safety signal comparison and safety communication function 39kbyte approx 10000 steps e Safety signal comparison speed monitoring and safety communication function 50kbyte approx 13000 steps If the sequence programs for safety observation cannot be written because t
167. git designation 1 to 8 3 Basic instruction function instruction value setting e 16 bit instruction 32768 to 32767 e 32 bit instruction 2147483648 to 2147483647 5 1 13 Hexadecimal constant H The hexadecimal constant can be used in the following ways 1 Basic instruction function instruction value setting 16 bit instruction 0000h to FFFFh 32 bit instruction 00000000h to FFFFFFFFh 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU Caen 5 2 Configuration of Instructions The section describes configuration for sequence program instruction to be executed in the Motion CPU For a list of available instructions refer to Section 3 5 2 5 2 1 How to read the instruction table The basic instruction and function instruction explanations are shown below Example of BIN 32 bit addition and subtraction instruction The instructions that can use an index Z are circled The only instructions in this manual that use index Z are the Section number Instruction code MOV DMOV instructions y 4 5 4 4 BIN 32 bit addition and subtraction operations D D Instructions overview A circle is indicated if digit designation of the bit device is possible Usable device Setting Bit device Word device Constant Pointer data x y m su e ri clojwi r c s z k u P A E e RK ee ee ea e e a e a O eo oo ojo MAN Xm I x Note 1 Cannot specify the same device in S1 and D or S2 and D The devices th
168. gram Correct the user safety sequence program Note 1 error is outside the range of the Motion CPU sors The device points in the DSFL instruction is outside the range soman The device points in the SER instruction is outside the range The output decode data in the DECO instruction exceeds the device range The device points in the S AVE instruction is outside the range After detecti fety signal Error Safety signal PUGS de gee WA ea ae Turn off M2039 after turning on and then off h error at the previous power on the device No unconfirmed after the signal where the error occurred at least Note 2 ON OFF status of the corresponding compare error f once signal cannot be confirmed Note 3 0001H to RIO A di icati ith 55 0007H communication TE A Pe O igo nag setae te Check the wiring Note 4 the safety signal module shutdown Positioning start C tth that positioning i pa ee Positioning cannot be started up for the Se ae program Soa posi soning 201 disabled at small f J ve not started while the small oscillation nner axis during small oscillation oscillation execute flag is on Small oscillation cannot be started to the nee 3 i ae Execute small oscillation after adding the axis to which the small oscillation has Clutch ON in virtual clutch to the corresponding axis and eat I been requested in the virtual mode confirming the clutch is OFF Speed Se ee because of no clutch or clutch
169. he program size is insufficient Safety observation error error code 21 will occur 3 START UP PROCEDURES 3 5 2 Creating Motion CPU side user safety sequence program Read this section to create a Motion CPU side user safety sequence program The Motion CPU side user safety sequence program judges the safety signal inputs of Motion CPU to control the safety signal output of Motion CPU Create a sequence program to release the forced stop when the operation setup conditions are satisfied from the safety signal status Assigned the forced stop input setting in the system basic setting Refer to Section 3 4 1 3 When the corresponding assigned device is OFF the Motion CPU becomes in the forced stop status and all servo motors are OFF and do not drive Z CAUTION User safety sequence program controls output of safety signals The safety cannot be ensured with incorrect sequence program Make sure to check the safety signal control logic 1 PLC type program type Select Q03UD as a PLC type for the project of a user safety sequence program of Motion CPU side In addition select Ladder for a programming language The sequence program processing function of Motion CPU is not equivalent with QO3UDCPU The program size the used device and the sequence instruction etc are limited Create the program according to the following contents 2 User safety sequence program size The size of Motion CPU side user safety sequence program
170. he Motion CPU and PLC CPU start to execute the safety signal comparison process sequence program and the signal status match at start up e Bit 7 Device memory check error This signal is turned ON when detects device memory check error e Bit 8 Comparison process running only Motion CPU side This signal is turned ON when the Motion CPU is running the sequence program e Bit 9 PLC CPU side comparison process running only Motion CPU side This signal is turned ON when the Motion CPU detects that the PLC CPU is running the sequence program Bit B Safety signal comparison circuit check normal only Motion CPU side This signal is turned ON when the Motion CPU reads and compares the PLC CPU s safety signal comparison sequence program and detects that no error is occurring e Bit C Remote I O transmission disconnected only Motion CPU side This signal is turned ON when disconnection of cable between the Motion CPU and the safety signal module is detected Bit E Output off check request Motion CPU side This signal is turned ON when the output off check is requested It is linked with the output off check request flag SM28 Output off check complete PLC CPU side After completing the output off check this signal stays ON until the Motion CPU side check request flag is dropped e Bit F Output off check normal This signal is turned ON when the result of first time output off check is normal at power up After the first
171. he device number on Motion CPU side the number that corresponds to the set device number on PLC CPU side is assigned Set the input X device No on the PLC CPU side occupies two points of the safety signal module which inputs pulses of the pulse output system connected mechanically to the servo axis which performs the speed monitor In the Motion CPU side the input X device number corresponding to PLC CPU side is assigned Make sure to set the A phase B phase mode to use the standstill monitoring SOS Setting device number is an even number A phase B phase mode e External auxiliary pulse input A phase X setting device No e External auxiliary pulse input B phase X setting device No 1 Setting device number is an odd number 1 phase mode e External auxiliary pulse input X Setting device No External Sensor Input X Setting device number 1 can be used as a general input Device No No Setting example 0000 to 1FFF Block No External sensor input X device number 0201 0202 0205 Input device allocation Unused Usable as a general input X201 Sensor input for block No 1 1 phase Unused Usable as a general input X205 Sensor input for block No 3 1 phase When the speed monitor axis uses a safety encoder and safety communication function this setting is disabled 3 START UP PROCEDURES Setting range Set Motion CPU side device number of the flags occupies two points for each X Y about the
172. hich performs the speed monitor as the speed converted to the machine system Note 5 Safety Motor Speed Set the safety speed upper limit speed while the speed monitor is permitted of the axis which performs the speed monitor as the motor speed 0 to 214748364 7 r min Note 6 Allowance Value of Position Deviation Set the allowance value for the difference between the position command value and the feedback position position deviation value while the speed monitor of the axis which performs the speed monitor is permitted 0 to 214748364 7 um 0 to 21474 83647 inch 0 to 21474 83647 degree 0 to 2147483647 pulse 3 START UP PROCEDURES Setting range Set the allowance value for the difference between the speed command value Allowance Value of Speed and the feedback speed speed deviation value while the speed monitor of the Deviation axis which performs the speed monitor is permitted As a general guideline set allowance speed deviation value to 90 of safety speed eee Set the hysteresis width speed width for outputting safe speed monitor signals SSM Hysteresis Width rae oe SSM signals when Speed monitoring function is performed Set the PLC CPU side device number of the safety signal module which assigns safe speed monitor signals SSM signals when Speed monitoring function is SSM Output Y Device No performed When SSM signals are not required set FFFF 0000 to 1FFF FFFF As for t
173. if the difference between the feedback speed ee and command speed Cara of Motion CPU does not exceed the allowance value of speed deviation during speed monitoring If the difference continues to exceed the allowance value over speed monitoring error detection time Safety observation error error code 113 occurs and the shut off signal is turned OFF Set the allowance value of speed deviation and speed monitoring error detection time by parameters Note 1 Value calculated from the time derivative of command position from servo amplifier to Motion CPU Note 2 Value calculated from the time derivative of command position from servo amplifier to Motion CPU Speed monitoring error detection time VA Parameter speed deviation _ Parameter Allowance value of _ Command speed _ Feedback speed 0 g Safety observation error SM57 Shut off signal l YOA 2 SAFETY OBSERVATION FUNCTION 2 4 10 External auxiliary pulse input observation Both Motion CPU and PLC CPU monitor if the difference between the feedback position and cumulative position of external auxiliary input pulses or safety encoder exceeds the allowance value of position deviation or not during speed monitoring If the difference between the feedback position and cumulative position of external auxiliary input pulses or safety encoder continues to exceed the allowance value over speed monitoring error detection time Safety obse
174. ifier Shut off Shut off signal signal External auxiliary pulse generator Mechanical attachment Servo motor saeco aoescone se standard encoder 2 SAFETY OBSERVATION FUNCTION 2 External auxiliary pulse input a PLC CPU counts the number of leading edge of external auxiliary pulse during speed monitoring and check the consistency between the motor feedback position from Motion CPU and the leading edge Refer to the Q173D S CPU Q172D S CPU Motion controller User s manual for input specification of external auxiliary pulse signal It is recommended to use the pulse generator achieves the safety performance level required for system Contact the manufacture for the safety reliability data of pulse generator a aut Example of an external pulse generator for speed monitoring ASTLUUUL BIUUUL A Slit disk amp Photo interrupter Incremental encoder Magnetic scale or Proximity sensor T b The input mode of external auxiliary pulse is the following Input mode and count timing are shown below Pulse input mode Count timing 1 ph se m de wo by A phase leading Up count by A phase leading A phase B phase mode B phase _ PL FL edge when B phase is OFF 2 phase multiple of 1 Down count by A phase trailing B phase _ J L FL edge when B phase is OFF 1 Be sure to use A phase B phase mode during standstill monitoring so that rotation information is acquired 2 In th
175. ignated by D not including the carry flag n bits to the left The carry flag is ON or OFF depending on the status prior to the execution of the ROL instruction D Carry flag SM12 b15b14b13b12b11b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 bO ty n bit rotation e Specify any of 0 to 15 as n If the value specified as n is out of range the remainder of n 16 is used for rotation As n is BIN 16 bits unsigned value For example when n 18 the contents are rotated two bits to the left since the remainder of 18 16 1 is 2 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU Caen 2 Left rotation of 16 bit data Include the carry flag RCL e Rotates 16 bit data of the device designated by D including the carry flag n bits to the left The carry flag is ON or OFF depending on the status prior to the execution of the RCL instruction D Carry flag la A S SM12 b15b14b13b12b11b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 a n bit rotation e Specify any of 0 to 15 as n If the value specified as n is out of range the remainder of n 16 is used for rotation As n is BIN 16 bits unsigned value For example when n 18 the contents are rotated two bits to the left since the remainder of 18 16 1 is 2 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 28 Left rotation of 32 bit data DROL DRCL Usable device Digit Settin j Level cei dat is rxty Tw sul t
176. imately 0 Execute the ON OFF control of speed monitoring request signal and timer delay processing for motor deceleration time SS2 using safety signal in user safety sequence program The command position is also monitored in addition to the speed monitoring for safety speed 0 during standstill The load side machine position is guaranteed to be within the allowance value of position deviation by feedback position monitoring Refer to Section 2 4 8 and external auxiliary pulse input monitoring Refer to Section 2 4 10 Safety input signal Safety door etc i V Start of deceleration Motor speed Allowance value of Ap SS EEE OE re Su position deviation Motor position 0 Standstill monitoring ee SOS t signal request signa The timer delay processed by user safety sequence program 2 7 1 Encoder consistency check by small oscillation during standstill monitoring The feedback position validity from the motor encoder the memory shall not be internally changed and fixed must be checked during standstill monitoring which uses external auxiliary pulse input Make small oscillation within the allowance range If the small oscillation request flag signal does not turn ON after the standstill status continues for certain time about one hour Safety observation error error code 120 occurs and the shut off signal is turned OFF The small oscillation executing flag turns ON when the small oscillation request
177. ime so that a motor completes the deceleration within SS1 delay time 2 SAFETY OBSERVATION FUNCTION 2 Program example Start request P252 SS1 delay timer STO X200 X100 J o PLF MO H Safety Start Start switch switch switch ON to OFF input MO s SET M1 H Start switch Start ON to OFF enable X200 M1 10 7 l SET M3 H Safety Start Stop switch enable request input M3 K10 14 T16 H Stop SS1 delay request time T16 19 RST M1 H SS1 delay Start time enable RST M3 Hy Stop request M1 Y20A X20A y 22 J_ 208 Start Shut off Shut off STO signal enable system system FB 27 i EN LD H 3 Operation outline a When the start switch X100 is pushed after confirming safety safety switch b input X200 is ON the STO signal Y20B is output Create the program so that the start switch is enabled only when the switch is turned OFF to ON preventing accidental start when the start switch is shorted or welded When the safety switch input is turned OFF the STO signal is turned OFF after SS1 delay time T16 elapses When the safety observation error is detected during operation the shut off signal Y20A X20A is turned OFF and the STO signal is immediately turned OFF 2 SAFETY OBSERVATION FUNCTION 2 7 Standstill Monitoring SOS SS2 SOS function is executed by setting the safety speed safety motor speed and allowance value of position deviation to approx
178. ing standstill monitoring c eee eee eeeeeeee 2 21 2 7 2 Sequence program example for standstill monitoring SOS SS2 Stop category 2 ee 2 23 2 7 3 Sequence program example for small oscillation during standstill monitoring eee 2 24 2 8 Safe Break Control SBU kani a a E RN A E A A A A A a R A 2 26 2 8 1 Sequence program example for safe break control SBC cccceeceseceeeeeeeeeeeeeeeeeeeseeeeeeeeeaeenas 2 26 2 9 Safety CommMUNICATION si iii a Mens aia A A E eh tii 2 27 2 9 1 Functional safety sSignalscs naransan ap ra rie 2 30 2 9 2 Sequence program example for shut off function STO SS1 Stop category 1 s es 2 33 2 9 3 Sequence program example for standstill monitoring SOS SS2 Stop category 2 ee 2 35 2 9 4 Sequence program example for speed monitoring SLS1 to SLS4 s es 2 37 2 9 5 Checking the connection status of safety COMMUNICATION eee eee eeeeeeeeeeeeeeeeeeeeeeaeeeaeeeateeaeeas 2 39 2 9 6 SSCNET I communication Condition MONItOT 2 0 ee eee eeeeceeeeeeeeeeeeeeeeeeeeeeaeeeaeesaeesaeeeeeeaeeeteeateeas 2 40 2 10 Self diagnOsis FUNGON ccecceeeceesceeccnecceecceeceeeceteccnecteedeneceteceeaneedeneaetecceeadeudeneceteceneateteneceteceneataesenes 2 41 2 10 1 Safety signal output check FUNCTION 00 eee eeceneeeeeeeeeeeeeeeeeeaeeeaeeeaeeeaeseaeeeaeseaeeeaeeeaeeeaeeeaeeeteaeeeateeas 2 41 2 10 2 Memory Check FUNCION oriei EEEE AE A EERE 2 43 2 10 3 Internal processing check of Safety
179. ing the safety communication function in a system compatible with safety communication Also checks the operation and status of safety observation functions in the servo amplifier with the safety sequence program of the user Speed monitoring function and standstill monitoring can be performed using a safety encoder 1 Correspondence table for function name of EN standards and safety observation function in a Motion system Function name EN 61800 5 2 Motion system SLS Safely limited Speed Speed monitoring function Abbreviation Safe Speed Monitor Safe speed monitor Safe Torque Off Safe Stop 1 Shut off function Safe Operating Stop Safe Stop 2 Safe Brake Control Safe brake control 1 3 Standstill monitoring 1 OVERVIEW 2 Safety specification Item Specification Category Category3 EN 1SO13849 1 Safety Integrity Level SIL CL2 EN62061 Performance Level PL d EN 1SO13849 1 MTTFd 169 years or longer DC Low PFH 217x10 hr Safety observation functions Safety signal comparison safety communication IEC61784 3 2010 STO SS1 SS2 SOS SLS SBC SSM IEC61800 5 2 2007 Note Safety specifications are under certificate Above description is the minimum value required for certification After certified the value will be updated Only processing block is included in the scope of safety specifications Input block including sensor and o
180. ing time error on Safety communication send data error H0003 Safety communication processing time between CPU error H0004 H0005 Swal icati ia it H0006 afety communication analysis result error Stores the axis number Example When a safety communication send data error occurs at axis 25 the detail code is H2502 6 TROUBLESHOOTING E 6 2 Safety Observation Warning List When errors which do not turn off the shut off signal occurs in the safety observation function the safety observation warning flag SM24 turns ON and the error code SD32 and detail code SD33 are stored Release the alarm depending on contents of error codes The errors other than with Note 1 Note 3 Note 5 cannot be reset Restart the system power supply ON or reset of PLC CPU after release of errors In addition when the safety observation warnings occur a self diagnostic error flag SM1 and diagnostic error flag SMO turn ON and a self diagnostic errors error code 10051 is stored in diagnostic errors SDO Table 6 2 Safety observation warning list Relevant CPU Error contents Error cause Corrective action PLC Motion Reset CPU CPU other than 0 to 9999 instruction is other than 0 to 9 The device points in the BMOV instruction is outside the range The device points in the FMOV instruction is outside the range 40 sora Sequence pro
181. ion D e Subtracts 32 bit BIN data designated by S1 from 32 bit BIN data designated by S2 and stores the result of the subtraction at the device designated by D e Values for S1 S2 and D can be designated between 2147483648 and 2147483647 BIN 32 bits e The judgment of whether data is positive or negative is made by the most significant bit b31 0 Positive 1 Negative The following will happen when an underflow or overflow is generated in an operation result The carry flag in this case does not go ON K 2147483648 K2 K2147483646 Since bit 31 value is 0 80000000H 00000002H 7FFFFFFEH result of operation takes a positive value K2147483647 K 2 K 2147483647 Since bit 31 value is 1 80000000H FFFFFFFEH 80000001H result of operation takes a negative value Error When the same device is specified in S1 and d or S2 and d a sequence program error occurs the safety observation errors SM57 are turned ON and error code SD32 10 detail code SD33 2700H are stored 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 5 BIN 16 bit multiplication and division operations Usable device Digit il desig rety Tw sul 7 peletwlrlclmlztx al e wl nation S1 s2 O Usable Instruction Command __ iE __ Setting data Setting data Description Number of the devices where the data to be multiplied divided is stored
182. ion MOV instruction etc comparisons of large and small values cannot be performed correctly 5 29 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 3 BIN 16 bit addition and subtraction operations Setting Usable device Digit data desig 2 ret Tw sul 7 pelotwlrlclmlztx al e wl nation S1 s2 O Usable Note 1 Cannot specify the same device in S1 and D or S2 and D Instruction Command k m Setting data Setting data Description Number of the devices where the data to be added to subtracted from is stored BIN 16 bits Data for adding subtracting or number of the devices where the data for adding subtracting is stored BIN 16 bits Number of the devices where the addition subtraction operation result will be stored BIN 16 bits Function 1 BIN 16 bit addition operation e Adds 16 bit BIN data designated by S1 to 16 bit BIN data designated by S2 and stores the result of the addition at the device designated by D e Values for S1 S2 D and can be designated between D 32768 and 32767 BIN 16 bits e The judgment of whether data is positive or negative is made by the most significant bit b15 0 Positive 1 Negative e The following will happen when an underflow or overflow is generated in an operation result The carry flag in this case does not go ON K32767 K2 K 32767 Since bit 15 value is 1 7FFFH 0002H 8001
183. ion is turned on with the safety observation error error occurred Speed monitor request acceptance disabled Set the safety communication cycle longer PLC CPU safet duce th ber of PLC CPU i sa ey The PLC CPU scan time exceeded TN e MUSETO pogram communication ee steps or increase the number of PLC CPUs safety communication cycle 3 555 ms Sk cycle warning etc so that there is enough processing time for the PLC CPU Note 1 Reset is possible by turning the PLC ready flag M2000 ON from OFF or the Motion error detection flag M2039 OFF from ON Note 2 Regardless of whether the CPU where an error is detected is the PLC CPU or the Motion CPU the safety signal module device number of the PLC CPU is displayed When errors are detected on several device numbers the smallest number is displayed Note 3 Reset is possible by turning the Motion error detection flag M2039 OFF from ON Note 4 Bits 0 to 2 correspond to the station numbers 1 to 3 of the safety signal module where the error is detected respectively Note 5 When the safety observation error reset enable SM810 is turned ON resetting is available by executing the remote STOP of Motion CPU and then executing the remote RUN from MT Developer2 Operate after confirming safety 6 TROUBLESHOOTING Caen 6 3 How to Correct Errors of Motion CPU Side Sequence Program When PLC ready flag M2000 of the Motion CPU turns from OFF to ON check of the sequence p
184. ion 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 Lock the control panel and prevent access to those who are not certified to handle or install electric equipment Do not burn or break a module and servo amplifier Doing so may cause a toxic gas 9 About processing of waste When you discard Motion controller servo amplifier a battery primary battery and other option articles please follow the law of each country area A CAUTION 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 All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections When
185. ion for each model can be seen in our Sales and Service etc 2 Please note that the Product including its spare parts cannot be ordered after its stop of production 3 Service in overseas countries Our regional FA Center in overseas countries will accept the repair work of the Product However the terms and conditions of the repair work may differ depending on each FA Center Please ask your local FA center for details 4 Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability Whether under or after the term of warranty we assume no responsibility for any damages arisen from causes for which we are not responsible any losses of opportunity and or profit incurred by you due to a failure of the Product any damages secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company any damages to products other than the Product and also compensation for any replacement work readjustment start up test run of local machines and the Product and any other operations conducted by you 5 Change of Product specifications Specifications listed in our catalogs manuals or technical documents may be changed without notice 6 Precautions for Choosing the Products 1 For the use of our Motion controller its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in Motion controller and a backup or fail safe
186. ion is used The safety observation processing of the Motion CPU is not working or delayed A mismatch between output signals from safety signal unit and their feedback signals was detected Safety signal output The following cause is assumed FB comparison error Safety observation parameter setting error Safety observation 24VDC power is not supplied to the safety signal module e The actual I O number assignment of parameters to the safety signal module station is different from the setting An error of the safety observation parameter was detected The parameters relating to safety parameter compare observation are not correctly transmitted from Motion CPU to PLC CPU Check the available area size of the user sequence program area If the size is not enough reduce the number of steps in the user sequence program or delete the unnecessary data on the program memory Turn ON the controller again after breaking the access of other devices Explain the error symptom and get advice from our sales representative Check the PLC parameter setting When the scan time is long shorten it such as by reducing the number of steps of the user sequence program Explain the error symptom and get advice from our sales representative Supply 24VDC to safety signal module After confirming that safety signals are correctly output turn ON the controller again Check if the I O No set in the paramete
187. iple CPU shared device start address of safety communication parameter 2 SAFETY OBSERVATION FUNCTION 2 9 6 SSCNETIL communication condition monitor When communicating by safety communication function the status of safety communication can be checked on the MT Developer2 SSCNETI communication condition monitor screen E i SSCNET III Communication Condition Monitor SSCNET III H CN1 i N Detail Information Axis 1 Sys 1 d01 Servo Error 0 Amplifier Motor Safety Comm Status Normal Encoder Type Safety Communication Retry Total 0 time Count Safety Comm Retry Max 0 time Continuous Count BtandardEncoder _ aE lt Screen MT Developer2 gt 2 SAFETY OBSERVATION FUNCTION 2 10 Self diagnosis Function 2 10 1 Safety signal output check function The safety signal cannot be controlled correctly in case of the transistor malfunction of the safety signal module Ensure the safety by checking the output signal using the output off check function at power ON and output off check function every 24 hours 1 Output off check function at power ON Confirm that all output signals from the safety signal module are turned OFF normally before turning ON the shut off signal after the power ON Execute the output off check of PLC CPU side after the output off check of Motion CPU side is completed If an error is detected during PLC CPU side output check Safety observati
188. l auxiliary pulse input deflection monitoring error Error cause An error is detected in a device memory check of the PLC CPU An error is detected in a device memory check of the Motion CPU Although the output signal of the safety signal module is turned off using the output off check function there is a feedback input signal which stays ON The following causes are assumed The output status of the safety signal module is changed in the interrupt program etc during the output off check Failure of the output transistor on the safety signal module Setting mismatch in speed monitoring parameter Mismatch of safety speed and safety motor speed in the unit of mechanical system The consistency of pulses per rotation and travel value amount per rotation in the servo data setting and speed monitoring parameter do not match Or the initial processing of the servo amplifier is not completed The command speed exceeded the safety speed during the speed monitor The feedback speed exceeded the safety motor speed during the speed monitoring The difference between the command position and feedback position exceeded the allowance position deviation amount during the speed monitoring The difference between the command speed and feedback speed exceeded the allowance deviation amount during the speed monitoring Motor feedback position speed and external auxiliary pulse input or safety encoder cumulative tra
189. lication Instruction OT Verticaitine o d CT Ladder Symbol Horizontalline o do dT Delete VerticalLine OTC Delete HorizontaiLine OT Pulse Contact Symbol x instruction Invert Operation Results x unsupported in Operation Result Rising Pulse x Motion CPU Operation Result Falling Pulse x Eroratrun eoa ee EdtFB instans Px Device Commet Td Statement CA Note L aA Note 1 StatementiNoteBatchEdt A Connect Line to Right Side Symbol o ConnectLinetoLeft SideSymbol o Enter Delete HLine Righward o Enter Delete HLine Leftward o J Easy Edit Enter Delete VLine Downwara o EnterDelete VLine Upwara Switch Open Close Contat o Switch StatementiNoteType A Noem Instruction Partire OT Documentation App 4 APPENDICES Hind Deve es E Findinstuction FC E peeo gd Replace Instruction Instruction S s e ll Open Close Contact Find Replace Change Module VO No Module I O No ee E Vee ees se a FE Jump to Next Ladder Bock Stat doo y O Jump to Previous Ladder Bock Stat ooo doo O i Build O Compile 3 Online program change X Note 2 icominment ee Eg a statement Pt Y E Mec ee Ss Display Non DisplayLadderBlock CF Display Non Display AllLadderBlock CF CT DeviceDisplay Cd CT Al Device Dispay doo Y Eek Cancel All Device Display CE CL Dispiay Compie Rest CE Y OE zom
190. mode i OFF to ON ON to OFF i i I 1 1 i i f of 25ms or more 1 25ms PLC CPU scan time 25ms 25ms 25ms 25ms or more or more or more or more i p l Make the pulse width OFF to ON A phase A phase B phase 7 i j OFF to ON B phase mode B phase i f i f l of 25ms or more s 1 1 1 i 1 1 A phase i i 25ms PLC CPU scan time 2 SAFETY OBSERVATION FUNCTION 2 4 2 Timing of speed monitoring function The speed monitoring function is started by the speed monitoring request signal Turn on the speed monitoring request signal after the motor is decelerated to the safety motor speed or lower by the speed change instruction CHGV etc in user program If the speed monitoring request signal is turned ON when the motor speed exceeds the safety speed safety observation error error code 110 occurs after speed monitoring error detection time and the shut off signal turns OFF When the speed monitoring request signal is accepted within the safety speed the following checks are executed e Safety observation error is not occurred e Parameter check Refer to Section 2 4 4 2 4 5 is completed correctly e Speed error detection check Refer to Section 2 4 12 is completed correctly After the check is completed successfully Motion CPU and PLC CPU start the speed monitoring and the speed monitoring enable signal is turned ON If any error occurs the shut off signal is turned OFF a
191. n error the shut off signal is turned OFF and the mismatch status is reported to the other CPU at the same time Set the mismatch allowance time in consideration of the time lag of signal input and signal reading for each CPU Error will occur if the mismatch time exceeds Safety signal the allowance time Motion CPU side i i i Li Safety signal E OOO PLC CPU side f 1 gt lt _ gt When mismatch time is within Mismatch allowance time an error won t occur allowance time Comparison mismatch Motion CPU side Comparison mismatch PLC CPU side Shut off signal YOA Motion CPU side Shut off signal YOA PLC CPU side Shut off signal will still be OFF even when the signals match after error detection 2 3 1 Re start after error When a signal comparison error occurs turn ON the system s power supply after checking the wiring where the input error occurred and eliminating the error cause Safety observation warning SM24 is turned ON and Safety comparison warning error code 11 occurs after power ON Turn ON OFF the error signal during signal comparison Release the warning by the reset operation PLC ready flag M2000 OFF to ON or Motion error detection flag M2039 ON to OFF after confirming the signal input 1 Continuous operation with Safety observation warning error code 11 may damage the safety observation function due to accumulated errors Safety observation warni
192. n sequence programs for safety observation PLC CPU and Motion CPU execute an activity check to ensure that both CPUs execute the safety observation function correctly One CPU checks if the counter of the other CPU is updated If the counter is not updated within a certain period of time an error will occur The time to detect error is automatically determined depending on the PLC CPU scan time When the Motion CPU detects that the PLC CPU s safety signal comparison is not operated Safety observation error 24 will occur When the PLC CPU detects that the Motion CPU s safety signal comparison is not operated Safety observation error 25 will occur In both case the shut off signal will be turned OFF Error will occur if Motion CPU side counter update is not confirmed within certain time I PLC CPU side Counter value 54 gt One CPU starts updating after detecting the counterpart s CPU ean Pa Ne ye y Vig Motion CPU side Counter value 53 4 Detection of Motion CPU side Safety observation function by PLC CPU i Shut off signal From PLC CPU to Safety signal module 2 SAFETY OBSERVATION FUNCTION 2 3 Safety Signals Comparison The input output signals on Motion CPU side and PLC CPU side are compared If the mismatch status of input output signal exceeds the setting allowance time Safety observation error error code 20 occurs and the shut off signal is turned OFF When each CPU detects a signal compariso
193. n the Motion CPU before communication MT Developer2 is required for safety observation settings in Motion CPU MT Developer cannot be used Instructions device range and program capacity of sequence programs in Motion CPU differ from those of Q series PLC CPU Confirm the instructions device range and program capacity before creating the program Available functions in GX Developer GX Works2 when sequence programs are created in Motion CPU differ from those of Q series PLC CPU Confirm the available functions before creating the program A safety encoder or external auxiliary pulse input is required for monitoring when the motor is stopped The external auxiliary pulse input must be defined according to the input specification of the safety signal module Q173DSXY 10 Speed monitoring SLS and Standstill monitoring SOS cannot be executed in amplifier less operation Safety observation error will occur because there is no motor encoder feedback and external auxiliary pulse input 1 OVERVIEW 11 12 13 It is recommended that operation cycle of Motion CPU is set to 0 8ms or more for safety observation function If the operation cycle is set to shorter than 0 8ms an operation cycle over will occur When safety observation function is enabled the self diagnostics of CPU module is executed after power supply ON Therefore the time until CPU module becomes RUN state is about 15 seconds longer than time without safety
194. nce program Verification program l l l l Verification l sequence l l l l l Sequence Logic Monitor Q Bus RS 232 Ethernet Ladder monitor function GX Developer of touch panel GOT etc 4 DEDICATED DEVICES 4 DEDICATED DEVICES 4 1 Special Relay Special Register for Safety Observation Function Special relays and registers listed below are available in user safety sequence programs on Motion CPU side or Motion SFC programs while the safety observation function is activated Device No to PLC side Type Note 1 Name Description Note 2 SM12 Carry flag Carry flag used in application instruction SM700 Turns ON when user safety sequence program on PLC CPU SM23 Sequence function STOP side is in STOP status Turns ON when the error warning occurs because the SM24 Safety observation warning shut off signal is not turned OFF by safety observation function Safety signal output off check Turns ON when output signals from safety signal module 4 SM27 incomplete continue to be ON for more than 24 hours Safet output off check suze me saa a ee ON output off check of safety signal module will start EE eae NomalyisON S S owo Special rely This relay alternates between ON and OFF at intervals of the SM40 2n seconds clock Ed SM414 time unit s specified in SD40 Turns ON when the error that turns OFF the shut off signal SM57 Safety observa
195. nce program Motion CPU side for supporting the SS2 stop category 2 of the servo amplifier Create the user safety sequence program on the PLC CPU side with the same logic After the SS2 command is turned ON standstill monitoring SOS is performed in the servo amplifier after confirming the delay time has elapsed or stopping of the motor is detected 1 Devices X101 General signal Reset switch input X200 Note 1 Safety signal Safety switch input y302 Nee Note 3 Functional safety command SS2 command M11 Trailing edge detection flag of reset switch input Note 1 When the start device number of safety signal module is set to 200 Note 2 When the start device number of functional safety signal is set to 300 Note 3 Create a separate program in Motion SFC etc for stopping positioning at the SS2 command turning ON Incorporating this into the user safety sequence program is not necessary 2 Program example P252 x200 X101 z 7 0 PLF M11 Safety Reset Reset switch Satie switch ON to OFF mpa M11 L RST Y302 J Reset switch SS2 command ON to OFF SS2 X200 Y302 Safety SS2 command switch input 12 END 3 Operation outline a When the safety switch X200 is turned OFF the SS2 command Y302 is turned ON b When the safety observation error is detected in the controller or servo amplifier while executing SOS function at the servo amplifier the shut off
196. nd the speed monitoring does not start If the speed monitoring request signal is turned ON when the safety observation error occurs Safety observation warning error code 210 occurs and the speed monitoring does not start The speed monitoring is ended by turning OFF the speed monitoring request signal Turn OFF the speed monitoring request signal after ensuring the safety in user program When the speed monitoring is completed the speed monitoring enabling signal is turned OFF and the normal operation becomes available In addition the speed monitoring enable signal is not turned OFF even if the safety observation error is detected during speed monitoring Speed monitoring start switch etc Speed monitoring request signal Speed monitoring parameter check Error check Speed monitoring enable signal Motor speed Unsafe state sta Speed monitoring Unsafe state gt 2 SAFETY OBSERVATION FUNCTION ener a 2 4 3 Example of speed monitoring start operation Safety door lock can be released only when the power is shut OFF for safety However in case that the door lock needs to be released without power shut off such as in maintenance and preparation speed monitoring function is required so that the device operate safely The operation example of speed monitoring start is shown below Door lock Safety door Pd Operator User program Motion CPU and PLC CPU process 1 Turns ON the start s
197. ndicates the machine remains safe even when all outputs are turned OFF Moo SM27 Output Output Output off check off check off check possible incomplete Create the user safety sequence program so that an operator cannot touch the moving parts when Output off check not complete signal is ON e g Disable the door lock shut the power down etc During the output off check the sequence scan time becomes longer not an error 2 SAFETY OBSERVATION FUNCTION Z CAUTION Without output off check safety cannot be secured because a transistor failure of safety signal module cannot be detected and safety signals may not be turned OFF When the output off check is executed all output signal points of safety signal module are turned OFF Make sure to create the sequence so that the machine safety can be ensured even when all the output signals are OFF 2 10 2 Memory Check Function Execute the memory check of PLC CPU device memory and Motion CPU internal memory for safety observation process constantly after power supply ON If an error is detected during PLC CPU side memory check Safety observation error error code 46 occurs and Safety observation error error code 47 occurs during the check of the Motion CPU side No particular precaution is given for parameter setting and the program creation of this function 2 10 3 Internal processing check of Safety observation function Execute the following check to ensur
198. ng SM24 should be OFF when starting the machine operation after power ON X00 SM24 YOA a CVB Startup Safety Shutoff Machine instruc observation signal operation tion warning starts 2 When Safety observation warning error code 11 occurs make sure to confirm that the signal is input properly by turning the error signal ON OFF during the signal comparison And inform that this signal confirmation is required through a man machine I F such as the indicator 2 SAFETY OBSERVATION FUNCTION 2 4 Speed Monitoring Function SLS 2 4 1 System configuration of speed monitoring function 1 Functions Motion CPU and PLC CPU execute the following monitoring function Command speed monitoring Command speed does not exceed the safety speed e Feedback speed monitoring Motor speed does not exceed the safety motor speed e Position deviation monitoring Difference between command position and feedback position does not exceed the allowance value e Speed deviation monitoring Difference between command speed and feedback speed does not exceed the allowance value e External auxiliary pulse input monitoring Difference between accumulation of external auxiliary pulse input and feedback position does not exceed the allowance value If the above speed and difference exceed the allowance value the Safety observation error occurs and the shut off signal is turned OFF The response time response time for input output signal is excluded
199. nsferred or the number of the device where the data to be transferred is stored BIN 16 32 bits Number of the device where the data will be transferred BIN 16 32 bits Function 1 16 bit data transfer MOV e Transfers the 16 bit data from the device designated by S to the device designated by D 2 32 bit data transfer DMOV e Transfers 32 bit data at the device designated by S to the device designated by D 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 12 16 bit and 32 bit data exchanges XCH DXCH Usable device Digit Settin j Level cei dat iti rety Tw sul tele wl tlc lelztkiul e nation O Usable Instruction Command XCH XCH D1 D2 Command A Setting data sei data Head number of the devices where the data to be exchanged is stored a BIN 16 32 bits Function 1 16 bit data exchange XCH e Conducts 16 bit data exchange between D1 and D2 D1 D2 c 35 NF ts i 16 bits le 16 bits gt ean 1 4 1 JoJo fo 11 Jo Jo Jo 1 Jo j 00 Jo Jo 4 ophion After execution 0 0 0 0 1 4 1 Jo o 1 4Jo 4 o 1 Jo 0 1 1 1 Joo Jo 1 1 ohono 2 32 bit data exchange DXCH e Conducts 32 bit data exchange between D1 1 D1 and D2 1 D2 D1 1 D1 D2 1 D2 la v 16 bits 16 bits 6 bits 16 bits M a a TOTS
200. nt Default Check Cancel lt Screen GX Works2 gt Do not change the value of High speed set in Timer limit setting from 10 00 Safety observation error error code 34 will occur at the system s power supply ON or after 24 hour continuous operation 3 START UP PROCEDURES 5 Multiple CPU setting Select PLC No1 in Host station And select the No 1 PLC CPU and No 2 Motion CPU in Target PLC of the Multiple CPU synchronous startup setting Q Parameter Setting PLC Name Puc m PLC File Puc RAS Boot File Program FC Device 1 0 Assignment Multiple CPU Setting al Communication m No of PLC 1 r Online Module Change 1 J Enable Online Module Change with Another PLC 2 vj Count When the online module change is enabled with another PLC I O status outside the group cannot be taken r IO Sharing When Using Multiple CPUs 1 J all CPUs Can Read All Inputs I all CPUs Can Read All Outputs m Host Station Operation Mode 1 Error Operation Mode at the Stop of PLC Multiple CPU High Speed Transmission Area Setting Communication Area Setting Refresh Setting R All station stop by stop error of PL IV all station stop by stop error of PLC2 AAA Far F all station stop by stop error of PLC4 Ra 1 Setting Multiple CPU Synchronous Startup Setting 1 nests s Refresh Send Target PLC Refresh Recy Set auto refresh setting if it is needed M ting
201. nusable U3E0 GOI 71 to U3E0 G Unusable U3E0 GL 78 to U3EO G U3E1 GO 78 to U3E1 GL 661 U3E0 GO 662 to U3E0 G U3E1 GO 662 to U3E1 G0 725 U3E0 GOI 726 to U3E0 G U3E1 GO 726 to U3E1 GO 999 Note 1 O is Multiple CPU shared device start address of safety communication parameter Device numbers are for when PLC CPU is CPU No 1 and Motion CPU is CPU No 2 4 DEDICATED DEVICES 4 3 6 Detailed description of shared device for safety communication 1 Servo amplifier functional safety unit setting bit 5 Note Device No Signal name PLC CPU side Motion CPU side Servo amplifier functional safety unit U3E1 GO 0 U3E1 GO 1 setting bit Note 1 O is Multiple CPU shared device start address of safety communication parameter Function Whether the servo amplifier functional safety unit is used or not is stored Operation When the servo amplifier functional safety unit is used the bits of the corresponding axis No will be turned ON F elolclejalo e 7 e s 4 s 2f1 o vit Low side High siae FIED cle ale e lze vt 4 DEDICATED DEVICES 2 Encoder setting bit Note Device No Signal name R 7 PLC CPU side Motion CPU side Encoder setting bit o a OS U3
202. o eer 3 3 Poo Se ae ae oe E o E OEE E p ie el as gor ha a es oe poo sion a ee App 9 APPENDICES Comment Statement a G O Aias o G n lt Macro instruction format display Display current monitored values Replace device name and display Arrange Alias format display i with device and display Device program display mode Below Right Number of comment lines 1 line 2 lines 3 lines 4 lines foobar oo o y S aa Zoom 50 75 100 150 Specify Auto Projectdata ist Project data display format data name descending Instructions ooo o O Elapsedtime d ox Display step synchronization S O Ethernet diagnostics CC IE Control diagnostics MELSECNET diagnostics Online module change Check program Confirm project memory size Merge data Check parameter Transfer ROM Read Write Verify Write to file Delete unused comments EE a Clear all parameters T Read IC memory card Write IC memory IC memory card ee card Read image data Write image data Start ladder logic test hs Connection Disconnection TEL data AT Set TEL data command Call book Intelligent function utility Utility list X X x Customizekeys Change displaycolor O JOptins o N Create start up settingfle Jo ooo cascade i es Window i PO E CE E A Limited partly PLC diagnostics OO O Diagnostics iagnosti E CC Link CC Link LT diagnostics System monitor PO
203. o 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 amplifiers power source If a large current continues to flow fire may occur When using a regenerative resistor shut the power OFF with an error signal The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fire Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used Failing to do so may lead to fire Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to fire 3 For injury prevention Z CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal Doing so may lead to destruction or damage Do not mistake the terminal connections as this may lead to destruction or damage Do not mistake th
204. oduct operation or the head number of the devices S2 where the data is stored BIN 16 bits D Head number of the devices where the logical product operation result will be stored BIN 16 bits Function 1 A logical product operation is conducted for each bit of the 16 bit data of the device designated at S1 and the 16 bit data of the device designated at S2 and the results are stored in the device designated at D 2 For bit devices the bit devices after the points designated by digit specification are regarded as 0 in the operation Error When the same device is specified in S1 and D or S2 and D a sequence program error occurs the safety observation errors SM57 are turned ON and error code SD32 10 detail code SD33 2700H are stored 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 19 Logical product with 32 bit data DAND Usable device Digit evel des rxty Tw sul a pelo wir celztk ule nation O Usable Instruction Command DAND e DAND Setting data Setting data Description Oo o Data to be logical product or head number of device where data is stored e The logical product results are stored in D device BIN 32 bits Function 1 Conducts a logical product operation on each bit of the 32 bit data for the device designated by D and the 32 bit data for the device designated by S and stores the results at the device designated by D 2 For bit devic
205. odule s conductive parts and electronic components Touching them could cause an operation failure or give damage to the module Do not place the Motion controller or servo amplifier on metal that may cause a power leakage or wood plastic or vinyl that may cause static electricity buildup Do not perform a megger test insulation resistance measurement during inspection 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 Mot
206. of the device designated by D including the carry flag n bits to the right The carry flag is ON or OFF depending on the status prior to the execution of the RCR instruction D Carry flag r AN SM12 b15b14b13b12b11b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 bO n bit rotation e Specify any of 0 to 15 as n If the value specified as n is out of range the remainder of n 16 is used for rotation As n is BIN 16 bits unsigned value For example when n 18 the contents are rotated two bits to the right since the remainder of 18 16 1 is 2 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 26 Right rotation of 32 bit data DROR DRCR Usable device Digit 2 Lisi sesio rxty Tw sul 7 ele wir clelztk Hl e nation O Usable Instruction Command DROR Command Setting data Setting data o Number of device where right rotation data is stored BIN 32 bits i e 2 Times 0 to 31 Function 1 Right rotation of 32 bit data Not include the carry flag DROR e The 32 bit data of the device designated at D not including the carry flag is rotated n bits to the right The carry flag turns ON or OFF depending on its status prior to the execution of the DROR instruction D 1 D o_ 0 Carry flag b31b30b29 b16b15 b2 b1 bO SM12 e n bit rotation e Specify any of 0 to 31
207. omparison operation 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 2 32 bit data comparisons D D lt D gt Usable device Digit Settin j Level cei dat i rxty Tw sul a elo wir c elztk ul e nation oe ASAA POES O Usable Instruction LDO O S1 S2 62 S1 S2 Note O indicates an instruction symbol of D D lt D gt Setting data sea data Data for comparison or head number of the devices where the data for el comparison is stored BIN 32 bits Function 1 Treats BIN 32 bit data from device designated by S1 and BIN 32 bit data from device designated by S2 as an a normally open contact and performs comparison operation 2 The results of the comparison operations for the individual instructions are as follows Instruction ee Comparison Instruction A Comparison Condition k Condition k pe ened operation result operation result D D s1 82 S2 S D lt S1 lt S2 Continuity Non continuity D gt S1 gt S2 lt 3 When S1 and S2 are assigned by a hexadecimal constant and the numerical value 8 to F whose most significant bit b31 is 1 is designated as a constant the value is considered as a negative BIN value in comparison operation 4 Data used for comparison should be designated by a 32 bit instruction DOMOV instruction etc If designation is made with a 16 bit instruct
208. on error error code 48 occurs and Safety observation error error code 49 occurs during the check of the Motion CPU side When the safety signal comparison starts after the check the shut off signal is turned ON Power supply User safety sequence program __ Execute Motion CPU side sa Transfer and check of the sequence programs for safety observation Complete Motion CPU to PLC CPU Safety signal output off check Execute N Motion CPU side Safety signal output off check Execute f PLC CPU side Output off check incomplete an SM27 Safety signal comparison Execute Shut off signal YOA ZA CAUTION All output signals are turned OFF instantaneously by this function if the output signal of the safety signal module is turned ON by the user safety sequence program after the power ON and before the shut off signal is turned ON Design the machine so that any dangerous status is occurred even when all output signal when all outputs signal points are turned OFF instantaneously 2 SAFETY OBSERVATION FUNCTION 2 Output off check function every 24 hours When all output signals have not stayed OFF for 24 hours output off check incomplete signal is turned ON Turn ON output off check signal in user program When Output off check signal is turned ON the following will be carried out a The Motion CPU is in emergency stop status and all axis servo ready are turned OFF only when the forced stop is assigned
209. on CPU is corrupted The first device number setting of the safety signal module for the PLC CPU does not match with that for the Motion CPU n Safety signal module station number 1 to 3 In the PLC parameter of the PLC CPU the output mode at error for the safety signal module is incorrect n Safety signal module station number 1 to 3 In the PLC parameter of the PLC CPU the device point setting is incorrect In the PLC parameter of the PLC CPU the device point setting is less than the necessary device range The following reasons may be responsible e The points of D except for expansion D is less than 8k e The points of M is less than 8k e The points of T is less than 2k In the PLC parameter of the PLC CPU the time limit setting of the high speed timer is incorrect The PLC parameters of the PLC CPU cannot be read The following causes are assumed The PLC parameter of the PLC CPU is deleted during operation Corrective action Explain the error symptom and get advice from our sales representative Check if the number of mounted safety signal units is the same as the parameter setting Check the disconnection of the remote I O cable Check duplicate settings of rotary switches on safety signal units Check the connection of the remote I O cable If the error cannot be resolved explain the error symptom and get advice from our sales representative Check the PLC CPU type If the
210. on error error code 116 this bit will be turned ON e Bit B Small oscillation warning detection Motion CPU only If the safety observation warning related to the small oscillation is occurred Safety observation warning error code 200 this bit will be turned ON e Bit C Small oscillation error detection Motion CPU only If the safety observation error related to the small oscillation is occurred Safety observation error error code 121 this bit will be turned ON e Bit E Servo axis data error detection Motion CPU only If the inconsistency between the number of pulse per motor revolution the movement amount per motor revolution and the motor encoder resolution is detected in the safety observation function parameter Safety observation error error code 102 this bit will be turned ON e Bit F Speed monitoring parameter inconsistency detection If the inconsistency between safety speed the safety motor speed and the movement amount per motor revolution is detected Safety observation error error code 101 this bit will be turned ON 4 17 4 DEDICATED DEVICES 5 Cumulative external input pulses R Note Device No Signal name 3 PLC CPU side Motion CPU side Cumulative external input pulses U3E0 GO1 92 to U3EO GO 123 U3E1 GO 92 to U3E1 G Parameter block 1 to 32 Note 1 O is Multiple CPU shared device start address of safety
211. oper Write parameters and programs Refer to Section 3 4 2 Section 3 5 1 Write the PLC parameters user safety sequence and control sequence for safety observation function to PLC CPU v Write safety observation function parameters Refer to Section 3 4 1 Motion CPU Write the parameters and motion programs Note When the safety observation function MT Developer2 that the safety observation function is set to parameters are not set the later safety Motion CPU sequence program of Motion CPU side cannot be written Turn ON power supply again Turn ON system s power supply again or reset the PLC CPU 1 3 START UP PROCEDURES Check errors ERR LED of PLC CPU is OFF and check that AL LED is not displayed at 7 segment LED of Motion CPU A Memory formatting Me F Refer to Section 3 3 Format the memory to be used by the Note 1 Set a rotary switch 2 SW2 at the front side of 7 Format PLC Memory Motion CPU module to 1 after before writing Motion CPU Refer to Section 3 2 GX Works2 GX Developer Writing the sequence program Wolet _ Refer to Section 3 5 2 Write the user safety sequence program to Motion CPU Y Validation of parameters and programs Refer to Section 3 6 Check the safety observation function parameters and user safety sequence program are written CPU module correctly Running of the CPU mo
212. or UE U3E1 G 4 Safety signal module2 output error U3E0 G U3E1 G Safety signal module3 output error U3E0 G U3E1 G 5 Safety signal comparison status 2 E ease U3E0 G U3E1 G Safety signal comparison activity check U3E0 G information 7 Safety signal comparison status U3E0 G U3E1 G Multiple CPU shared device address U3E0 G U3E1 G ae eae observation lt lt U3E1 G U3E1 G 9 Safety signal mismatch allowance time signal mismatch allowance time U3EQ GO 33_ _ PLC CPU side safety signal module1 U3E0 G start device No U3E1 G U3E1 G PLC CPU side safety signal module2 U3E0 G start device No PLC CPU side safety signal module3 U3E0 G U3E1 G start device No The number of safety signal module U3EO GO 38 U3E1 GO 38 Note 1 O is the L value of start device number for safety signal comparison parameter for each module Note 2 O is Multiple CPU shared device start address of safety signal comparison
213. or axis rotates half at maximum For a linear servo motor the primary side will move a distance of pole pitch Make sure to supply STO input signals STO1 STO2 from one power supply Otherwise the STO function may not function properly due to a sneak current failing to bring the STO shut off state 10 For the STO I O signals of the STO function supply power by using a safety extra low voltage SELV power supply with the reinforced insulation 1 OVERVIEW 1 4 5 Standstill monitoring SOS SS2 1 The position dependent safety observation function SOS is based on two independent safety related sensors One of them is part of the motor which has a built in encoder for functional motion control the other must be provided by the customer s application e g an external sensor PLG For standstill monitoring when using a safety encoder an external auxiliary pulse signal is not necessary During Safe Operating Stop make sure that monitoring status is enabled by small oscillation before a certain period of time about one hour elapses in the stop status However an error cannot be detected in the check interval The derivation of failure until next check cannot be detected If stop time becomes long use Safe Brake Control SBC as mechanical lock or perform Safe Torque Off STO Avoid the continuous use of Safe Operating Stop SOS for eight hours or more to prevent the accumulation of failure If stop time becomes long
214. or both the PLC CPU and Motion CPU Create the user safety sequence program used for the functional safety signal with the same logic for both the PLC CPU and Motion CPU When safety communication is disconnected all functional safety statuses turn OFF When a safety observation error is detected in the servo amplifier safety communication is disconnected therefore all functional safety statuses turn OFF 1 Functional safety statuses XI F E D c B a 9 8 7 6 5 4 3 2 10 STO status SS1 status SS2 status SLS1 status SLS2 status SLS3 status SLS4 status i T Error status 1 Error status 2 SBC status X 10 F m is O Ww gt o Oo N o gt oa A wo N SOS status SSM status Note OO Functional safety signal start device number e STO status Turns OFF when the STO function of the servo amplifier is operating and power supply is shut off Other than the above the STO status is ON e SS1 status Turns ON when the SS1 function of the servo amplifier is operating Other than the above the SS1 status is OFF e SS2 status Turns ON when the SS2 function of the servo amplifier is operating Other than the above the SS2 status is OFF 2 30 2 SAFETY OBSERVATION FUNCTION e SLS1 to SLS4 status Error status1 e Error status2 e SBC s
215. or later Note 2 MR D30 Safety observation function compatible A1 or later N4 Note 2 Required when using safety communication function Note 3 When using safety communication function safety encoder not used Note 4 When using safety communication function and safety encoder 1 18 1 OVERVIEW 2 Software package list Product name Operating system software package MELSOFT MT Works2 MT Developer2 Note 1 Model name SW8DNC SV13QJ SW8DNC SV13QL SW8DNC SV22QJ SW8DNC SV22QL SW8DNC SV13QB SW8DNC SV13QD SW8DNC SV22QA SW8DNC SV22QC SW1DNC MTW2 E Description Conveyor assembly use SV13 compatible with Q173DSCPU Conveyor assembly use SV13 compatible with Q172DSCPU Automatic machinery use SV22 compatible with Q173DSCPU Automatic machinery use SV22 compatible with Q172DSCPU Conveyor assembly use SV13 compatible with Q173DCPU S1 Conveyor assembly use SV13 compatible with Q172DCPU S1 Automatic machinery use SV22 compatible with Q173DCPU S1 Automatic machinery use SV22 compatible with Q172DCPU S1 Motion controller engineering environment Supported version 00A or later A999 00E or later N 00G or later N Note 2 Note 3 OON or later 00S or later 4 03D or later NO Note 3 Note 4 Note 5 1 39R or later 1 100E or later 1 110Q or later GX Works2 GX Developer SW1DNC GXW2 E SW8D5C GPPW E Programmable controller
216. ot safety encoder Standard encoder Bs compatible Safety encoder lote 2 Monitor external auxiliary pulses with Safety encoder Oo the controller Standard encoder compatible Safety encoder Monitor the safety encoder data with compatible Safety encoder the controller or servo amplifier Note 1 Refer for Section 1 6 for details for supported versions Note 2 When a safety encoder is connected to a servo amplifier not compatible with safety encoders the safety encoder functions as a standard encoder The servo amplifier and encoder combination is set by parameter When the parameter settings differ from the actual mounting status a safety observation error occurs and safety observation function is not executed 2 27 2 SAFETY OBSERVATION FUNCTION The communication cycle of safety communication is set by parameter When the processing time of safety communication exceeds the set communication cycle a safety observation error occurs and safety observation function is not executed Review the PLC CPU processes and shorten the scan time or change the communication cycle to a larger value When an error related to safety observation function occurs when safety communication function is enabled the following operations occur depending on the location of the error and the error type Error location Error type Shut off signal Safety communication Status of servo amplifier Note 1 Communication with all Note
217. parameter Device numbers are for when PLC CPU is CPU No 1 and Motion CPU is CPU No 2 4 DEDICATED DEVICES 4 3 2 Detailed description of shared device for safety signal comparison 1 Safety signal input status z Note Signal name PLC CPU side Motion CPU side Safety signal module1 input status U3E0 GU1 00 U3E0 G U3E1 GO 00 U3E1 GO 01 01 Safety signal module2 input status U3E0 GO1 02 U3E0 GO 03 U3E1 GO 02 U3E1 G0 03 Safety signal module3 input status U3E0 GO 04 U3E0 GO 05 U3E1 GO 04 U3E1 GO 05 Note 1 O is Multiple CPU shared device start address of safety signal comparison parameter Function Safety signal input status of the safety signal module 1 to 3 is stored Operation Each bit corresponds to the following signals If a signal is ON the corresponding bit will be turned ON Fleloleelalole z el5 4 s 2 1 o bit E ee a Safety signal input 00 Safety signal input 01 Safety signal input OF Low side High side F e 0 c B A 9 8 7 6 5 4 3 2 1 0 vit et a ee Safety signal input 10 Safety signal input 11 Safety signal input 1F 4 DEDICATED DEVICES 2 Safety signal input error Note Device No Signal name 7 PLC CPU side Motion CPU side Safety signal module1 input error U3E0 GO1 10 U3EO GHI 11 U3E1 GO 10 U3E
218. plifier that supports the safety communication function a safety observation error does not occur when safety communication is disconnected Check that safety communication is connected with the safety communication connection information special register refer to Section 4 1 or the safety communication enabled bit in the shared device for safety communication refer to Section 4 3 6 7 When incorporating the connection status as an interlock to the user safety sequence program use the safety communication enabled bit for the user safety sequence program on the PLC CPU side For the user safety sequence program on the Motion CPU side use the safety communication connection information 1 Safety communication connection information Signal name Device No Checks the connection status of safety communication Communicating 1 Disconnected 0 and stores the result as Safety communication SD42 SD43 bit data SD42 b0 to b15 Axis 1 to 16 SD43 b0 to b15 Axis 17 to 32 connection information 2 Safety communication enabled bit Device No Signal name Motion CPU Description PLC CPU side side i Shows the status of the safety communication function Safety USE1 G When safety communication is enabled the bit of the communication USE1 G corresponding axis turns ON enabled bit U3E1 GL1 76 b0 to b15 axis 1 to 16 U3E1 GO 77 bO to b15 axis 17 to 32 Note 1 O is Mult
219. pointer number is not set before the END instruction e A pointer number which is not in use as a label in the same program has been specified 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 16 End main routine program FEND Usable device Digit Settin j desig ee x r usu e r c o w r celso z k n r n ration St a e E e e E e e a aS ee eee O Usable Instruction FEND c y Function 1 The FEND instruction is used in cases where the CJ instruction or other instructions are used to cause a branch in the sequence program operations and in cases where the main routine program is to be split from a subroutine program or an interrupt program 2 Execution of the FEND instruction will cause the Motion CPU to terminate the program it was executing 3 Even sequence programs following the FEND instruction can be displayed in ladder display at a peripheral device Peripheral devices continue to display ladders until encountering the END instruction 0 c H ca Pe Sequence program Operation when ny CJ instruction i CJ P H Jump with Sequence program is not executed CJ instruction FEND Sequence program p e S FEND H Operation when Sub routine program p CJ instruction is executed Sequence program f END H s A FEND a When CJ instruction is used b When a subroutine program is used 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 17 Call r
220. pport safety communication Data is created and compared by the Motion CPU and PLC CPU Safety communication function can only be used with SSCNETIO H communication Safety communication function cannot be used with SSCNETI communication If using a safety encoder safe position feedback from the safety encoder is included in the safety information This position feedback utilized in the speed standstill monitoring function thus external auxiliary pulses are not necessary when performing speed monitoring function with a safety encoder and a Motion CPU and servo amplifier which support a safety encoder When using a safety encoder external auxiliary pulses cannot be used in speed standstill monitoring Also with safety communication the safety observation functions of the servo amplifier can be used by sending and receiving the safety observation status signals and command signals in the servo amplifier The system configurations that execute safety observation functions are determined by the combinations shown below te N N Motion CPU Servo amplifier i Motor encoder Speed standstill monitoring method Not safety encoder Standard encoder 5 compatible Safety encoder ote 2 Monitor external auxiliary pulses with Not safety encoder _ the controller Standard encoder compatible Safety encoder Monitor the safety encoder data with compatible Safety encoder the servo amplifier N
221. pport safety communication function a safety communication compatible servo amplifier and safety encoder may be included in the system All the safety of human lives and properties are not guaranteed by these functions Execute risk assessment by user and reduce the level of risk until the residual risk is less than the tolerable risk e Safety signal comparison A safety signal is input output to from PLC CPU and Motion CPU The CPUs compare the safety signals The power will be shut off if error occurs e Speed monitoring function SLS PLC CPU and Motion CPU monitor if the motor speed does not exceed the safety speed The power will be shut off if error occurs Safe speed monitor SSM SSM outputs the safety signal indicating the motor speed is safety speed or lower e Shut off function STO SS1 This function is composed of SS1 and STO SS1 function initiates the motor deceleration and initiates the STO function after an application specific time delay STO function shuts power to the motor e Standstill monitoring SOS SS2 This function is composed of SOS and SS2 SS2 function initiates the motor deceleration and initiates the STO function after an application specific time delay SOS function monitors if the motor stand still while power is being supplied e Safe brake control SBC Two control signals for holding the motor by brake are output e Safety communication function CX Communicates safety information with the servo amplifier by us
222. pr sanet O oo PLC PLC Data Device Memory Aa Note2 Refresh Ea cg EE a ot TargetMemoy a Noen PLC Data Program Eao PLC Data Global Device Commen A Noea Write to PLC PLC Data Local Device Commen A Note5 PLC Data DeviceMemoy a Moea CO e mane E E RefreshiFreevolume OO T Target Memory a Noten Verify with PLC Data Progam OC PLC Refresh Free volume ono o LEDstaus CF CT Specify Execution Target x o y RUN e o ste CCE eee ee o Hor o ee cor ee RemoveMemoryCard XL Operation duringRUN ET App 6 APPENDICES Middle item Small item Support maceworg Dw e tet asswor Delete T d a w Keyword sae neeaaea a Ma Note 1 Format PLC Format PLC Memoy sd Note 7 PLC Memory Clear PLC Memory Operation Arrange PLC Memory Target Memory m O GET Delete PLC PLC Data Program ia Data Refresh Free volume foo O Read PLC User Data ee LE a PLC User Write PLC User Data es oe eee Data Delete PLC User Data a SS a ae Export to ROM Format Program Memory Batch Download Backup PLC Module Change SetCocok Note Start Stop Monitoring Al Windows CT ense Mentor _____ Monitoring Start Stop Watching Watching i a E Decimal Hexadecimal Device Name S Name a ETE E Device Memory Buffer Memory BufferMemoy _ Monitor Batch monitor DisplayFormat o i y O Open Save DisplayFomat o
223. program cannot be executed so that there are not a label of P252 and P370 to P378 Make sure to set a program label P252 and P370 to P378 on the start of each program If the label is not set sequence programs are not executed Do not use program labels P252 and P370 to P378 during a program or as jump destinations of CJ instruction or CALL instruction Label number is common in all registered programs If the label No is used redundantly the program label which is written later has priority 3 START UP PROCEDURES 8 Refresh timing of input output signal Execute the refresh of input X and output Y of the user safety sequence program of Motion CPU as the following timing Direct refresh is unavailable Target module Refresh Timing Input X Before execution of the sequence program that P252 label was set Output Y At the END processing of the sequence program Safety signal module which is the last to be executed N I O module controlled by Motion CPU other than Main cycle of the Motion CPU safety signal module Note 1 Refer to this section 7 for the execution order of sequence programs 9 Execution level and operation of sequence program processing The execution levels of sequence programs for Motion CPU and contents of each motion processing are shown below Sequence program Safety signal monitoring processing Execution of execution processing user safety sequence program Servo
224. program in Motion CPU Change the rotary switch setting depending on the programming software to communicate Turning ON the system s power supply ON again is not required at the rotary switch change Motion CPU Q173DSCPU Writing or monitoring of sequence program to Motion CPU is possible with GX Works2 GX Developer Note Only when safety observation function is enable Set to 1 PERIPHERAL I F SW2 Safety observation function setting and writing or monitoring of Motion SFC program to Motion CPU with MT Developer2 Set to other than 1 MT Developer2 The connection destination can be selected from the PLC CPU or Motion CPU by Transfer Setup of programming software PLC CPU Motion CPU USB RS 232 Ethernet Ethernet GX Works2 GX Developer GX Works2 GX Developer MT Developer2 MT Developer2 3 START UP PROCEDURES 3 3 PLC Memory Formating Format the PLC memory of PLC CPU and Motion CPU with GX Works2 GX Developer at the first start If the PLC memory format is not executed in Motion CPU the user safety sequence program cannot be written Online Data Operation r Conne
225. r and the station No of the safety signal module properly correspond If this remedy still can t solve the error the safety signal unit may be damaged Reconsider the safety observation parameter setting corresponding to the small classification code and write it to the Motion CPU Check if the multiple CPU area device for the safety observation function has not been changed in a user program If the error cannot be resolved explain the error symptom and get advice from our sales representative Relevant CPU ie PLC Motion 6 TROUBLESHOOTING Error code SD32 Detail code SD33 Error code 0001H to 0007H Note 5 Table 6 1 Safety observation error list Continued Error contents Sequence programs for safety observation error Safety signal module mounting error Safety observation PLC CPU type error Sequence program memory error PLC parameter unauthorized PLC parameter read error Error cause The sequence programs for safety observation stored in the Motion CPU is incorrect Failed to confirm the mounting statuses of the number of safety signal units that is set in the parameter Safety signal module number An error is detected in the diagnosis of communication with the safety signal module The PLC CPU type of the 1st module doesn t support the safety observation function The program memory in which a user safety sequence program is stored in the Moti
226. r factor is turned ON PLC CPU U3E0O GO 60 Parameter block No 1 to U3E0 GO 91 Parameter block No 32 Motion CPU U3E1 GO 60 Parameter block No 1 to U3E1 GO1 91 Parameter block No 32 Command speed over Feedback speed over Allowance value of position deviation over Allowance value of speed deviaction over External auxiliary pulse positon deviation over Standstill monitoring position command over Speed monitoring error detection Axis stop time over Speed monitoring unaccepted request ote 1 Speed error detection check time out te Small oscillation warning detection Small oscillation error detecton e Servo axis data error detection ote 1 Speed monitoring parameter inconsistency detection Note 1 Only Moton CPU side Factor of speed monitoring error Bit 0 Command speed over If the command speed exceeds the safety speed factor of Safety observation error error code 110 this bit will be turned ON e Bit 1 Feedback speed over If the feedback speed exceeds the safety speed factor of Safety observation error error code 111 this bit will be turned ON e Bit 2 Allowance value of position deviation over If the position deviation exceeds the allowance value of position deviation factor of Safety observation error error code 112 this bit will be turned ON 4 DEDICATED DEVICES e Bit 3 Allowance value of speed deviation over If the speed deviation exceeds the allo
227. r rotation As n is BIN 16 bits unsigned value For example when n 34 the contents are rotated two bits to the left since the remainder of 34 32 1 is 2 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 29 n bit shift to right or left of 16 bit data SFR SFL Usable device Digit Settin j Level cei dat is rxty Tw sul tele wl tlc elztk Hl e nation O Usable Instruction Command SFR Command Setting data Setting data Number of the devices where shift data is stored BIN 16 bits Number of shifts 0 to 15 Function 1 n bit shift to right of 16 bit data SFR e Causes a shift to the right by n bits of the 16 bit data from the device designated at D The n bits from the upper bit are filled with Os D before execution oT Carry flag RN p D after execution 0 0 Lyo is entered e Specify any of 0 to 15 as n If the value specified as n is out of range the remainder of n 16 is used for rotation As n is BIN 16 bits unsigned value For example when n 18 the contents are rotated two bits to the right since the remainder of 18 16 1 is 2 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 2 n bit shift to left of 16 bit data SFL e Shifts 16 bit data at device designated by n bits to the left Bits starting from the lowest bit to n bit are filled with Os 16 bits n bits D before execution Bay Pa n bits SM12 m
228. rison of speed monitoring parameter ccccccececceeeeeeeeeeeeeeeeeeeeceaeeseaeeesaeeeseeeeseaeesseetaees 2 14 2 4 6 Speed Command observation cccccceeccceseceeeeeeeeeeeeeeaeeeeceecaeeseaeeseaeeeeeeeseaeeseaeessaeesseeeseaesseeseaees 2 14 2 4 7 Feedback speed ODSErvatiOn ccccccceecceeeneeeeeeeeeeeeeeaceesneeceaeeceaeeecaeeecaneesaeeseaeeecaeeecaeeesieeeseaeeesaees 2 15 2 4 8 Position feedback MONItOLING eeeceeeeeeeeeeeeeeeeeeeeeeeeaeeeaeesaeeeaeesaeesaeesaeeeaeeeaeeeaeesaeeeaeesaeeeeeeeeeeeeas 2 15 2 4 9 Speed deviation Monitoring 22 eeceeeeeeeeeeeeeneeeeeeeeeeeeeeeaeeeaeeeaeeeaeseaeeeaeseaeeeaeeeaeeeaeeeaeeeaeeeaeeeeeeeeaeeeas 2 16 2 4 10 External auxiliary pulse input observation cccccceecceeeceeeeeeeeeeeeeeeeeeeeeeseaeeseaeeecaeeesaeeeseaeenseessaees 2 17 2 4 11 Continuous standstill during speed monitoring 0 0 eee eee eee cent eee eeeeeeeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeas 2 17 A 12 2 4 12 Speed error detection CHECK ccsccceecceeeceeeeeeeeeeeeeeaeeeeaceecaaeeeaeessaeeecaceesaeeeeaeeseeeesieesieeeseaeessaees 2 17 2 5 Sate speed Monitor SSM mianra Ae E cade noue nada oounada nue AA AARAA A 2 18 2 6 Shut off Function STO SS1 jeene RA A EE EA RA ERR 2 19 2 6 1 Sequence program example for shut off function STO SS1 Stop category 1 a e 2 19 2 7 Standstill Monitoring SOS SS2 esena a aiaei aei i a aai aiaia 2 21 2 7 1 Encoder consistency check by small oscillation dur
229. rogram detection of unavailable instructions device range check etc is performed When the safety observation error error code 10 detail code 2700H occurs follow the procedure below 1 Confirmation of error sequence program The name and the title of the faulty sequence program file change in the PLC read screen of GX Works2 GX Developer and are displayed as below a Incase that No error occurs Online Data Operation Serial Port PLC Module Connection System Image amp Read C Write C verify C Delete r Connection Channel List ii PLC Module a Intelligent Function Module Execution Target Data No i Sts i Title iia Module Data Parameter Program Select All cancel All Selections i PLC Data Program Memory iKa Program Program File wl SAFETY 2012 03 23 16 22 50 2392 Bytes wl SAFETY 2 2012 03 23 16 22 52 2164 Bytes F SAFETY 3 2012 03 23 16 22 52 2164 Bytes wl SAFETY 4 2012 03 23 16 22 54 2160 Bytes HA Device Memory Detail amp Device Data lt Screen GX Works2 gt b Incase that error of SAFETY_1 program occurs Online Data Operation Connection Channel List Serial Port PLC Module Connection System Image i U amp Read C write C Verify C Delete BB Pic module a Intelligent Function Module Execution Target Datat No Yes mw iia Module Data Parameter Program Select All
230. ror message is displayed Note 5 Note 6 Monitoring buffer memory is impossible but can be set Possible to operate it When the switch is RUN App 13 APPENDICES APPENDIX 2 Example of Checklist for User Documentation MITSUBISHI ELECTRIC Motion controller installation checklist for manufacturer installer The following items must be satisfied by the initial test operation at least The manufacturer installer must be responsible for checking the standards in the items Maintain and keep this checklist with related documents of machines to use this for periodic inspection 1 Is it based on directive standard applied to the machine Yes No 2 Is directive standard contained in Declaration of Conformity DoC Yes No 3 Does the protection instrument conform to the category required Yes No 4 Are electric shock protective measures protection class effective Yes No 5 Is the safety observation function checked test of all the shut off wiring Yes No Checking the items will not be instead of the first test operation or periodic inspection by professional engineers App 14 WARRANTY Please confirm the following product warranty details before using this product 1 Gratis Warranty Term and Gratis Warranty Range We will repair any failure or defect hereinafter referred to as failure in our FA equipment hereinafter referred to as the Product arisen during warr
231. rvation error error code 114 occurs and the shut off signal is turned OFF Set the speed monitoring error detection time by parameter The position deviation allowance value is 1 75 pulses of external auxiliary pulse input or 1 pulse of safety encoder Speed monitoring error detection time PA Parameter Allowance value of lt _____ gt position deviation _____ f _____ De Mp Te Sah et Equivalent of 1 75 pulse Error occurs in the external auxiliary f 777777 DITIT TITI TITI TITTI input pulse Feedback position External auxiliary input pulse accumulation 0 a Safety observation error SM57 Shut off signal ES YOA 2 4 11 Continuous standstill during speed monitoring Switch the speed monitoring to the standstill monitoring Refer to Section 2 7 when the command speed or motor speed continues the state of during stop speed 0 2 4 12 Speed error detection check Before starting the speed monitoring set the safety speed for test 50 of command speed 1 when command speed is 0 internally lower than the command speed when the speed monitoring request is ON and confirm to detect the following status Command speed gt Safety speed for test Feedback speed gt Safety motor speed for test If the over speed status is not detected within 200ms after the speed monitoring request flag is turned ON Safety observation error error code 115 occurs and the shut off signal is turned OFF 2
232. rvation error occurs and safety observation function is not executed Note 2 When the processing time of safety communication exceeds the set communication cycle a safety observation error occurs and safety observation function is not executed Review the PLC CPU processes and shorten the scan time or change the communication cycle to a larger value Set the same settings as the safety communication cycle of the servo amplifier When the communication cycle differs to the safety communication cycle settings of the servo amplifier a safety observation error occurs and safety observation function is not executed 3 10 3 START UP PROCEDURES 3 4 2 Parameter settings for PLC CPU 1 I O assignment setting a Select I O Mix of 32 points as the safety signal module type and set the start device number of safety signal module Q Parameter Setting PLC Name PLC System PLCFile PLCRAS Boot File Program SFC Device 1 0 Assignment Multiple CPU Setting Serial Communication IO Assignment 1 No so Switch Setting o Pre Plc No T x QosuDHcPU P e o 2 Detailed Setting Assigning the I O address is not necessary as the CPU does it automatically Leaving this setting blank will not cause an error to occur Base Setting 1 Base Mode oe Main Auto Ext Base1 C Detail Ext Base2 Ext Base3 8 Slot Default Ext Base4 Ext BaseS 12 Slot Default Ext Base6 Ext Base Base Model
233. s 5 44 5 4 12 16 bit and 32 bit data exchanges XCH DXCH ccecccceeceeeeeeeeeeeeeeeeeseeeeeeaeeeseeeeseneeteneeseneeeeneees 5 45 A 14 5 4 13 Block 16 bit data transfers BMOV 0 ccccccccccccseceeeeeeeeeeeeeeeeeeeeeeeeeeeeeueuauueauauuaueuuuuauauuuuaauueeeeaueaas 5 46 5 4 14 Identical 16 bit data block transfers FMOV cccccccescceeeceeeeeeeeeeeeceaeeeeeeeecaceesneeeeneeteeeeeieeeieees 5 47 9 4 1 5 Pointer branch instructions CS enea a aa a dade deetaadh aeaa 5 48 5 4 16 End main routine program FEND sauria A AK E EOR 5 50 5 4 17 Call return of subroutine program CALL RET ccc cceeecceeeeeeeeceeeeeeeeeeeeeeaeeesceeeeaeeteaeeeeieeeeieees 5 51 5 4 18 Logical products with 16 bit data WAND ssssssssssssssrsersrsrstrstnstrstnstnstnstnstnstnstnstnntnstnntnntnnenntnana 5 52 5 4 19 Logical product with 32 bit data DAND ssssssssessissresisrsrstistrstnstnntnstnstnstnstnstnstnstnntnstnstnntnnnsennn 5 53 5 4 20 Logical sums with 16 bit data WOR sssssssssssssissrsirsrstnstnstrstrttnstnstustnstnstuatnatnatnstnatnstnntnatunnnenn 5 54 5 4 21 Logical sum with 32 bit data DOR 2 00 eceeceeceseneeeeeeeeeeeeeeeeeseeeteeeseaeeeesneseneseneseeeseneseaeseeeseaeeeneeeaes 5 55 5 4 22 16 bit exclusive OR operation WXOR cc ccececeeeeeeeeeeeeeeeeeeeeeeeeneeseaeeseaeescaeeesaeeseaeeseaeeteieeeireess 5 56 5 4 23 32 bit exclusive OR operation DXOR ccsccececceeeeeeeeaeeeeeeeeeeeeeeeneeseaeese
234. s are detected on several device numbers the smallest number is displayed Note 4 Safety observation function parameter setting error detail codes Detail code Description Parameter type SD33 d 2 Safety signal comparison parameter When the speed monitoring function is used the multiple CPU area device address CPU No 1 CPU No 2 is an odd number Error of the speed monitor axis No H0017 Error of the speed monitor error detection time Error of the axis unit setting Error of the number of pulses per revolution Error of the travel value per revolution Error of the motor encoder resolution Error of the number of pulses per external sensor rotation Error of the travel value per external sensor rotation Error of the safety speed Error of the safety motor speed Error of the allowance value of position deflection Speed monitoring Error of the allowance value of speed deflection parameter Error of the SSM hysteresis width Error of the SSM output Y device number At the setting of the safety operating stop the external sensor input X device number is an odd number single phase input mode 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 61 When omitting external auxiliary pulse input the safety speed setting is 0 Q 6 TROUBLESHOOTING Det
235. s section is a device only for the monitor Do not change the value of the device by the user program If the value is changed by mistake safety cannot be secured The safety observation error also may occur and the shut off signal may be turned off 4 DEDICATED DEVICES 4 3 1 Shared device list for safety signal comparison Table 4 3 Shared device list for safety signal comparison PLC CPU side Motion CPU side Signal types z vO device Multiple CPU vo device Multiple CPU shared device ee shared device Wore2 y 00 to X U3E0 GO 00 00 to X U3E1 G Safety signal module1 input status 10 to XO 1F U3E0 GO1 01 10 to XO 1F U3E1 G i 00 to XO 0F U3E0 GO 02 00 to X U3E1 G Safety signal module2 input status 10 to XO 1F U3E0 GO 03 10 to XO 1F U3E1 G 00 to X U3E0 GO 04 00 to X U3E1 G Safety signal module3 input status 10 to XO 1F U3E0 GO 05 10 to XO 1F U3E1 G U3E0 GO 10 U3E1 G Safety signal module1 input error U3E0 GO 11 U3E1 G 0 U3E0 GO 12 U3E1 G 2 Safety signal module2 input error U3EO GO 13 U3E1 G r U3E0 G U3E1 G Safety signal module3 input error U3EO GO 15 U3E1 G 0A to Y 0A to Y Safety signal module1 output status U3E0 GO 20 U3E1 G 1A to YO 1F 1A to YO 1F 0A to Y 0A to Y 3 Safety signal module2 output status U3E0 GO 21 U3E1 G 1A to YO 1F 1A to YO 1F 0A to YO 0F 0A to Y Safety signal module3 output status U3E0 GO 22 U3E1 G 1A to YO 1F 1A to YO 1F Safety signal module1 output err
236. s where the decoding result will be stored BIN 16 bits Function 1 Decodes the data from 0 to F designated by the lower 4 bits of S to 7 segment display data and stores at D S aia Configuration of Display data Hexadecimal Bit pattern 7 segments i N aja jo CE yLL LI i Oo 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 O m O n Note Lowest bit of word device 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU E 2 If D is a bit device indicates the head number of the devices storing the 7 segment display data if it is a word device indicates the number of the device storing the data Before execution After execution Y4F Y48 Bit device SEG D2007 K2Y48 gt gt ololilololilala When D2007 is 7 8 points D2008 OO eee b15b14b13b12b11b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 bO Word device SEG D2007 D2008 gt o o ololo olo lololalo lololal1il1 S A Ww When D2007 is 7 i yY Upper 8bits are 7 segment display data is always filled with Os stored in lower 8bits 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 35 Calculation of average value S AVE Usable device Digit inl desig x y ui smje r clolwi r c sof z k H P N nation S D O Usable Instruction Command S AVE 4 S AVE S Setting data Setting data Description S Head n
237. sequence program example Motion CPU side for corresponding to SBC is shown below Create the user safety sequence program of PLC CPU side in the same logic as Motion CPU 1 Devices x20A Note 1 Safety signal Shutoff signal feedback input y20A Note Safety signal Shutoff signal controlled by system y2oc Noe Safety signal Brake output M50 Brake output enabling signal Create the control sequence program additionally Note 1 When the start device number of safety signal module is set to 200 2 Program example M50 Y20A X20A LK 4 a ND Brake Shutoff Shutoff Brake output system FB output enable system MC side EN H 3 Operation outline a When the brake output enable signal M50 is ON the brake output is turned ON b When the safety observation error is detected during control the shut off signal Y20A X20A is turned OFF and then brake output is also turned OFF Create the separate sequence program where the shut off such as STO is executed by the shut off signal as interlock 2 SAFETY OBSERVATION FUNCTION 2 9 Safety Communication Safety communication compatible pe ee pe Se a eee ee ee ee eet ee Safety observation servo amplifier Motion CPU function STO SLS command etc Safety Safety communication communication function function Servo motor Safety information is communicated by SSCNETII H between a Motion CPU and servo amplifier that su
238. servation error is detected during SOS the shut off signal Y20A X20A is turned OFF Create the separate sequence program where the shut off such as STO is executed by the shut off signal as interlock c SOS is released by reset switch input X101 Create the program so that the reset switch is enabled only when the switch is turned OFF to ON which prevents accidental start when the reset switch input X101 is shorted or welded POINTS The operation of SOS request signal is not required in user sequence program of PLC CPU side However create the separate sequence program of both Motion CPU side and PLC CPU side when the output signal Y is controlled such as door lock release by status of SOS Use the speed monitoring executing bits Refer to Section 4 3 3 of corresponding block No of shared device as interlock 2 7 3 Sequence program example for small oscillation during standstill monitoring Sequence program example Motion CPU side for small oscillation during standstill monitoring is shown below The user safety sequence program for small oscillation on PLC CPU side is not required 1 Devices x300 Note Standstill monitoring executing flag x301 ete Small oscillation executing flag 301 Note Small oscillation request signal M100 Note2 Small oscillation enable flag M101 Small oscillation start flag M2001 Axis1 start accept flag M2402 Axis1 in position flag M2415 Axis1 servo ON flag SM5
239. signal comparison parameter Function The cumulative pulse value BIN 16 bit data of external auxiliary input pulse or safety encoder is stored Operation The external input pulse is counted by 1 multiplication and the number of cumulative pulses is stored in the corresponding device for each parameter block When a safety encoder is used the number of cumulative pulses of the safety encoder is stored After the power is turned ON the number of cumulative pulses is counted during the speed monitoring enable status PLC CPU U3E0O GO 92 Parameter block No 1 to U3E0 GO 123 Parameter block No 32 Motion CPU U3E1 GO 92 Parameter block No 1 to U3E1 GO 123 Parameter block No 32 6 Travel value per motor encoder rotation Device No N Signal name PLC CPU side Motion CPU side Travel value per motor encoder U3E0 GO 124 to U3E1 GO 123 to rotation Parameter block 1 to 32 U3E0 GU 187 U3E1 GU 187 Note 1 O is Multiple CPU shared device start address of safety signal comparison parameter Function The travel value per motor encoder rotation calculated with each CPU is stored Operation The travel value per motor encoder rotation was calculated from the number of pulse per motor rotation travel value per motor rotation and the motor encoder resolution of speed monitoring parameter The travel value per motor encoder rotation is store
240. solution of the external auxiliary input pulses The defect of the mechanical section such as slid of shaft and wanting of a timing belt etc is not covered Be sure to eliminate the risk of mechanical section before operation Speed monitoring error detection time is set in the unit of 10ms but the time resolution in the actual operation is 25ms Error in shorter than this time are not detected Create sequence program so that Scan time is within 25ms to make sure that PLC CPU performs the safety observation function within a certain process time If scan time is 25ms or longer PLC CPU should be added to distribute the load of the process Safety observation error shutdown signal OFF does not occur during the time set by the safety observation parameters after speed is over the limit Make sure that safety can be ensured during this period The error occurs when detected speed is different between the motor encoder and the external auxiliary input pulse and the time required to detect the error depends on the frequency of the external auxiliary pulse Determine the number of external input pulse considering the error detection risk 1 4 3 Safe speed monitor SSM 1 If the safety output condition of SSM is used as a restart trigger incidental start up cannot be prevented A restart interlock must comply with EN60204 1 However using it as the operation ready signal is possible 1 12 1 OVERVIEW 1 4 4 Shut off function ST
241. speed monitoring function X device and Y device of the set Numbers are the device Numbers of the following flags These devices cannot specify the actual devices of the safety signal module Speed Monitoring I O Speed monitoring function request signal Y set device number Device No Speed monitoring function enable signal X set device number Small oscillation request signal Y set device number 1 Small oscillation execute signal X set device number 1 When the speed monitor axis uses a safety encoder and safety communication function the small oscillation request signal and small oscillation execute flag are not used 0000 to 1FFE Note 1 Speed monitoring error detection time by speed monitoring is set in unit of 10ms but the time resolution in the actual operation is 25ms Error occurred in shorter than this time are not detected Note 2 The consistency check is executed for each parameter block refer to section 2 4 4 Therefore input the same setting respectively to set the multiple parameter blocks for one axis Note 3 Set the same setting as the fixed parameters of servo data Note 4 Range of position setting by axis unit setting degree 10x pulse 0 1 to 214748364 7 0 00001 to 21474 83647 0 00001 to 21474 83647 1 to 2147483647 um inch degree pulse Note 5 Range of speed setting by axis unit setting degree 10x pulse mm min inch min degree min degree min
242. spondence 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 Z CAUTION Transport the product with the correct method according to the mass Use the servomotor suspension bolts only for the transportation of the servomotor Do not transport the servomotor with machine installed on it Do not stack products past the limit When transporting the Motion controller or servo amplifier never hold the connected wires or cables When transporting the servomotor never hold the cables shaft or detector When transporting the Motion controller or servo amplifier never hold the front case as it may fall off When transporting installing or removing the Motion controller or servo amplifier never hold the edges Install the unit according to the instruction manual in a place where the mass can be withstood Do not get on or place heavy objects on the product Always observe the installation direction Keep the designated clearance between the Motion controller or servo amplifier and control panel inner surface or the Motion controller and servo amplifier Motion controller or servo amplifier and other devices Do not install or operate Motion controller servo amplifiers or servomotors that are damaged or tha
243. ssed with a decimal 4 Part of internal relay M is used in the system of the Motion CPU for the positioning dedicated signal etc The use of that is restricted Refer to the Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual REAL MODE or Q173D S CPU Q172D S CPU Motion controller SV22 Programming Manual VIRTUAL MODE for details 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU Caen 5 1 3 Special relays SM Special relay has predetermined applications in the system Do not use the special relay as a temporary memory like an internal relay 1 This relay is cleared when the power is turned OFF 2 There is no limit to the number of A contacts and B contacts of the special relays that can be used in the program 3 The special relay number is expressed with a decimal 5 1 4 Timer T The 100ms timer 10ms timer and 100ms retentive timer are available for this count up type timer With the device T the contact coil is handled as bit device and the current value is handled as word device In the function instructions described after the word device T indicates the current value even if there is no description about it e Turning the power OFF clears this device current value 0 The timer number is expressed as a decimal 1 10ms timer TO to T15 T104 to T143 a When the input conditions are set the count starts When the set value is counted that timer contact will turn ON b If
244. struction OUT excluding timers counters Usable device Digit Settin desig met xdTy Tw tswEe rfc fo wir soz x Tx Te N nation E Eeka e EE ee ee O Usable Device No Instruction OUT 35 4 Command woo 4 Function 1 Operation results up to the OUT instruction are output to the designated device OUT instruction Contact A Contact B Contact Operation Results Non continuity Continuity Continuity Non continuity 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 3 4 Timers OUT T an Usable device Digit ettin Bit device desig Bitdevice ee fx ty Tu su Tr To fo Twi tfc soz x Tut e n ration Device Setting Value O Usable Setting value 1 to 32767 is valid Instruction Setting value K50 1 to 32767 is valid for T H the data register details a 7 Function 1 When the operation results up to the OUT instruction are ON the timer coil goes ON and the timer counts up to the value that has been set when the time up status total numeric value is equal to or greater than the setting value the contact responds as follows A Contact Continuity B Contact Non continuity 2 The contact responds as follows when the operation result up to the OUT instruction is a change from ON to OFF Present Value Prior to Time Up After Time Up Type of Timer 100ms timer 10ms timer of Timer 0 A Cont
245. supply ON or reset of PLC CPU after release of errors In addition when the safety observation errors occurred a self diagnostic error flag SM1 and diagnostic error flag SMO turn ON and a self diagnostic errors error code 10050 is stored in diagnostic errors SDO Motion Reset CPU CPU BoR Table 6 1 Safety observation error list Detail code SD33 Error contents Error cause Corrective action The safety observation function parameters are set to Q17 ODCPU that does not support the safety observation function Change the CPU to Q170DCPU S1 Q17 Unsupported CPU type for safety observation function R To a Motion CPU other than CPU No 2 The safety observation function parameter is set to other than CPU No 2 write parameters for which the safety observation function parameter is not set An attempt was made to execute the unsupported instruction code The specified target does not exist in the CALL or CJ instruction An attempt was made to execute the CALL instruction at the jump destination of the CALL instruction An attempt was made to execute the unsupported instruction code Correct the user safety sequence program of the Motion CPU Delete the file of the faulty sequence e An unsupported instruction or device program description exists Outside the device range description exists e The file File name ERRLAD L that has a sequence program
246. t have missing parts Do not block the intake outtake ports of the Motion controller servo amplifier and servomotor with cooling fan Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the Motion controller servo amplifier or servomotor 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 A CAUTION 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 Environment Motion controller Servo amplifier Servomotor Ambient 0 C to 40 C With no freezing According to each instruction manual temperature 32 F to 104 F 80 RH or less With no dew condensation Storage F i 20 C to 65 C According to each instruction manual temperature 4 F to 149 F Indoors where not subject to direct sunlight Atmosphere ee No corrosive gases flammable gases oil mist or dust must exist Altitude 1000m 3280 84ft or less above sea level According to each instruction manual When coupling with the synchronous encoder or servomotor shaft end do not apply impact such as by hi
247. t stored for the MPS instruction and uses that result to perform the operation in the next step e Clears the operation results stored by the MPS instruction e Subtracts 1 from the number of MPS instruction times of use 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 Function Instructions 5 4 1 16 bit data comparisons lt gt Usable device Digit pS ee Pty fw sul e 7 2 ES Itc s 2 1K H H nation RRE RRE e H S O Usable Instruction LDO S1 S2 indicates an instruction symbol of lt gt Setting data Setting data Description S1 Data for comparison or head number of the devices where the data for S2 comparison is stored BIN 16 bits Function 1 Treats BIN 16 bit data from device designated by S1 and BIN 16 bit data from device designated by S2 as an a normally open contact and performs comparison operation 2 The results of the comparison operations for the individual instructions are as follows Instruction O Comparison Instruction m Comparison Condition Condition i e operation result symbol operation result ee S2 S S1 lt S2 Continuity Non continuity S1 gt S2 lt 3 When and S1 are S2 assigned by a hexadecimal constant and the numerical value 8 to F whose most significant bit 015 is 1 is designated as a constant the value is considered as a negative BIN value in c
248. ta SD42 b0 to b15 Axis 1 to 16 SD43 b0 to b15 Axis 17 to 32 Changes device area used by sequence programs for safety observation of PLC CPU 0 fixed area 1 the end of usable area information PLC device allocation change Note 5 Refer to section 4 2 for details 4 DEDICATED DEVICES 4 2 Device Used in Sequence Programs for Safety Observation on PLC CPU Side The sequence programs for safety observation use the devices shown below Do not use the devices in the list for user program of PLC CPU Table 4 1 devices for safety observation when SD980 is 0 Device range Used for the safety signal Used for the safety signal Used for the safety signal comparison the speed Used only for the safety 3 TE i comparison and the speed comparison and the safety monitoring function and signal comparison monitoring function communication function the safety communication function p _ _peccoio betsz__ ___sooo to peas psrooiope1g1 _Ds7ooto e499 M7000 to M8191 M6700 to M8191 T1900 to T2047 T1850 to T2047 T1900 to T2047 T1850 to T2047 Ea Z15 to Z19 Z13 to Z19 PO to P19 Note 1 Uses the pointer P is used as a local pointer The device range D M T used by the sequence program for safety observation can be changed to end device by setting 1 to SD980 of Motion CPU Change SD980 before turning on the power again after the safety observation function parameter is written in Motion C
249. tatus e SOS status e SSM status 2 Functional safety commands Flefp ejs a o 8 7 e 5 4 3 2 1 0 Turns ON when operating the SLS function of the servo amplifier with SLS1 to SLS4 command Other than the above SLS1 to SLS4 status is OFF Turns ON when an error relating to safety communication occurs in the servo amplifier Other than the above Error status1 is OFF Turns ON when a command signal for a safety observation function which cannot be used is input in the servo amplifier parameter settings Other than the above Error status2 is OFF Status signal for motor holding brake Turns OFF when the STO function of the servo amplifier is operating and power supply to the brake is shut off Other than the above SBC status is ON Turns ON when the SOS function of the servo amplifier is operating with the SS2 function of the servo amplifier Other than the above the SOS status is OFF Turns ON when the motor speed is less than or equal to the SSM speed set at the servo amplifier SSM status is OFF when SSM function is disabled Note 1 STO signal SS1 command SS2 command SLS1 command SLS2 command SLS3 command SLS4 command Note JU Functional safety signal start device number e STO signal SS1 command N 2 SS2 command N2 2 SLS1 to SLS4 command When the STO signal is turned OFF the STO function of the servo amplifier opera
250. ted by Motion CPU Automatically created by Motion CPU Sequence programs for safety General name for Safety signal comparison sequence program and Speed observation monitoring sequence program Lg tor Abbreviation for Safely limited Speed ssm Notes Abbreviation for Safe Speed Monitor STO Notes Abbreviation for Safe torque off that shuts off servo amplifier main circuit power primary contactor or electronically shuts off power the servo motor within the Shut off servo amplifier See sog WES soe po erial communication between Motion CPU and Safety signal module 1 OVERVIEW Generic term Abbreviation External auxiliary pulse input Safety signal input pulse for double feedback during speed monitoring Diagnostic function to check the consistency between the encoder feedback value and auxiliary pulse leas Function for communicating safety data between safety stations on the same Safety communication network Safety encoder Encoder that is installed in a safety standard compatible motor Note 1 This software is included in Motion controller engineering environment MELSOFT MT Works2 Note 2 SSCNET Servo System Controller NETwork Note 3 Function that are defined in IEC 61800 5 2 REMARK For information about each module design method for program and parameter refer to the following manuals relevant to each module Item Reference Manual n A Q173D S CPU Q172D S CPU Motion controller Us
251. ted in case of a power failure or product failure use a servomotor with electromagnetic brakes or install a brake mechanism externally Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally Shut off with the Shut off with servo ON signal OFF emergency stop alarm electromagnetic brake signal signal EMG Servo motor 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 m
252. tes and power supply is shut off When the SS1 command is turned ON the SS1 function of the servo amplifier operates When the SS2 command is turned ON the SS2 function of the servo amplifier operates When the SLS1 to SLS4 command is turned ON the SLS function of the servo amplifier operates Note 2 Note 1 The second half 16 points of the 32 points allocated to the Y device YOU 10h to YOO 1Fh OQ0 Functional safety signal start device number are not used Note 2 The bits are in reverse to the bits of the command signals for safety observation function of the servo amplifier 2 31 2 SAFETY OBSERVATION FUNCTION In the user safety sequence ladder program created in either the PLC CPU or Motion CPU the functional safety command starts the safety observation function of the servo amplifier when the safety observation function changes to an operating status Functional safety Functional safety command bit status Operating status of safety observation command PLC CPU side Motion CPU side function of servo amplifier STO function is operating power supply shut off STO function is stopped power supply in ON Safety observation function is stopped SS1 SS2 SLS1 to SLS4 Safety observation function is operating 2 SAFETY OBSERVATION FUNCTION 2 9 2 Sequence program example for shut off function STO SS1 Stop category 1 The following is an example of a user saf
253. the input conditions are turned OFF the 10ms timer count value will be set to 0 and the contact will turn OFF c The value is set with a decimal Kn and can be designated from 1 to 32767 x0 01 s The data register D data can also be used as the setting value K500 x5 lt T0 gt z 4 Input conditions 10ms timer TO coil _ 5 seconds TO contact 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 2 100ms timer T16 to T95 T144 to T239 a b Input conditions When the input conditions are set the count starts When the set value is counted that timer contact will turn ON If the input conditions are turned OFF the 100ms timer count value will be set to 0 and the contact will turn OFF The value is set with a decimal Kn and can be designated from 1 to 32767 x0 1 s The data register D data can also be used as the setting value 100ms ia T16 coil 5 seconds T16 contact 3 100ms retentive timer T96 to T103 T240 to T255 a b X5 When the input conditions are set the count starts When the set value is counted that timer contact will turn ON Even the input conditions are turned OFF the 100ms retentive timer current value count value will be held and the contact state will not change The 100ms retentive timer count value will be set to 0 and the contact will turn OFF when the RST instruction is executed The value is set with a decimal Kn an
254. the load fluctuation of mechanical system Check if the allowance value of speed deviation is set properly Check the machine connection of the external auxiliary pulse input Check the machine connection of the motor Check if the consistency of the motor travel and the external auxiliary pulse input travel matches Check if the motor speed does not exceed the allowable input frequency of the external auxiliary pulse input tt ole DE ele g A 6 TROUBLESHOOTING Table 6 1 Safety observation error list Continued Detail code Error contents Error cause Corrective action Reset SD33 Correct the program so that an operation The command position changed during which changes the command position the safety operating stop during the safety operation stop is not executed Safety operating stop position command error Note 6 The preliminary check before starting speed monitor is not finished within the Speed monitor specified time Review the timing of when turning on the request timeout Such as when the speed monitor request speed monitor request signal signal is turned on during the motor deceleration Speed A status that the axis is at a stop During the safety operating stop that uses monitoring Axis stop time continued for over an hour during the external auxiliary pulses turn on the small parameter exceeding speed monitor that uses external auxiliary oscillation request signal within an hour and block
255. the points designated by digit specification are regarded as 0 in the operation Error When the same device is specified in S1 and D or S2 and D a sequence program error occurs the safety observation errors SM57 are turned ON and error code SD32 10 detail code SD33 2700H are stored 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 23 32 bit exclusive OR operation DXOR Usable device Digit evel des rxty w sul 7 pelo wir c letzte ule nation O Usable Instruction Command DXOR 4 DXOR Setting data Setting data Description e Data to be exclusive OR or head number of device where data is stored D e The logical sum results are stored in D device BIN 32 bits Function 1 Conducts a exclusive OR operation on each bit of the 32 bit data for the device designated by D and the 32 bit data for the device designated by S and stores the results at the device designated by D 2 For bit devices the bit devices after the points designated by digit specification are regarded as 0 in the operation 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5 4 24 Complement of 2 of BIN 16 bit data NEG Usable device Digit Settin j desig ee fx ty Tu su r c o w r celso z k n r n ration c e E E T S e E E EEE ee O Usable Instruction Command Setting data Setting data Description D Head number of the devices where the data for which complement o
256. the program at the next step is executed Point 1 Note the following points when using the jump instruction After the timer coil has gone ON accurate measurements cannot be made if there is an attempt to jump the timer of a coil that has been turned ON using the CJ instructions e Scan time is shortened if the CJ instruction is used to force a jump to the rear e The CJ instructions can be used to jump to a step prior to the step currently being executed However it is necessary to consider methods to get out of the loop so that the scan time error in the process P8 X9 30 lt Y80 gt Hi i When M3 turns ON th ill 1001 CIPS H jurip t9 the P8 label i alte x10 1004 lt Y91 gt Executed when M3 is OFF 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU e The devices skipped with CJ will not change XB 20 c S O When XB turns ON the program will jump to the P19 label M 3 23 lt Y43 Even if XB XC is turned ON OFF during execution of the CJ instruction XB Y43 Y49 will not change 25 a v9 P19 X9 27 lt Y4c gt e Label P possesses one step X8 14 f cup9 M33 17 a y30 M3 Possesses one step 19 lt Y36 gt P9 M36 21 lt Y39 gt x9 24 lt Y3E gt Error In any of the following cases sequence program error occurs Safety observation errors SM57 are turned ON and error code SD32 10 detail code SD33 0400H are stored e The specified
257. time check the signal will be turned OFF if the output off check by user request detects an error 8 Multiple CPU shared device address for safety observation y Note Device No Signal name PLC CPU side Motion CPU side Multiple CPU shared device address for U3E0 G U3E1 GO 32 safety observation Note 1 O is Multiple CPU shared device start address of safety signal comparison parameter Function Start number of the multiple CPU shared device address for safety observation is stored Operation The value set in the safety signal comparison parameter multiple CPU area device address setting is always stored 4 11 4 DEDICATED DEVICES 9 Safety signal mismatch allowance time Note Device No Signal name 7 7 PLC CPU side Motion CPU side Safety signal mismatch allowance time U3E0 GO 33 U3E1 G Note 1 O is Multiple CPU shared device start address of safety signal comparison parameter Function The safety signal comparison mismatch allowance time of the safety signal module is stored Whether the set data is transmitted correctly from Motion CPU to PLC CPU is confirmed Operation The set value of Safety signal mismatch allowance time in the safety observation function parameter is always stored 10 PLC CPU side safety signal module start device No F Note Signal name 7 a i PLC CPU side Motion CPU side S
258. tion function is no more than 250ms total from the Motion CPU to the servo amplifier If using the STO function shut off with safety communication design the system with consideration to the response time 2 SAFETY OBSERVATION FUNCTION 2 9 1 Functional safety signal For the functional safety signal the status signal from the servo amplifier functional safety status and command signal to the servo amplifier functional safety command is used When safety communication with the servo amplifier is established the operation of the safety observation functions SLS STO SS1 SS2 SOS SBC etc in the servo amplifier can be controlled with the Y device functional safety command on the user safety sequence program Also the status of the safety observation functions SLS STO SS1 SS2 SOS SBC etc in the servo amplifier can be checked with the X device functional safety status on the user safety sequence program Refer to Functional safety unit MR D30 Instruction Manual for details of safety observation function of the servo amplifier The device number of the functional safety signal is set with the functional safety signal start device number refer to Section 3 4 1 4 of the safety communication parameter Use the same device number for the X device functional safety status and Y device functional safety command and allocate 32 points each for the X device and Y device from the set start device number Set device numbers f
259. tion error occurs SM810 Safety observation error reset ON Speed monitoring error reset is enabled by switching eS Notet o abie remote STOP to RUN with MT Developer2 SD32 Saey Signal observation error Stores the safety observation error code Error code SD33 pally signal observatioreror Stores the safety observation error detail code Detail code Following CPU RUN 1 is added each second Sp34 Count repeats from 0 to 32767 to 32768 to 0 Sogl Following CPU RUN 1 is added each scan oka Count repeats from 0 to 32767 to 32768 to 0 S0420 SD37 Current scan time ms The current scan time is stored SD520 SD38 Minimum scan time ms Stores the minimum value of the scan time SD524 SD39 Maximum scan time ms Stores the maximum value of the scan time D526 sp4o NO 2n seconds clock setting Store the setting value of 2n seconds clock SM40 SD414 Note 1 The ranges of SMO to 127 and SDO to 127 which are not on this list are also available Refer to Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON for details Note 2 Device number on PLC CPU side for the same function Note 3 Command Setting device Note 4 This device cannot be used in the user safety sequence program 4 DEDICATED DEVICES Device No ER PLC side Type Note 1 Name Description Note 2 Checks the connection status of safety communication Communicating 1 Disconnected 0 and stores the result Safety communication connection as bit da
260. tive Voltage inside The power supply voltage inside the module error Motion CPU is in error Lower the temperature inside the control panel Temperature inside If the error cannot be resolved even after R The Motion CPU is overheated module error temperature was lowered explain the error Error code wo N symptom and get advice from our sales representative loading error Er safety communication function the safety communication function Encoder loadin The encoder type set by safety Check that the encoder type set in the Axis No g communication parameter is differentto safety communication parameter and the error the encoder type that is mounted encoder type that is mounted are matching BA The servo amplifier that was set by safety pa Servo amplifier Aa Connect a servo amplifier that supports N 1 Axis No communication parameter does not support Safety communication error PLC CPU side i Error code An error is detected in the internal process Explain the error symptom and get advice Note 8 Safet Red ata l Daya check for safety communication from our sales representative communication error Motion CPU side 6 TROUBLESHOOTING Error Detail Relevant CPU code code Error contents Error cause Corrective action PLC Motion Reset SD32 SD33 CPU CPU Safety p enh An error is detected for safety Check the connection of the SSCNETIV H communication eer Note 2 i comm
261. tting 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 When fumigants that contain halogen materials such as fluorine chlorine bromine and iodine are used for disinfecting and protecting wooden packaging from insects they cause malfunction when entering our products Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products or treat packaging with methods other than fumigation heat method Additionally disinfect and protect wood from insects before packing products Ambient humidity According to each instruction manual Z CAUTION 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
262. ty signal Set the number of safety signal modules to be installed Signal Module When 0 is set the safety signal comparison function is not executed Set the allowance time for absorbing signal input time difference and signal reading time difference for each CPU 0 to 50 x0 1s When 0 is set a mismatch allowance time is 0 1 s Set the start device number of safety signal module to the both of PLC CPU and Motion CPU PLC CPU side e Match the start device number to I O assignment by PLC parameter in PLC 0000 to 1FEO CPU Motion CPU side Set the start device number using different I O number of the other Motion 0000 to OAEO control modules and output device of limit output data in Motion CPU Match the station number setting Neen of safety signal module with this station 1 to 3 Safety Signal Unmatch Allowance Time Start Device No Station No number Automatically assignment This shared device area is used to exchange information for the safety observation between the PLC CPU and Motion CPU Set this device within the range of a user setting area in each multiple CPU high speed transmission area lt Number of occupied points gt 10000 to End address of e Only safety signal comparison function use user setting area Number PLC CPU side 50 points of occupied points Motion CPU side 50 points e Safety signal comparison function and speed monitoring function use PLC CPU side 200 points Motion
263. uld be the same as the servo data setting value 0 to 200 x10ms A 0 mm 1 inch 2 degree 3 degree x10 4 pulse 1 to 2147483647 pulse Movement Amount per Motor Revolution Note 2 Note 3 Motor Encoder Resolution Note 2 Number of Pulses per External Sensor Rotation Note 2 Set the machine travel value per motor rotation which is determined by machine systems of the axis which performs the speed monitor This setting should be the same as the servo data setting value Note 4 Set the number of pulses per rotation of an encoder used in the axis which 1 to 2147483647 pulse performs the speed monitor Set the number of pulses per rotation by an input of auxiliary pulse mechanically connected to the axis which performs the speed monitor This cannot be set when the speed monitor axis uses a safety encoder and safety communication function The setting value is fixed 512 pulse 1 to 2147483647 pulse Travel Value per External Sensor Rotation M Set the travel value corresponding to one rotation by an input of auxiliary pulse mechanically connected to the axis which performs the speed monitor This cannot be set when the speed monitor axis uses a safety encoder and safety communication function The setting value is fixed the same value as travel value per motor rotation Safety Speed Set the safety speed upper limit speed while the speed monitor is permitted of the axis w
264. umber of the devices where the data to be averaged are stored BIN16 bits BIN 16 bits n stored BIN 16 bits Function 1 This instruction calculates the mean of 16 bit BIN data stored in n point devices starting from the device specified by S and then stores the result into the device specified by D S S 1 S 2 Average value ees a a k S n 3 S n 2 S n 1 2 If the value calculated is not integer this instruction will drop the number of decimal places 3 If the value specified by n is 0 the instruction will be not processed Setting range 1 to 32767 4 Corresponds to the MEAN instruction of the PLC CPU Error The value specified in n is other than 0 to 32767 or the points specified in n exceed those of the corresponding device specified in S sequence program error occurs Safety observation warnings SM24 are turned ON and error code SD32 10 detail code SD33 8016H are stored 5 77 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU E MEMO 6 TROUBLESHOOTING 6 TROUBLESHOOTING 6 1 Safety Observation Error List When errors which turn off the shut off signal occur in the safety observation function the safety observation error flag SM57 turns ON and the error code SD32 and detail code SD33 are stored Release the alarm depending on contents of error codes The errors other than with Note 2 Note 6 cannot be reset Restart the system power
265. unication connection cable connection error Safety The safety communication cycle setting is Set the same setting for the safety communication different to the safety communication communication cycle of the servo amplifier cycle setting error cycle setting of the servo amplifier and the Motion CPU SNT_CMP is not registered in PLC Review the PLC parameter settings parameter Program when safety Set the safety communication cycle longer PLC CPU safety communication function is being used reduce the number of PLC CPU program communication The PLC CPU processing time steps or increase the number of PLC CPUs cycle error exceeded the processing time etc so that there is enough processing time necessary for safety communication for the PLC CPU processes Check the PLC software version serial No Safet SeN rok An error is detected in the internal Error code communication Explain the error symptom and get advice Note 9 i processing check for safety internal processing mys from our sales representative communication error Note 1 The system setting error SAFETY SYS ERR simultaneously occurs Note 2 Reset is possible by turning the PLC ready flag M2000 ON from OFF or the Motion error detection flag M2039 OFF from ON Note 3 Regardless of whether the CPU where an error is detected is the PLC CPU or the Motion CPU the safety signal module device number of the PLC CPU is displayed When error
266. utput block contactor and safety servo STO function are not included PLC CPU Safety signal comparison Motion CPU Safety signal comparison Speed monitoring Multiple CPU Speed monitoring function high speed function sate Main power transmission p Safe speed monitor Safe speed monitor When servo amplifier without ____ STO function is used shut main ower by magnet contactor i p y mag a E M MC Shut off function Shut off function Standstill monitoring Standstill monitoring Safe brake control Safe brake control SSCNETI H ee eee Motor encoder position feedback Shut off via PLC CPU Safety signal Safety door switch Light curtain Emergency stop input External auxiliary pulse speed monitoring etc SSCNETI H Servo motor standard encoder Motor encoder position feedback Functional safety Safety Functional safety status command communication compatible servo amplifier Servo motor safety encoder or standard encoder Servo motor safety encoder or standard encoder 1 OVERVIEW 1 2 System Configuration Safety observation function is configured by Motion CPU built in safety observation Q170DSCPU Q170DCPU S1 PLC CPU and safety signal module Q173DSXY Wire two signals to the safety signal module for PLC CPU and Motion CPU The safety observation is exe
267. vel value exceeded the allowable deflection amount during the speed monitoring Corrective action Ea Ea Reset Check if the device which is used in the sequence programs for safety observation is not used in other programs When the error cannot be cleared by the above solution the PLC CPU may have a failure Explain the error symptom and get advice from our sales representative The Motion CPU may have a failure Explain the error symptom and get advice from our sales representative Check if the output status of the safety signal module is changed in the interrupt program When the error cannot be cleared by the above solution replace the safety signal module After measures execute the output off check if there is no problem Correct the speed monitoring parameter and write to the Motion CPU Correct the speed monitoring parameter and write to the Motion CPU Or correct the program so that the speed monitor request signal is turned on after the initial processing of the servo amplifier is ed the program so that the operation is executed at the safety speed or lower Check if the safety speed is set properly the program so that the operation is executed at the safety speed or lower Check if the safety motor speed is set properly Review the set gain of the servo amplifier Check if the allowance value of position deviation is set properly Check the control behaviour at the motor side Check
268. verts BIN data 0 to 9999 at the device designated by S to BCD data and stores it at the device designated by D 32768 16384 8192 4096 2048 1024 512 256 128 64 sienos To 0111010111111 1010101011 1111111 Must always be 0 J BCD conversion 8000 4000 2000 1000 800 400 200 100 80 40 20 D BCD 9999 fofo i p Tolo M E To oh E oe hausan salis hundeds digis Tensdde Onesdigis digits Hundreds digits Tens digits Ones digits 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU Caen Error 2 Conversion from BIN to BCD 32 bits DBCD e Converts BIN data 0 to 99999999 at the device designated by S to BCD data and stores it at the device designated by D S 1 Upper 16bits S Lower 16bits r_ x _O gt Ty gt 231 930929928927926925924923922921 22091 991 89 1 791 69 1 591 49 1 391 291 1 2 1 0999897969594939291 20 L Must always be 0 J BCD conversion upper 5 digits x107 x108 x105 x104 x10 x10 x101 x100 1 A v A v N A v A v N v N v A 84218421842184218421842184218421 D BCD 99999999 1 Jojo 0 O 1 4 prp JoJo 1 1 pph plno Ten Millions Hundred Ten thousands Hundreds Tens Ones millions digits thousands thousands digits digits digits digits digits digits digits D 1 Upper 4digits D Loewr 4digits The data of S is other than 0 to 9999 at BCD instruction or 0 to 99999999 at DBCD instruction
269. vice number 12 to U3E1 G PLC side Functional safety signal start device number Motion side 22 to U3E1 GO 23 11 U3E1 GO 24 to U3E1 GO 25 12 U3E1 GO 26 to U3E1 GO 27 14 U3E1 GO 30 to U3E1 G 31 15 U3E1 GO 32 to U3E1 GO 33 16 U3E1 GO 34 to U3E1 GO 35 17 U3E1 GO 36 to U3E1 GO 37 18 U3E1 GO 38 to U3E1 GO 39 19 U3E1 GO 40 to U3E1 GO 41 22 U3E1GO 46 to U3E1 GO 47 24 U3E1GO 50 to U3E1 GO 51 25 U3E1 GO 52 to U3E1 GO 53 26 U3E1GO 54 to U3E1 GO 55 27 U3E1GO 56 to U3E1 GO 57 28 U3E1GO 58 to U3E1 GO 59 29 U3E1GO 60 to U3E1 GO 61 30 U3E1 GO 62 to U3E1 GO 63 31 U3E1GO 64 to U3E1 GO 65 32 U3E1 GO 66 to U3E1 GO 67 Note 1 O is Multiple CPU shared device start address of safety communication parameter 4 24 4 DEDICATED DEVICES 4 Safety communication Multiple CPU shared device PLC side Note Device No Signal name R PLC CPU side Motion CPU side Safety communication Multiple CPU shared device PLC side Note 1 O is Multiple CPU shared device start address of safety communication parameter U3E1
270. w Preview Acknowledge XY Assignment Default Check Cancel lt Screen GX Works2 gt If the program name SSU_CMP SLS_CMP is not set Safety observation error error code 24 will occur If the program name SNT_CMP is not set Safety observation error error code 226 will occur SSU_CMP SLS_CMP and SNT_CMP cannot be used as the program name of user sequence program Set another program name When the speed monitoring function is not used addition of SLS_CMP is not necessary For this case a safety observation error does not occur When the safety observation function is not used addition of SNT_CMP is not necessary For this case a safety observation error does not occur 3 START UP PROCEDURES 3 Device setting Assign the device range Refer to Section 4 2 used in the sequence programs for safety observation in case of changing the device points setting No restriction in the latch setting Q Parameter Setting PLC Name PLC System PLC File PLC RAS Boot File Program SFC O Assignment Multiple CPU Setting Serial Communication Device Latch 1 Latch 1 Latch 2 ets 2 Local Device Start Local Device End Ie Ni Points Start End Start Input Rela Output Relay Internal Relay Latch Relay Link Relay Annunciator Link Special Edge Relay Step Relay Timer Retentive Timer Counter Data Register Link Register Link Special Index
271. wance value of speed deviation factor of Safety observation error error code 113 this bit will be turned ON e Bit 4 External auxiliary pulse position deviation over If the difference between cumulative external auxiliary input pulse or safety encoder and motor encoder value exceeds the allowance value factor of Safety observation error error code 114 this bit will be turned ON Allowance value is equivalent of 1 75 pulse in the external input pulse or 1 pulse of safety encoder e Bit 6 Standstill monitoring position command over If the command position has changed during standstill monitoring factor of Safety observation error error code 115 this bit will be turned ON e Bit 7 Speed monitoring error detection If one of the bits 0 to 6 continues to be ON over the speed monitoring error detection time this bit will be turned ON e Bit 8 Axis stop time over Motion CPU only During speed monitoring if the axis is in standstill status without the small oscillation for one hour or more Safety observation error error code 120 this bit will be turned ON e Bit 9 Speed monitoring unaccepted request Motion CPU only If the speed monitoring starts with the safety observation error Safety observation warning error code 210 this bit will be turned ON e Bit A Speed error detection check time out Motion CPU only If a prior diagnosis is not completed normally at speed monitoring start up Safety observati
272. wer 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 or less Do not ground commonly with other devices The wiring work and inspections must be done by a qualified technician Wire the units after installing the Motion controller servo amplifier and servomotor Failing to do so may lead to electric shocks or damage Never operate the switches with wet hands as this may lead to electric shocks Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to electric shocks Do not touch the Motion controller serv
273. witch 2 Decelerates the command speed to of speed monitoring function the safety speed or lower 3 Turns ON speed monitoring request 4 Checks the parameter Operation signal 5 Starts speed monitoring for door 7 Confirms that the speed monitoring 6 Turns ON speed monitoring enable opening enable signal ON 9 Opens the door lt 8 Releases the door lock Safe status during speed monitoring 10 Closes the door 11 Confirms that the door is closed Operation 12 Locks the door for door 13 Turns OFF Speed monitoring 14 Ends the speed monitoring closing request signal 15 Turns OFF Speed monitoring enable signal 2 SAFETY OBSERVATION FUNCTION 2 4 4 Parameter consistency check The monitoring speed is set by the speed monitoring parameter for each parameter block Set the following two parameters that have different type of unit to prevent the mis setting e Safety speed Load side safety limit speed mm min inch min pulse s degree min e Safety motor speed Load side safety maximum speed r min The unit is mm s when using linear motor If the setting value is inconsistent the Safety observation error error code 101 occurs and the shut off signal is turned OFF 2 4 5 Comparison of speed monitoring parameter The speed monitoring parameter used by Motion CPU and PLC CPU are compared at the speed monitoring process start or parameter r
274. you in the following cases 1 A failure caused by your improper storing or handling carelessness or negligence etc and a failure caused by your hardware or software problem 2 A failure caused by any alteration etc to the Product made on your side without our approval 3 A failure which may be regarded as avoidable if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry 4 A failure which may be regarded as avoidable if consumable parts designated in the instruction manual etc are duly maintained and replaced 5 Any replacement of consumable parts battery fan etc 6 A failure caused by external factors such as inevitable accidents including without limitation fire and abnormal fluctuation of voltage and acts of God including without limitation earthquake lightning and natural disasters 7 A failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company 8 Any other failures which we are not responsible for or which you acknowledge we are not responsible for 2 Onerous Repair Term after Discontinuation of Production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of product
275. ystem Monitor Read IC Memory Card Write IC Memory Card d x o O IC Memory Card ReadimageCard o KT lWriteimageCard CK e O CheckProgram do Y O Check Parameter doo y O loptios ooo S d oo Key Customize dod Y E Device Label Automatic Assign Seting a wa eae SG x kkk x IX IX IX x X X x x Block Password Confirm Memory Size Check Intelligent Function Module x Parameter Intelligent Function Module Tool EE E Language Selection Oooo S oo Cascade Eee IINA e Oooo Ee Window EE T Switch to other window es re Window PC obia Special Relay Special Register dL i re 2 ee E eel ies eT ee O Available A Available with restrictions X Unavailable Note 1 Online change cannot be executed to Motion CPU Make the STOP state before writing Note 2 The device used with the safety observation sequence program cannot be selected App 3 APPENDICES 2 Functions for editing in ladder language ee Deter o O Restore After Ladder Conversion o Z o o o dold Y O linsetRow ooo d d o O DeleteRow ooo i d od O linsetCoumn ooo l d o y O DeleteCoumn oo o d od y y O NOP Batchinset o oo d od y O NOP Batch Delete o o ooo d o d y O lEdtline CE d odo Y Deletetine ooo i d o y y O Change TC Seting oOo To o ooo d od y O Open Contat J Td Close Contat do dT OpenBrann o dol CloseBranch o do Cid Go a a App

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