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SV13/22 Programming Manual (Motion SFC

1. 7 47 7 9 Bit Device mies e RE GR a T ER RERO AE ARBRES iret pe Rx pano dept 7 48 7 9 D vice set SE Duet a 7 48 79 2 IST c du onere tene te ER be ae 08 7 50 7 9 3 Device output DOUT ce t e e i epe oe ne ee gages 7 52 79 4 Device input eei e i de e ce o a ice o fe d boe ct fate fedt 7 53 7 9 5 Bit device output 7 54 TAD Logical Operations t gla ia t de te ge Dr ae tr d 7 56 7 10 1 Logical acknowledgement None een enne nnne 7 56 7 10 2 Logical 1 idi edit da edi LO edad eoa co Le edad ra o Leon ro da en eaae 7 57 FIOS LOGICA AND apache 7 58 7 10 4 Logical t nene t eina td d piena i d eee ti i t eod 7 59 CA Comparison Operations osea 7 60 d d Equalito3 eee eae ae eas a E 7 60 7 11 2 Notequal to etek at he athe atlas 7 61 Ted 1 o bessithats Sit echte tet one en uei terc 7 62 7 11 4 Less than or equal to lt S nind nnne reete 7 63 7 11 5 More thai uie iod aee een eut ead Awash iam eas 7 64 7 11 6 More than or equal t
2. Parallel coupling PAEm Parallel branch 1 IFEm IFEm PABm PATI CALL Fn JMP PAEm PAT2 CALL JMP PAEm PAEm JMP PAEm PAEm IFBm IFT1 SFT Gn JMP IFEm IFT2 SFT Gn JMP IFEm IFEm JMP IFEm IFEm IFBm 1 IFT1 SFT Gn JMP IFEm 1 IFT2 SFT Gn JMP IFEm 1 IFEm 1 JMP PAEm PAEm PABm 1 PATI CALL Fn JMP PAEm 1 PAT2 CALL JMP PAEm 1 PAEm 1 The selective coupling point and parallel branch point can be the same Note that in the Motion SFC chart this type is displayed in order of a selective coupling parallel branch as shown on the left In this case a pointer Pn cannot be set between the selective coupling point IFEm and the parallel branch point PABm The parallel coupling point and selective branch point can be the same Note that in the Motion SFC chart this type is displayed in order of a parallel coupling a selective branch as shown on the left Execution waits at the parallel coupling point and shifts to the selective branch In this case a pointer Pn cannot be set between the parallel coupling point PAEm and the Selective branch point IFBm The selective coupling point and selective branch point can be the same Note that in the Motion SFC chart this type is displayed in order of a selective coupling a selective branch as shown on t
3. Personal Personal computer computer Network No 1 Qn H Q173 C24 CC Qn H 0173 CC CPU CPU Link CPU CPU Link Network N N No 2 Network No 3 Qn H Q173 CC Qn H Q173 CC Qn H Q173 CC CC CPU CPU Link CPU CPU Link CPU CPU Link Link N N N x X x xX Communication is possible Q Communication is possible Setting of the routing parameter is necessary X Communication is impossible 16 5 16 COMMUNICATIONS VIA NETWORK 16 2 3 Network configuration via the RS422 485 1 It can access the other CPU via the RS 422 485 from the programming software GX Developer SW6RN GSVLPP etc of the personal computer connected with the CPU or serial communication module in USB RS 232 2 The access range of above 1 is only the CPU on the RS 422 485 which a System connects it to and it can select RS 422 485 network to connect by specifying the I O No of the C24 module Personal Personal Personal computer computer computer USB USB RS 232 RS 232 RS 232 9173 c24 c24 CPU CPU N Qn H Q173 CPU CPU Example 1 C24 Serial communication module RS 422 485 RS 422 485 Qn H Q173 C24 Qn H Q173 c24 c24 CPU CPU CPU CPU N N RS 422 485 Example 2 Personal Personal computer computer USB USB RS 232 RS 232 RS 422 485 RS
4. Setting data Setting data Description Data type First I O No of the target CPU 16 16 bit n1 Value to specify actually is the following bina CPU No 2 3E1H CPU No 3 3E2H CPU No 4 3E3H Axis No Jn 9 2 to execute the current value change Q173CPU N J1 to J32 Q172CPU N J1 to J8 81 Synchronous encoder axis No En to execute the current value change Character Q173CPU N E1 to E12 Q172CPU N E1 to E8 sequence Cam axis No Cn to execute the within one revolution current value change Q173CPU N C1 to C32 Q172CPU N C1 to C8 32 bit S2 Setting of the current value to change inary Complete devices D1 0 Device which make turn on for one scan at start accept completion of instruction D1 1 Device which make turn on for one scan at start accept abnormal completion of instruction D1 0 also turns on at the abnormal completion 16 bit D2 Device to store the complete status binary Note 1 Motion CPU cannot used CPU No 1 in the Multiple CPU configuration Note 2 n shows the numerical value which correspond to axis No Q173CPU N Axis No 1 to No 32 n 1 to 32 Q172CPU N Axis No 1 to No 8 n 1 to 8 5 17 5 MOTION DEDICATED PLC INSTRUCTION When an axis No Jn was specified with S1 Controls 1 This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system Errors occurs when it was
5. 3 uncoinplafian this flag turns on P Turn off when the PLC ready M2000 signal turns off This flag status indicates whether a TEST mode ON mode is in established from a peripheral device is currently in effect effect M9075 Test mode ON fl S R t NS a OFF TEST mode is notin If the TEST mode is not established in response to a Request effect TEST mode request from a peripheral device the TEST mode request error flag M9078 will turn on Ext forced st ON Forced stop OFF M9076 RAE dca This flag status indicate whether the forced stop S Operation cycle input flag OFF Forced stop ON Note 1 It adds newly at the Motion controller Q series 1 OVERVIEW Special relay list continued DUE UNE AA ee a Toe E t en set This flag indicates whether the setting designated at the At least D714t cd manual pulse generator axis setting register D714 to D719 D719 setting is is normal or abnormal abnormal S Occur an error AI D714 to D719 When this relay turn on the error content is stored at the manual pulse generator axis setting error register D9185 to settings are normal D9187 M9077 Turn on if the TEST mode is not established in response to a M9078 TEST mode request Abnormal TEST mode request from a peripheral device M9079 Manual pulse generator axis setting error flag S Occur an error error flag Normal When this relay t
6. 1 Number of consecutive transitions Description With execution of active step judgment of next transition condition transition processing performed when condition enables transition of active step defined as a single basic operation of the Motion SFC program execution control in the execution cycle of the corresponding task this operation is performed for the number of active steps to terminate processing once And the same operation is processed continuously in the next cycle In this case the transition destination step is executed in the next cycle when the transition condition enables Consecutive transition control indicates that transition destination steps are executed one after another in the same one execution cycle when their transition conditions have enabled single basic operation is performed consecutively In this case the number of consecutive transitions can be set Controls in common to the Motion SFC programs executed by normal tasks Set the number of consecutive transitions to the Motion SFC programs executed by event and NMI tasks for every program Errors These parameters are imported and checked when the PLC ready flag M2000 turns off to on When the value that was set is outside the setting range the following Motion SFC error is set and the initial value is used to control Error code Error cause Error processing Corrective action Note Contents The normal task s
7. 6 or later 1 68 1 OVERVIEW 1 3 5 Restrictions on motion systems 1 It is not allowed to use the Motion CPU as the control CPU of a module installed on the QA1S6LIB extension base unit PLC CPU must be used as the control CPU 2 The connector for installation of memory card on the Motion CPU module is for future function expansion 3 Motion CPU module cannot be used as standalone module It must always be used in combination with the PLC CPU module version that supports Multiple CPU systems Moreover it must be installed on the right side of PLC CPU module PLC CPU module cannot be installed in a position to the right of Motion CPU module 4 Personal computer CPU unit must be installed on the right side of Motion CPU module Motion CPU module cannot be installed in a position to the right of personal computer CPU unit 5b Make sure to use the PLC CPU module in the Q mode 6 Motion CPU module cannot be set as the control CPU of intelligent function module or Graphic Operation Terminal GOT 7 SSCNET cable which connects the Motion CPU and servo amplifier and the teaching unit connecting cable which connects the Motion CPU and A31TU D3H1 A31TU DNO are pulled from the bottom part of unit Make sure to secure sufficient space for pulling out the cable when designing the control panel 8 Motion CPU module is one module element of Q series Multiple CPU system It must be set the parameter
8. A eo e m o N r e A Cc 5 Az OL H2L 4L D802L D804L AOF HAF HSF A Multiplication r o N Q 7 e A EI e T o N w J fi o a RU iw e e A TH r complement OL 2L eo D800L D802L 14 64 APP 1 APPENDICES Processing time of operation instruction Continued Q173CPU N Q172CPU N Classifications Symbol Instruction Operation expression Unit us u 0 18H2 D800 D801 amp D802 12 78 Bit logical AND OL 2L8 4L 10 80 D800L D802L amp D804L 18 24 1 2 D800 D801 D802 12 36 Bit logical OR OL 2L 4L 10 68 D800L D802L D804L 12 54 1 2 8 76 D800 D801 D802 10 80 Bit operation Bit exclusive OR H OL 2L 4L 10 62 D800L D802L D804L 15 60 0 1 gt gt 2 11 76 D800 D801 gt gt D802 15 00 Bit right shift OL 2L gt gt 4L 11 82 D800L D802L gt gt D804L 18 06 0 1 lt lt 2 10 50 D800 D801 lt lt D802 12 24 Bit left shift OL 2L lt lt 4L 12 18 D800L D802L lt lt D804L 15 90 0 1 7 02 D800 D812 11 70 Sign inversion OL 2L complement of 2 D800L D802L 14 34 0F 4F 11 28 ETE 15 84 Sin 0F OFS SING4
9. i i type F type K dad aoad aoa e Usable Setting data Setting data Data type of result Data on which square root operation will be l S Floating point type performed Functions 1 The square root of the data specified with S is found 2 Only a positive number may be specified with S Operation cannot be performed with a negative number 3 If S is an integer type it is converted into a floating point type before operation is performed Errors 1 An operation error will occur if S is a negative number or S isan indirectly specified device and its device No is outside the range Program examples 1 Program which finds the square root of DOF and substitutes the result to 0F 0F SQRT DOF 3 2 D2 D1 DO 1 0 D3 7 OPERATION CONTROL PROGRAMS FIFS 7 6 8 Natural logarithm LN LN S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculati data Bit device a8 bit 32 bit floating Coasting 16 bit 32 bit floating 908 Ion conditional conditional integer integer integer integer type expression i int expression expression type type L type K H K H L 4 p type F type K 35 ee A igs Ss o H e Usable Setting data Setting data Data type of result Data on w
10. ti fl OFF No error Turn on when error is found as a result of self diagnosis COSE EA ON Eror Remains on if normal status is restored OFF No error Turn on when error is found as a result of diagnosis ON Eror Remains on if normal status is restored OFF Ignored ON Setraque i present Write clock data stored in D9025 to D9028 to the clock U sd q P element when M9025 has changed from off to on OFF N Clock data error ed Turn on by clock data D9025 to D9028 error S Request ON Eror Clock data read reied OFF Ignored Read clock data from D9025 to D9028 in BCD when U 3 ON Read request M9028 is on M9036 Always ON pos on without regard to position of RUN STOP switch S Main processing ON Turn off without regard to position of RUN STOP switch M9037 Always OFF OFF on OFF ON Di sti M9060 Diagnostic error reset A reset of the diagnostic error is executed error reset Turn on when a watchdog timer error is detected by the Motion CPU self diagnosis function ON Abnormal When the Motion CPU detects a WDT error it executes M9073 PCPU WDT error flag an immediate stop without deceleration of the operating S Occur an error OFF Normal axes The error cause is stored in the Motion CPU WDT error cause D9184 SOS save parare etl i ou M9074 FISH SERO epp completion etc ped and if no error is detected S Request flag OFF PCPU READY
11. complete device OFF 1 oen Abnormal completion State display device at the first i S P DDRD instruction OFF completion OFF Normal completion S P DDRD instruction Second OFF D 1 i 1 i 1 ON Second S P DDRD instruction complete device OFF 1 i 1 1 1 State display device at the second OFF S P DDRD instruction completion OFF Normal completion i i First S P DDRD Second S P DDRD instruction completion instruction completion with response with response Errors The abnormal completion in the case shown below and the error code is stored in the control data S1 0 Complete status Complete status 9 E de H Error factor Corrective action rror code 4COQ The specified device cannot be used in the Motion CPU Or it is outside the device range Confirm a There are 33 or more instruction requests to the Motion program and CPU from the PLC CPU in S P DDRD S P DDWR correct it to a sum table simultaneously and the Motion CPU cannot correct PLC process them program 4609 CPU No of the instruction cause is injustice Note 0000H Normal 5 MOTION DEDICATED PLC INSTRUCTION The error flag SMO is turned on an operation error in the case shown below and an error code is stored in SDO 2410 The CPU No to be set by First I O No of the target CPU 16 is specified The self CPU by First I O No of the targe
12. 6150 I OFF to ON detection of PX3 PX3 turns on MO in on when M1 last time Icondition of PX3 is off RST MO SET MO PX3 IM1 Condition was stored in M1 last time lof PX3 RST M1 SET M1 PX3 When MO is ON OFF to ON of PX3 is detected it transition to the next steps MO G151 Did you turn on PX4 PX4 Edge OFF to ON detection of the bit device PX3 Condition was memorized in M1 last time and OFF to ON of PX3 was detected 6152 Did you finish a programming operation Imode PX2 IPX1 F150 0L 1000000 1 axis positioning address K150 Real Iset 1 INC 1 2L 2000000 2 axes positioning address Axis 1 1000000 PLS Ilset Speed 500000 PLS s 4L 500000 Positioning speed we SS CN GE K151 Real G153 1INC 2 it waits 1000 ms after the motion control Axis 1 OPLS Icompletion TIME K1000 Axis 2 2PLS Speed 4PLS s K152 Real 1 INC 1 Axis Speed 2 2000000 PLS 1000000 PLS s 6155 NOP Waits for the motion control completion 18 Y 2 When OFF to ON of PX3 is detected 1000 ms after 1 axis positioning completion stands by and the positioning of 2 axes is executed and stands by to the positioning completion of 2 axes G154 Did you turned on 1 axis and 2 axis lin position M2402 M2422 F151 0L 0L 1 axis positioning address
13. APPENDICES b No 160 Restart continuation Restart continuation G190 100 0 Is a continuation point 0 E r G191 G192 100 20 Is a continuation 20 PS Fa 6193 100 30 Is a continuation 100 10 Is a continuation Ipoint 30 10 6151 Did you turn on PX4 PX4 F189 31100710 Continuation point 10 P10 K150 Real 1 ABS 2 Axis 1 OPLS Axis 2 OPLS Speed 500000 PLS s G195 Did you turn on 1 axis and 2 axes positioning completion M2401 M2421 F190 100 20 Continuation point 20 P20 G154 Did you turn on 1 axis and 2 axes in position signal M2402 M2422 F150 0L 1000000 1 axis positioning laddress set 2L 2000000 2 axes positioning laddress set 4L 500000 Positioning speed set yva The process is started corresponding to the value of 100 continuation point from each point of PO to P30 For the continuation from P10 The motion control step K151 Real executed absolute posi 1 ABS 2 tioning to application when Axis 1 0 PLS to start again after it stops Axis 2 2 PLS on the way Speed 4 PLS s This program is judged by using the positioning completion signal whether it was stopped during the positioning on the way When it stops on the way a switchover is stopped in this program clear
14. An operation control program example is shown below 1 block 0 D0 D1 D2 5 Substitution expression four arithmetic operations WO0 F SIN 10F Substitution expression standard function CHGV K2 K10 Motion dedicated function 4 1 SET M100 M0 X0 Bit device control SET RST M10 X0 Bit device control RST DIN DO X0 Bit device control DIN Comment 7 OPERATION CONTROL PROGRAMS 2 Priorities of ope rators and functions Operators and functions have the following priorities Using parentheses High allows an operation sequence to be specified freely Item Operator Function Calculation within parentheses Standard function SIN COS etc Type conversion USHORT LONG etc Bit inversion logical negation sign inversion Multiplication division remainder Addition subtraction Bit left shift lt lt bit right shift gt gt Comparison operators Less than lt less than or equal to lt more than gt more than or equal to gt Comparison operators Equal to not equal to Bit logical AND amp Bit exclusive OR Bit logical OR Logical AND Logical OR Substitution 7 OPERATION CONTROL PROGRAMS 3 Structure of instruction Many of the instructions usable in operation control programs can be divided into instruction and data parts The instruction and
15. 55 Q wo j 5 wo Co N 5 N o o a gt N o a gt error 19 ERROR CODE LISTS Table 19 5 Operation control transition execution errors 16300 to 16599 continued Error factor Signed 16 bit integer value conversion The S data is outside the signed 16 bit integer Error code Error Processing Corrective Action Correct the program so that the S data is within the signed 16 bit integer value range SHORT execution value range error Device input DIN ti ica The device No which indirectly specifies D is Correct the program so that the device No Bit device output illegal which indirectly specifies D is proper OUT execution error Signed 16 bit integer value conversion The S data is outside the signed 16 bit integer Correct the program so that the S data is SHORT execution value range within the signed 16 bit integer value range error Unsigned 16 bit integer value conversion USHORT execution error Signed 32 bit integer value conversion The S data is outside the signed 32 bit integer Correct the program so that the S data is LONG execution value range The block processing on Within the signed 32 bit integer value range error executing is stopped and Unsigned 32 bit the next block is executed integer value conversion ULONG execution error Tangent TAN S is 90 180 n execution error n is an i
16. FIFS 7 6 13 Round up FUP FUP S Number of basic steps Usable data Usable Data Bit device Setting 64 bit 64 bit Bit Comparison 16 bit 32 bit 16 bit 32 bit OF Calculation floating Coasting floating conditional conditional integer integer integer integer type expression as timer type type L type K H K H L Usable data Setting data Setting data Data type of result Data whose fractional portion will be rounded up Data type of S Functions 1 The smallest integer not less than the data specified with S is found 2 If the S value is positive the absolute value will be greater and if it is negative the absolute value will be smaller 3 If S is an integer type its value is returned unchanged with no conversion processing performed Errors 1 An operation error will occur if S isan indirectly specified device and its device No is outside the range Program examples 1 Program which finds the rounded up fractional portion value of DOF and substitutes the result to 0F 0F FUP DOF 3 8 D1 DO WE 3 2 Program which finds the rounded up fractional portion value of DAF and substitutes the result to when D4F is a negative number 0F FUP D4F 3 2 D5 D4 aaa er eS cw 7 OPERATION CONTROL PROGRAMS FIFS 7 6 14 B
17. Note When automatic refresh is not set it can be used as a user defined area And when automatic refresh is set up since the automatic refresh transmitting range becomes a user defined area 2 Do resetting of the complete bit device by the user program 7 82 7 OPERATION CONTROL PROGRAMS 3 Another MULTW instruction cannot be processed until MULTW instruction is executed and a complete bit device is turned on When MULTW instruction was executed again before MULTW instruction is executed and complete bit device is turned on the MULTW instruction executed later becomes an error 4 The word devices that may be set at D S n and D1 are shown below etting data I I Is 5 5 Note 1 The device No cannot be specified indirectly Note 2 Specify a multiple of 16 as the device number of bit data Note 3 PX PY cannot be set Note 4 PY can be set PX cannot be set 0 Jol m fol 5 Adjust an executive task the number of transfer word referring to the operation processing time so that this instruction may not obstruct the execution of the motion operation because processing time becomes long in argument to the number of words n to be written Errors 1 An operation error will occur if Number of words n to be written is outside the range of 1 to 256 The shared CPU memory address D of self CPU of the writing destination device is outside the range 800H to F
18. PCa data SO Note 1 Mechanical system program and cam data are applicable data into ROM when using the SV22 14 ROM OPERATION FUNCTION b Operation at applicable data into ROM When the ROM writing is requested to the Motion CPU module using ROM writing menu of SW6RN GSVLEPP the applicable data into ROM stored in the internal SRAM are batch written to the internal FLASH ROM after erase of an user memory area of FLASH ROM built in Motion CPU module When the writing completes normally the registration code Noe is written and ROM writing ends The process overview is shown below Motion CPU module Example SV13 use Internal SRAM memory System setting data Each parameter for servo control Servo program Motion SFC parameter Motion SFC program Personal computer 1 ROM writing request MT Developer Internal FLASH ROM memory System setting data Each parameter for servo control Servo program Motion SFC parameter 2 ROM writing Motion SFC program Registration code 1 Note 1 Registration codes is used to judge whether the programs and parameters written in the internal FLASH ROM are normal or not 14 7 14 ROM OPERATION FUNCTION 1 When the RAM is selected with Communication Transfer menu of SW6RN GSVLEP the SRAM memory built in Motion CPU module is targeted at the Installation mode mode wri
19. The ratings and characteristics of the parts other than Motion controller servo amplifier and servomotor used in a system must be compatible with the Motion controller servo amplifier and servomotor Set the parameter values to those that are compatible with the Motion controller servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect When a teaching unit is used the cable for the teaching unit is necessary between the Motion CPU Q173CPUN T Q172CPUN T and teaching unit And connect the short circuit connector for teaching unit after removing the teaching unit or when not using it 1 64 1 OVERVIEW 1 3 4 Software packages 1 Software packages a Operating system software packages Application Software package For conveyor assembly SV13 SW6RN SV13QB SWE6RN SV13QD Motion SFC For automatic machinery SV22 SWE6RN SV22QA SWE6RN SV22QC Motion SFC b Integrated start up support software package Conveyor assembly software SW6RN GSV13P Automatic machinery software SW6RN GSV22P Machine tool peripheral software SW6RN GSV43P SW6RNC GSVE Cam data creation software SW3RN CAMP Integrated start up support software 1 CD ROM Digital oscilloscope software SW6RN DOSCP Communication system software SW6RN SNETP Document print software SW3RN DOCPRNP SW20RN DOCPRNP SW6RNC GSVHELP
20. point timer point expression expression type type L type K H K H L type F type K o lo o PS ee ee eae pu ono ge ee ee ee lues sy o 1o __ oo I o dl Il I I o ___ O Usable Setting data Setting data Data type of result O D First device No which stores the reading data First I O No of the PLC CPU Motion CPU which it will be read CPU No 1 3EOH CPU No 2 3E1H CPU No 3 3E2H CPU No 4 3E3H 52 The shared CPU memory first address of the data which it will be read 000H to Number of words to be read 1 to 256 Functions 1 A part for n words of data of the other CPU specified with S1 are read from the address specified with S2 of the shared CPU memory and are stored since the device specified with S2 Shared CPU 81 Shared CPU memory address memory of the OH Self CPU operation specified CPU data area Device memory No with S1 System area This area can Read the data of S2 H0000 be used at a part for n words H0005 800H Automatic refresh Users area 44 H000A area Note EE ERR User defined area H0000 OFFFH Note When automatic refresh is not set it can be used as a user defined area And when automatic refresh is set up since the automatic refresh transmitting range becomes a user defined area 7 OPERATION CONTROL P
21. 1 4 1 OVERVIEW b Automatic machinery use SV22 Provides synchronous control and offers electronic cam control by mechanical support language Ideal for use in automatic machinery c Machine tool peripheral use SV43 Offer liner interpolation circular interpolation helical interpolation constant speed positioning and etc by the EIA language G code Ideal for use in machine tool peripheral 1 OVERVIEW 1 2 2 Basic specifications of Q173CPU N Q172CPU N 1 Module specifications gem Q173CPUN T Q173CPU Q172CPUN Q172CPUN T Q172CPU Teaching unit usable Use Internal current Note Note 1 25 1 56 1 75 1 14 1 45 1 62 consumption 5VDC A l Mass kg ae 118 4 65 118 4 65 Exterior dimensions 98 3 86 H X 27 4 1 08 W 27 A 1 08 W X 98 3 86 H X 27 4 1 08 W 27 A 1 08 W X mm inch X 114 3 4 50 D 89 3 3 52 D X 114 3 4 50 D 89 3 3 52 D Note Current consumption 0 26 of the teaching unit is included 2 SV13 SV22 Motion control specifications performance specifications a Motion control specifications Q173CPUN T Q173CPU Q172CPUN T Q172CPU Number of control axes Up to 32 axes Up to 8 axes 0 88ms 1 to 8 axes 1 77ms 9 to 16 axes 0 88ms 1 to 8 axes 3 55ms 17 to 32 axes 0 88ms 1 to 4 axes 1 77ms 5 to 12 axes 0 88ms 1 to 4 axes 3 55ms 13 to 24 axes 1 77ms 5 to 8 axes 7 11ms 25 to 32 axes Linear interpola
22. At cam data read The cam data storage area is rewritten The cam data in the currently set status are read 4 The word devices that may be set at D S and n are shown below i Setting data specification eerste hed CES 19 Note 1 Nn indicates the cam No Note 2 The device No cannot be specified indirectly Note 3 Specify a multiple of 16 as the device number of bit data Note 4 PX PY cannot be set Note 5 Special relays M9000 to M9255 and dedicated devices M2000 to M2399 cannot be set Note DOUT cannot output the PX special relays M2000 to M9255 and dedicted devices M2000 to M2127 5 The cam No that may be set as Nn is within the following range Q173CPU N Q172CPU N 1 to 64 101 to 164 201 to 264 301 to 364 Errors 1 An operation error will occur if The cam data of cam No specified with D or S are not yet registered to the Motion controller The resolution of cam No specified with D or S differs from the number of transferred words specified with n S to S n 1 is outside the device range D to D n 1 is outside the device range n is 0 or a negative number PX PY is set in S to S n 1 or PX PY is set in D to D n 1 when n specified is a word device 2 When conversion is made in program editing of the SWGRN GSVLIP an error will occur if S t
23. FIFS 7 13 5 Same data block transfer FMOV Refer to the Section 1 3 4 for the correspondence version of the Motion CPU and the software FMOV D 5 n Number of basic steps 6 Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi Calculation data Bit device 16 bit 32 ib floating Coasting e pi debit floating conditional conditional integer integer K integer integer type expression point timer point expression expression type type L type K H K H L type F type K o olol o xp ee ee eee ee ee eee i eS ee ee sese Usable Setting data Setting data Data type of result HE E Transfer destination device starting No Device No which transfer data or data to be transferred are stored Number of words to be transferred Functions 1 The data specified with S or contents of word device are transferred a part for n words of data to the word device specified with D 2 The word devices that may be set at D S and n are shown below Setting data Bit devices 27 92 CEERERE mu 3 sl L o peog mem Note 1 The device No cannot be specified indirectly Note 2 Specify a multiple of 16 as the device number of bit data Note 3 PX PY cannot be set Note 4 Special relays M9000 to M9255 and dedic
24. Output source data Functions 1 The data specified with S is output to the bit data specified with D 2 Specify a multiple of 16 as the device No of the bit data specified with D 3 If the type of S is a 16 bit integer type 16 points of the S data starting at the least significant bit are output in order to the bit devices headed by the one specified with D 4 Ifthe type of S is a 32 bit integer type 32 points of the S data starting at the least significant bit are output in order to the bit devices headed by the one specified with D Errors 1 An operation error will occur if D or S is an indirectly specified device and its device No is outside the range D is an indirectly specified device and its device No is not a multiple of 16 Program examples 1 Program which outputs the data of DO to YO YF DOUT YO DO 7 OPERATION CONTROL PROGRAMS FIFS 7 9 4 Device input DIN DIN D S Number of basic steps Usable data Usable Data Bit device Setting data 64 bit 64 bit Bit Comparison 16 bit 32 bit 16 bit 32 bit Calculation n T floating Coasting floating conditional conditional integer integer integer integer type is expression expression type L type K H SS SS ERE E ae esie Usable Setting data Setting data Data type of res
25. Transits to the next step by formation of transition condition en Gn without waiting for the operating completion of the servo program Kn started at the motion control step b Motion control step WAIT Operations Waits for the operating completion of the servo program Kn started at the motion control step and then transits to the next step by formation of transition condition Gn The operation completion condition of servo program Kn is not needed in the transition condition Gn An error stop of the started servo program Kn at during a start is also regarded as an operation completion c WAITON WAITOFF Motion control step Operations Prepares for the start of the motion control step next to WAITON WAITOFF and makes a start immediately when the specified bit device turns ON OFF When the motion control step is executed without being used LE OFF MO with WAITONWAITOFF preparations for a start are made after the transition condition Kn Kn preceding the motion control step enables This will cause a variation of delay starting time between when the transition condition is completed and when a start is made but a combination with WAITON WAITOFF can eliminate the variation of the above delay starting time Kn Specifiable bit devices t ues 8 SF 6 MOTION SFC PROGRAMS Instructions Always pair a transition with a motion control
26. _ _ gadu 800H Automatic refresh area Not allowed Not allowed Not allowed Not allowed to User defined area Allowed Not allowed Not allowed Allowed ______ Note 1 Use the S TO instruction to write to the user defined area of the self CPU in the PLC CPU Use the MULTW instruction to write to the user defined area of the self CPU in the PLC CPU Refer to Section 1 3 4 4 for the conditions which can use the MULTW instruction Note 2 Use the FROM instruction intelligent function module device 1 to read the shared memory of the Motion CPU from the PLC CPU Use the MULTR instruction to read the shared memory of other CPU in the Motion CPU Refer to Section 1 3 4 4 for the conditions which can use the MULTR instruction 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM Shared memory address 1 Self CPU operation data area OH to 1FFH a The following data of the self CPU are stored in the Multiple CPU system Table 3 1 Table of Contents Stored in the Self CPU Operation Data Area Data available not available Diagnosis error Description Data available not available flag Diagnosis error number Detailed explanation Note This area is used to check whether data is stored or not in the self CPU operation data area 1H to 1FH of the self CPU 0 Data is not stored in the self CPU operation data area 1 Data is stored in
27. event and NMI tasks are set or one is not set Executed task setting is illegal event Two or more fixed cycles of the event task have been set 11 13 Error processing The initial value normal task is controlled Corrective action Turn PLC ready flag M2000 off make correction to set the value of within the range and write it to the CPU Note 0000H normal 11 MOTION SFC PARAMETER Since the execute task can be set for every Motion SFC program No multiple programs need not be written for single control machine operation to divide execution timing based processing s For example it can be achieved easily by subroutine starting the areas to be run in fixed cycle and to be run by external interrupt partially in the Motion SFC program run by the normal task 3 Number of consecutive transitions Description Set the number of consecutive transitions to program executed by the event or NMI task for every program Refer to Section 11 4 Task Parameters for number of consecutive transitions Errors This program parameter is imported when the PLC ready flag M2000 turns off to on and is checked at starting of the Motion SFC program automatic start start from PLC or subroutine start When the value is illegal either of the following Motion SFC errors is set and the initial value is controlled Error code Error cause Error processing Corrective action Note
28. i E inire 11 10 11 6 How to Start The Motion SFC Programi 11 16 11 6 1 Automatic start E E T E te tr 11 16 11 6 2 Start from the Motion SFC program eccceceeceeeceeeeeeeeeeeeeseeeeeeeseeeseeeseeeseeeseeeseeeseeeseaeseaeseneeenteaes 11 16 11 6 3 Start from PLC PLC instruction S P SFCS eene 11 16 11 7 How to End The Motion SFC Program sssssesseeeeeeeeen eene nnne 11 17 11 8 How to Change from One Motion SFC Program to Another 11 17 11 9 How to Manage The Executing Program cceeceeeceeeceeeeeeneeeeeeeaeeeaeeeaeeeaeeaeesaeeeaeesaeesaeesaeesaeeeaeeeaaeeas 11 17 11 10 Operation Performed at CPU Power Off or Reset 11 18 11 11 Operation Performed when CPU is Switched from 11 18 11 12 Operation Performed when PLC Ready flag M2000 Turns 11 19 11 13 Operation at The Error 11 20 12 USER FILES 12 1to 12 8 12 1 PROJECIS Nt ea een D 12 1 a AOE B da TEE 12 2 12 3 Online Change in The Motion SFC Program seems 12 3 12 3 1 Operating method for The Online 12 4 12 3 2 Transf
29. 1 OH position of I O No a In the Multiple CPU system the slots corresponding to the number of units set by a multiple CPU parameter are occupied by the PLC CPU Motion CPU b I O modules and intelligent function modules are installed in slots available to the right of those occupied by the PLC CPU Motion CPU c I O No of the control module may be assigned independently for each CPU in the Motion CPU I O No of the PLC CPU control modules are assigned sequentially toward the right starting from OH being the I O module or intelligent function module installed to the immediate right of the slots occupied by the PLC CPU Motion CPU d Notation of I O No Receiving of ON OFF data by the Motion CPU is deemed input PX while outputting of ON OFF data from the Motion CPU is deemed output PY I O No is expressed in hexadecimal 2 Assignment of I O No to the Motion CPU control module Mitsubishi recommends that I O No assignment be set as common consecutive No throughout all CPUs However the I O No of the Motion CPUs control input modules output modules and input output composite modules may also be set independently of the I O No of the PLC CPU control modules The I O No of the Motion CPU control modules are indicated with a PX PY The I O No of the Motion CPU control modules are invalid during I O Assignment Settings of the PLC CPU I O assignment d ANE 4 i 0 1 2 3 4 5 Q02H Q173 QX41 QY41 QX4
30. Device reset RST RST M10 D0 K100 1 A transition program differs from an operation control program in that a transition condition is set in the last block Other settings are the same as those of the operation control program 2 When setting device set SET device reset RST in the last block as a transition condition the bit or comparison conditional expression specified with S is not omissible 3 Only the bit or comparison conditional expression cannot be set in other than the last block Device set SET device reset RST can be set in other than the last block 9 MOTION CONTROL PROGRAMS 9 MOTION CONTROL PROGRAMS 9 1 Servo Instruction List Table 9 1 lists servo instructions used in servo programs Refer to Section 9 2 to 9 4 for details of the current value change control CHGA CHGA E CHGA C Refer to the Q173CPU N Q172CPU N Motion Controller SV13 SV22 Programming Manual REAL MODE for other servo instructions 1 Guide to servo instruction list Table 9 1 Guide to Servo Instruction List itioning data Parameter block Q o 3 3 o 2 Q 3 c a 9 n x Radius Central point at stop input Address travel Dwell time Auxiliary point Starting angle Amplitude Frequency Reference axis No Control unit Allowable error range for circular interpolation S curve ratio Program No N O Command speed constant speed WAIT ON OFF Instruction Processing symbol
31. Note 3 Note 4 Note 5 ___ Itis possible to select the best according to the system It is possible to use only Q172CPUN T It is packed together with Q172CPUN T It varies by the connecting teaching unit It is packed together with Q170TUDOCBLUOM When using the A31TU D30 A31TU DNJO be sure to use the Q172CPUN T A31TU D30 A31TU DNO corresponds to only Japanese It does not correspond to display for English 1 OVERVIEW aS 3 Peripheral device configuration for the Q173CPU N Q172CPU N The following a b c can be used a RS 232 configuration b USB configuration c SSCNET configuration Motion CPU module Motion CPU module Motion CPU module Q173CPU N Q172CPU N Q173CPU N Q172CPU N Q173CPU N Q172CPU N por ul t Eres SSC I F communication cable USB cable Q170CDCBLUOM Q170BDCBL IM RS 232 cable QC30R2 t AES H 252 EE 3t EOS Fe CS Ax LES LOSES SEE ES as PEEPS py SEE IE EE ERS ERS S28 d Ss _ 2 f SEER oS IEEE SSE Sy SESE EER EER EEL ES SESE Re ES 2 e Personal computer Personal computer SSC I F Card Board Windows 98 2000 XP only A30CD PCF ALJOBD PCF P A 262 LS LFS
32. P CHGA execution ON S P CHGA instruction OFF To self CPU high speed interrupt accept flag from CPUn OFF Start accept flag axis Current value change Current value change Instruction accept 1 scan completion at the Motion CPU side Instruction start OFF accept complete device D1 0 State display device D1 1 at the instruction start accept completion OFF The start accept status of each axis can be confirmed with the start accept flag in the shared CPU memory of target CPU 2 S P CHGA instruction accepting and normal abnormal completion can be confirmed with the complete device D1 or status display device D2 at the completion a Complete device It is turned on by the END processing of scan which the instruction completed and turned off by the next END processing b Status display device at the completion It is turned on off according to the status of the instruction completion e Normal completion OFF e Abnormal completion It is turned on by the END processing of scan which the instruction completed and turned off by the next END processing 1 Setting of axis to execute the current value change The starting axis set as 51 sets J Axis No in a character sequence _ S1 usable range Q173CPU N Q172CPU N The number of axes which can set are only 1 axis The axis No set in the system
33. Synchronous encoder No 1 Indirect designation Current value change address using 01500 011501 3 Operation timing CHGA E instruction Synchronous encoder shaft current value changing flag Current value change completion 4 Servo program K10 CHGA E Synchronous encoder shaft current value Axis 1 D1500 change control E Synchronous encoder No 1 Curent value change address Indirect designation using D1500 D1501 9 MOTION CONTROL PROGRAMS 1 Synchronous encoder current value changing instructions The current value change of the synchronous encoder is executed if operation is being performed in the virtual mode during pulse input from the synchronous encoder If the current value is changed the feed current value of the synchronous encoder continues from the new value The current value change of the synchronous encoder does not affect the current value of the output module Set the current value change program of the synchronous encoder shaft program within the virtual mode program No range set in program mode assignment When PLC ready flag M2000 or PCPU ready flag M9074 is OFF a minor error 100 occurs and a current value change is not made If a synchronous encoder current value change is executed in the real mode a servo program setting error oe 903 or 905 occurs and the current value change is not made 903 whe
34. Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device 16 bit Sebit floating Coasting E n set floating Calculation snditional conditional integer integer i integer integer type 4 expression point expression expression type type L type K H K H L type K C D DET GT 6 l ae an peg see O Usable Setting data Setting data Data type of result 51 Multiplicand data Data type of S1 or S2 S2 Multiplier data which is greater Functions 1 The data specified with S1 is multiplied by the data specified with 52 2 When 51 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before operation is performed Errors 1 An operation error will occur if 51 or S2 is an indirectly specified device and its device No is outside the range Program examples 1 Program which substitutes the result of multiplying K123 by 0 to WO WO K123 0 123 WO 56088 0 456 2 Program which substitutes the result of multiplying 0F by 10 to DOL DOL 0F 10 1 0 aiD 789 1518532 0 The 64 bit floating point type data are used for multiplication and the result is converted into the 32 bit integer type and then substituted 7 15 7 OPERATION CONTROL PROGRAMS FIFS 7 4 5 Division 51 52 Number of basic steps
35. integer integer type n p expression expression Setting data type type L type K H Pe E Pe BE ze ques sp nop o nox SSS a as sce Usable Setting data Setting data Data type of result O D Transfer destination device starting No S Transfer source device starting No mMm Number of words to be transferred Functions 1 The contents for n words from device specified with S are batch transferred to the n words from device specified with D 2 Data can be transferred if the word devices of the transfer source and destination overlap Data are transferred from devices starting with the one at S for transfer of data from devices of larger numbers to those of smaller numbers or starting with the one at S n 1 for transfer of data from devices of smaller numbers to those of larger numbers 3 Specifying Nn cam No at D or S enables batch transfer of cam data In the Motion controller the cam data of same cam No must already have been registered The number of transferred words specified with n should match the resolution of the specified cam No At cam data write The cam data storage area is rewritten Transfer of data to the cam data area is also executed during cam operation Be careful not to perform write while operation is being performed with the same cam No 7 OPERATION CONTROL PROGRAMS
36. 1 True is returned when the bit device specified with S in a bit conditional expression is ON 1 or false is returned when that bit device is OFF 0 Errors 1 An operation error will occur if S is an indirectly specified device and its device No is outside the range Program examples 1 Program which sets M100 when either of MO and XO is ON 1 MO False que MO CO Fas 100 1 7 OPERATION CONTROL PROGRAMS FIFS 7 8 2 OFF Normally closed contact Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculati data Bit device a8 bit 32 bit floating Coasting 16 bit 32 bit floating iid I conditional conditional integer integer integer integer type expression int expression expression type L type K H i i type F type K l J Usable Setting data Setting data Data type of result Bit device used in bit conditional expression Logical type true false Functions 1 True is returned when the bit device specified with S in a bit conditional expression is OFF 0 or false is returned when that bit device is ON 1 Errors 1 An operation error will occur if S is an indirectly specified device and its device No is outside the range Program examples 1 Program which resets M100 when MO is OFF 0 RST
37. 16 points OFF a a Lf b No 170 Stop C Stop 6170 Did you release stop Did a thing during servo ON and PX5 turn off 1 axis and 2 axes M2415 M2435 IPX5 When servo ON and the outside input signal PX5 for the stop are OFF 1 axis 2 axis stop command are turned off and 1 axis 2 axis continue motion control by turning off an internal relay M100 for the stop F170 F171 It is made to turn on 1 axis 2 axis stop IIA stop is being released stop status The stop is being turned on status command and motion control is made RST M3200 1 axis stop command OFF SET M100 Stop ON to stop by turning on an internal relay RST M3220 2 axes stop command OFF RST M100 Stop OFF SET M3200 1 axis stop command ON SET M3220 2 axes stop command ON M100 for the stop too when either axis turns off servo or when PX5 turns it on APP 30 APPENDICES c No 150 Programming operation Programming operation G151 Did you turn on PX4 and turn loff a stop PX4 IM100 K150 Real 1 ABS 2 Axis 1 0 PLS Axis 2 0 PLS Speed 500000 PLS s a a G200 Did 1 axis and 2 axes execute WAIT transition which wants to stop substitutes The internal relay M100 for the stop turns off for the AND status The motion control step executed absolute positioning to application with it when to
38. 5 22 use POINT Security function can be used only by combining with operating system software for security function and SWG6RN GSVLIP for security function 15 1 Password Registration change There are two following methods to register change a password Communication Password gt Register Change Password Register Change key of the communication setting screen displayed by ICommunication Transfer Password registration change GS 22P MT Developer x The password content is set for the motion controller and the data in GSV Execute Save to save in the project Registration Condition SEE Frogam Write Protection z Servo Program Read Write Protection I Read Write Protection 2 Write Protection a Batch Settings Refresh Save Close Mechanical System Program Enter new password Password Set a password by the alphanumeric character ASCII of 6 or less characters Match case Full size character cannot be used A registration condition set in the Motion CPU is displayed Write Protection Not writing operation Read Write Protection Not reading writing operation New registration condition can be selected by a password input 15 1 15 SECURITY FUNCTION 1 Procedure for password registration change a A password and registration condition set in the Motion CPU are displayed b Enter new password in the password
39. 5 MOTION DEDICATED PLC INSTRUCTION Controls 1 This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system Errors occurs when it was executed toward the CPU except the Motion CPU A part for the number of reading data of the control data specified with S1 of data since the device specified with S2 in the target CPU n1 is stored to since the word device specified with D1 of the self CPU in the Multiple CPU system 2 Figure specification of the bit device is possible for S2 and D1 However figure specification is 4 figures and a start bit device number is only the multiple of 16 It becomes INSTRCT CODE ERROR 4004 when other values are specified 3 If the target CPU is not instruction acceptable condition even if the S P DDWR instruction is executed it may not be processed In this case it is necessary to execute the S P DDWR instruction again S P SFCS S P SVST S P CHGA S P CHGV S P CHGT S P DDRD S P DDWR cannot be executed simultaneously toward the CPU executing S P DDWR instruction It can be confirmed by data in the shared CPU memory of the target CPU Motion CPU whether the instruction is acceptable or not When the Motion dedicated PLC instruction is started continuously it is must be design to execute next instruction after executing instruction complete device on 4 The target CPU device range check is not executed with self CPU at the S P DDRD instruction execut
40. 64 bit 64 bit Bit Comparison data Bit device 16 bit floating Coasting een el seme floating Calculation snditional conditional integer integer integer integer type 4 expression point expression expression type type L type K H K H L type K VESTEM Rp soe a i a ee 6 l ol ol o l olo l a E Usable Setting data Setting data Data type of result S1 Minuend data Data type of S1 or S2 S2 Subtracted data which is greater Functions 1 The data specified with S2 is subtracted from the data specified with S1 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before operation is performed Errors 1 An operation error will occur if S1 or S2 is an indirectly specified device and its device No is outside the range Program examples 1 Program which substitutes the result of subtracting 0 from K123 to WO WO 123 0 123 wo 7 OPERATION CONTROL PROGRAMS 2 Program which substitutes the result of subtracting 10 from 0F to DOL DOL 0F 10 3 2 1 0 B 12345 789 DOL 12272 12222 789 NA 10 64 bit floating point type data are used for subtraction and the result is converted into the 32 bit integer type and then substituted The 7 OPERATION CONTROL PROGRAMS FIFS 7 4 4 Multiplication 1 S2 Number of basic steps Usable data
41. Conditional conditional integer integer integer integer type point expression expression type type L type K H K H L type F type K dad aoad aoa 5 ipe Usable Setting data Setting data Data type of result Data which will be converted into signed 32 bit integer value Functions 1 The data specified with S is converted into a signed 32 bit integer value 2 The data range of S is 2147483648 to 2147483647 3 When S is a 64 bit floating point type its fractional portion is rounded down before conversion is made 4 If S is a 32 bit integer type its value is returned unchanged with no conversion processing performed Errors 1 An operation error will occur if The S data is outside the range 2147483648 to 2147483647 or S is an indirectly specified device and its device No is outside the range Program examples 1 Program which converts the data of DO into a signed 32 bit integer value and substitutes the result to 0L 0L LONG DO 1 0 K 1L q D0 HFFFFFFFF HFFFF 7 OPERATION CONTROL PROGRAMS FIFS 7 7 4 Unsigned 32 bit integer value conversion ULONG ULONG S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculati data Bit device a8 bit 32 ot floating Coasting 16 pit floating conditional conditional inte
42. FIFS 7 13 10 Time to wait TIME TIME S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculati data Bit device Je pit Re i floating Coasting 18 bit floating acuaton Conditional conditional integer integer integer integer type point expression expression type type L type K H K H L type F type K o Jo lo lo J Usable Setting data Setting data Data type of result Waiting time 0 to 2147483647 ms Logical type true false Functions 1 Await state continues for the time specified with S The result is false when the elapsed time is less than the preset time or the result is true and execution transits when the preset time has elapsed 2 When a 16 bit integer type word device is used to specify any of 32768 to 65535ms at S convert it into an unsigned 16 bit integer value with USHORT Refer to the program example Errors 1 An operation error will occur if S is an indirectly specified device and its device No is outside the range or The data device data at indirect specification specified with S is outside the range of 0 to 2147483647 Program examples 1 Program which sets a wait of 60 seconds when constant is specified TIME K60000 2 Program for a case where there may be a wait of 32768 to 65535ms for 16 bit integer type indirect d
43. High speed read setting Manual pulse generator setting SV13 Serial encoder Manual pulse generator setting SV22 Used Unused Used only Used Unused Unused P Used Input response time 0 4 0 6 1 ms TREN response time 0 4 ms High speed read setting Used Unused Unused 1 SV13 4 SV22 Interrupt module Input response time 0 1 0 2 0 4 0 6 1 ms 0 2 ms 1 OVERVIEW Module name Input module Output module Setting items for each module Continued Item First I O No Setting range 00 to FFO in units of 16 points Initial value Number of I O points 0 16 32 64 128 256 High speed read setting Used Unused Input response time setting setting for high speed input module in parentheses First I O No 1 5 10 20 70 ms 0 1 0 2 0 4 0 6 1 ms 00 to FFO in units of 16 points Number of I O points 0 16 32 64 128 256 Input Output composite module Analogue input Note 1 module Analogue output module Note 1 First I O No 00 to FFO in units of 16 points Number of I O points 0 16 32 64 128 256 Input response time setting High speed read setting First I O No 1 5 10 20 70 ms Used Unused 00 to FFO in units of 16 points Input range setting 4 to 20mA 0 to 20mA 1 to
44. When no free numbers are found after a search up to 4095 a search is made from 0 to the set G number 1 b When set to automatic numbering Searches for a free number forward or backward in the automatic numbering range starting with the automatically numbered G number 1 or 1 at the Shift Y N or WAIT Y N symbol The searching method is as in the automatic numbering setting 2 Automatic logical NOT program generation feature Automatically generates a program which logically negates the conditional expression block last block of the transition program set at Shift Y N or WAIT Y N The basic is shown below lt Setting program conditional expression block gt Conditional expression bit conditional expression or comparison conditional expression lt Logically negated automatically generated program conditional expression block gt Conditional expression bit conditional expression or comparison conditional expression Examples are shown below lt Setting program conditional expression block gt Example 1 Mmo JilBitdevice ON Example 2 DO K100 Data register DO is not K100 lt Logically negated automatically generated program conditional expression block gt Example 1 MO Bit device OFF Example 2 D0 K100 Data register DO is K100 Refer to Section 1 2 3 2 Table of the operation control transition instruction for the instructions usable in the conditi
45. d aoa d eee e i ee Usable Setting data Setting data Data type of result Data which will be converted into unsigned 64 bit S 64 bit floating point type floating point value Functions 1 The data specified with S is converted into an unsigned 64 bit floating point value 2 If S is a 64 bit floating point type its value is returned unchanged with no conversion processing performed Errors 1 An operation error will occur if S isan indirectly specified device and its device No is outside the range Program examples 1 Program which converts the data of DOL into an unsigned 64 bit floating point value and substitutes the result to 0F 0F UFLOAT DOL 3 2 1 0 D1 DO K4294967295 0 4 KL HFFFFFFFF Unsigned value is K4294967295 7 OPERATION CONTROL PROGRAMS FIFS 7 8 Bit Device Statuses 7 8 1 ON Normally open contact None S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device ABE 208 floating Coasting ap oit Se floating Calculation conditional conditional integer integer oint finer integer integer type point expression expression expression type type L type 9 lo J __ Usable Setting data Setting data Data type of result Bit device used in bit conditional expression Logical type true false Functions
46. settings should be using multiple PLC Acknowledge XY assigi papas Intelligent functional module detailed setting x ae lg a Enortine AE PLC 1 0 response Contol PLC operation time n 0 PLC PLC No 1 x m x 1 PLC PLC No 2 T x Ez 2 101 I FPLC No 2 3 22 v X PLC No 20 4 37 3 m PLENo 2 AA X 55 PLC No 1 0 7 B 5 E m m PLC No 1 t7 FPLC 3 8 kd E jPLC No 1 10 5 3 E k PLC No 1 8 10 10 g E PLC No 1 8 12 110 11 PLC No 1 13 120 12 m PLC No 1 9 14 130 13 X FPLC No 1 1414 X PLC No 1 es Jsettings should be set as same when using multiple PLC m cma Note Motion slot setting items are different depending on the operating system software 1 OVERVIEW c Base settings Set the total number of bases and number of slots in each base identically between Base Settings Motion CPU setting in SW6RN GSVOP and I O Assignment Settings PLC CPU setting in GX Developer In GX Developer the detailed settings may be omitted by setting the base mode Automatic Base Settings Motion CPU setting in SW6RN GSVOP Basic Setting Total number of bases and number of slots in each base I O Assignment Settings PLC CPU setting GX Developer Qn H Parameter Note Only the Motion CPU may be set without setting the PLC CPU 1 OVERVIEW GOT is recognized as an intelligent funct
47. 1 2 axis Manual pulse generator enable flag turned off at the time of the JOG mode completion not to continue a manual pulse generator operation after it moves to other mode of the safety APP 18 APPENDICES f No 140 Home position return Home position return request G140 G141 G142 PX3 1 axis home position return I PX4 12 axes home position return Did you finish home position return Icompletion 1 axis in position signal 1 Icompletion 2 axes in position signal 2 request mode laxis start accept laxis start accept PX2 IPX1 PX4 1M2430 M2422 1M2002 PX3 1M2410 M2402 1M2001 K140 Real K141 Real 1 ZERO 1 ZERO Axis 1 Axis 2 When is ON the home position return request of 1 axis is executed When PX4 is ON the home position return request of 2 axes is executed At this time in position signal ON and start accept OFF confirmed and home position return request program is started Note This program is the structure which does not have WAIT that it waits for the completion of the home position return in the next of the motion control step because it possible a thing during K140 practice and K141 are started You must take the initial start of each axis to interlock condition to prevent the double start of K140 and K141 APP 19 APPENDICES g No 150 Programming operation Programming operation
48. 11 17 11 MOTION SFC PARAMETER 11 10 Operation Performed at CPU Power Off or Reset When the CPU is powered off or reset operation is performed Motion SFC programs run are shown below 1 When the CPU is powered off or reset operation is performed Motion SFC programs stop to execute 2 At CPU power off or key reset the contents of the motion registers 0 to 7999 are held Initialize them in the Motion SFC programs as required 3 After CPU power on or reset processing Motion SFC programs run is shown below e The SFC programs set to start automatically are run from the beginning by turning PLC ready flag M2000 on in the PLC program e The other Motion SFC programs are also executed from the first at starting 11 11 Operation Performed when CPU is Switched from RUN STOP When a RUN STOP switch is operated PLC ready flag M2000 turns on off in accordance with Operation at STOP to RUN of a setting of a basic systems Refer to Section 1 5 3 Individual parameters for the details of Operation at STOP to RUN And refer to the next section for PLC ready flag M2000 off on 11 18 11 MOTION SFC PARAMETER 11 12 Operation Performed when PLC Ready flag M2000 Turns OFF ON M2000 OFF ON M2000 ON OFF This section explains about the turns off on of PLC ready flag M2000 The on off condition of PLC ready flag M2000 differences in Operation at STOP to RUN of a setting of a basic systems Refer to Sectio
49. 3 5 of Motion CPU module at the power supply on or reset of Multiple CPU system DIP switch setting operation mode and operation mode overview are shown below a DIP switch setting and operation mode Dip switch setting Operation mode Installation mode mode written in ROM Must not be set Note 1 Must not be set Note Note 1 It operates in the Installation mode mode written in ROM for wrong setting Note 2 It operates in the Mode operated by RAM for wrong setting b Operation mode overview Operation mode Operation overview MODE LED turns on in orange BOOT LED turns off The operating system software can be installed The user programs and parameters for ROM operation can be written to the FLASH ROM built Installation mode in Motion CPU module mode written in ROM ROM writing is executed at ROM operating after operation check in the RAM operating mode The user programs and parameters stored in the SRAM built in Motion CPU module are batch written to the FLASH ROM built in Motion CPU module It becomes STOP state regardless of the RUN STOP switch in front of Motion CPU module The digital oscilloscope function cannot be used MODE LED turns on in green BOOT LED turns off Operation is executed based on the user programs and parameters stored in the SRAM built in Motion CPU module MODE LED turns on in green BOOT LED turns on Operation starts after reading the u
50. 3 Rough calculation expression of singleprogram for operation control transition program 2 1 Total number of basic steps in 1 block Number of 32 bit constants 1 block x 1 Number of 64 bit constants 1 block x 3 x Number of blocks steps 1 step 2 bytes 1 12 1 OVERVIEW 1 2 4 Differences between Q173CPU N Q172CPU N and A173UHCPU A172SHCPUN 1 Differences between Q173CPU N Q172CPU N and A173UHCPU A172SHCPUN Q173CPU N Q172CPU N A173UHCPU A172SHCPUN Number of control axes Up to 32 axes Up to 8 axes Up to 32 axes Up to 8 axes Operation cycle SV22 0 88ms 1 to 8 axes 1 77ms 9 to 16 axes 3 55ms 17 to 32 axes Default It can be set up by the parameters 0 88ms 1 to 4 axes 1 77ms 5 to 12 axes 3 55ms 13 to 24 axes 7 11ms 25 to 32 axes Default It can be set up by the parameters 0 88ms 1 to 8 axes Default It can be set up by the parameters 0 88ms 1 to 4 axes 1 77ms 5 to 8 axes Default It can be set up by the parameters 3 55ms 1 to 20 axes 3 55ms 1 to 8 axes 7 11ms 21 to 32 axes 3 55ms 1 to 12 axes 7 11ms 13 to 24 axes 14 2ms 25 to 32 axes 3 55 ms 1 to 8 axes Servo program capacity 14k steps 13k steps 3200 points axis Positioning data can be designated indirectly Number of positioning points Programming tool Peripheral devices I F trol lon con Mot Home position return function Manual pulse generator operation Possible to connect 3
51. CPU No 4 flag from CPU U3E3 U3E3 G524 0 G48 0 y SP CHGA H3E3 C1 K10 mo DO Normal complete program M 1 uuu Abnormal complete program 5 MOTION DEDICATED PLC INSTRUCTION 5 5 Speed Change Instruction from The PLC CPU to The Motion CPU S P CHGV PLC instruction S P CHGV Refer to Section 1 3 4 for the applicable version of the Motion CPU and the software Speed change instruction S P CHGV Usable devices Internal devices MELSECNET 10 Special Bit Indirectly Index System User File E direct JO O function Constant digit specified register register module i specified Bit Word a Setting dat O Usable A Usable partly Note Setting data except 51 Index qualification possible Instruction Condition Start request sP cHev 4 SE CHGV Start request S CHGV CHGV Setting data Setting data Description Data type First I O No of the target CPU 16 Value to specify actually is the following CPU No 2 3E1H CPU No 3 3E2H CPU No 4 3E3H binary FB Axis No Jn N to execute the speed change Q173CPU N J1 to J32 Q172CPU N J1 to J8 sequence 51 16 bit S2 Setting of the current value to change inary Complete devices D1 0 Device which make turn on for one scan at start accept completion of instruction B
52. Contents The number of consecutive Event task E transitions of the consecutive f Motion SFC program transition count started by the event task is outside the Turn PLC ready flag M2000 off range 1 to 10 The initial value make correction to set the value error The number of of 1 is controlled of within the range and write it to consecutive the CPU NMI task consecutive transitions of the Motion SFC program started by the NMI task is outside the transition count error range 1 to 10 Note 0000H normal 11 14 11 MOTION SFC PARAMETER 4 END operation Description Set the operation at execution of the END step toward the program executed by the event or NMI task This varies the specifications for the following items e Program run by NMI task When ended When continued Control at Ends the self program Ends to execute the self program with this event interrupt execution Restarted at occurrence of the next event interrupt and run Again the program is started by the Motion SFC from the initial first step in accordance with the number of Restart after start instruction S P SFCS from the PLC or consecutive transitions of the corresponding program execution by a subroutine call start GSUB made from the After that at occurrence of an event interrupt the program is Motion SFC program executed in accordance with the number of consecutive transitions
53. Ether N Ether No 10 OJO xIx Communication is possible Communication is possible Setting of the routing parameter is necessary X Communication is impossible 16 4 16 COMMUNICATIONS VIA NETWORK 16 2 2 Network configuration via the CC Link 1 It can access the other CPU via the CC link from the programming software GX Developer SW6RN GSVLEPP etc of the personal computer connected with the CPU or serial communication module in USB RS 232 2 It can access the other CPU via the CC Link from the programming software in the personal computer by connecting the personal computer equipped with CC Link board to the CC Link 3 The access range of above 1 is only the CPU on the CC Link which a system connects it to and it can select a CC Link network to connect by specifying the I O No of the CC Link module 4 The access range of above 2 is only the CPU of the connected the CC Link C24 Serial communication module computer computer computer computer USB USB RS 232 CC Link board RS 232 RS 232 Network No 1 Example 1 Qn H 0173 C24 Qn H Q173 CC Qn H 0173 cc cCc CPU Link CPU CPU Link CPU CPU Link Link Network N N N No 2 9O Network No 3 Qn H 0173 CC Qn H 0173 CC CPU CPU Link CPU CPU Link N N lt Example 2 gt
54. Internal code files of servo program KO to K4095 file size is fixed length 12 Automatic numbering autono inf Automatic numbering setting information files setting information file gt 13 PC type file gsvp cnf CPU type information files DR 14 System setting data file svsystem bin System setting data information files High speed read setting file svlatch bin High speed read setting information files 2G 15 Servo data file svdata bin Servo parameter information files 1 svdata2 bin Servo parameter information files 2 Svls bin Limit switch setting data information files oy 16 Mechanical system svedtda1 bin Mechanical system program edit information files page 1 to 16 y ditda1 b Mech syst dit inf tion fil 1408 program editing file svedtda2 bin Note 1 Mechanical system program edit information files page 9 to 16 Note 1 32 axes only svedtda3 bin Nete 1 Mechanical system program edit information files page 17 to 24 svedtda4 bin Note 1 Mechanical system program edit information files page 25 to 32 17 Mechanical system svmchprm bin File after conversion of mechanical system program edi GE 47 Mechanical syst hprm bi File aft ion of mechanical syst dit program conversion file information file svedtdan bin into internal codes L 18 Cam data conversion svcamprm bin Cam data files of cam No 1 to 64 file svcampr2 bin Note 1 Cam data files of cam No 101 to 164
55. Normal task consecutive transition EN Turn PLC ready flag M2000 The initial value consecutive count of the Motion SFC off make correction to set the of 3 is used for transition program executed by the sol value of within the range and control count error normal task is outside the write it to the CPU range 1 to 30 Note 0000H normal 11 8 11 MOTION SFC PARAMETER 2 Interrupt setting Description Set whether 16 interrupt input points IO to 115 of the QI60 interrupt module loaded in the motion slot are used as NMI or event task inputs Setting can be made freely per point All points default to event tasks Errors None 11 9 11 MOTION SFC PARAMETER assess awgw a 11 5 Program Parameters Start setting Set the following parameters for every Motion SFC program Setting range Automatically started or not Initial value Not setting Execute task It is only one of normal event and NMI tasks Normal task When you have set the event task further set the event which will be enabled Always set any one of the following 1 to 3 1 Fixed cycle It is one of 0 88ms 1 77ms 3 55ms 7 11ms 14 2ms or none External interrupt make selection from those set to event task Multiple interrupt can be set from among 10 11 12 13 14 15 16 17 18 19 110 111 112 113 114 and 115 PLC interrupt Multiple interrupt can be set from among 10 11 12 13
56. Positioning control Parameter block No Command speed Torque limit value Speed limit value Acceleration time Deceleration time Rapid stop deceleration time Torque limit value Deceleration processing Repeat condition FIN acceleration deceleration Number of steps Virtual enable 2 O 0 Number of step Number of indirect words EN N Absolute 1 axis positioning Incremental 1 axis positioning Absolute 2 axes linear Instruction Gives the servo instructions usable in servo programs Processing Gives the processing outlines of the servo instructions a Indicates positioning data which can be set in servo instructions 1 Item which must be set Data which cannot execute the servo instruction unless it sets 2 A Item which is set when required Data which will be controlled by the default value unless it sets b Allows direct or indirect designation except axis No 1 Direct designation Set with numerical value 2 Indirect designation Set with word device D W Servo program execution is controlled using the preset word device contents Each setting item may either be 1 or 2 word data For 2 word data set the first device No c Number of steps As there are more setting items there are more number of
57. Pregram No 2 Pregram No 5 X Personal computer Programming software Program No 0 Program No 2 Program No 6 Program No 100 Program No 5 Program No 5 Program No 2 Online change setting cannot be executed because there is no free space Program No 5 Program No 6 Program No 100 c In the case of b arrange to stuff to the front the invalid programs Operation procedures to stuff to the front are shown below 1 Select the program editor screen Option menu Sort of SW6RN In this case the invalid programs in the personal computer arranges by SW6RN GSVL IP 2 Execute the program writing with the Communication menu Transfer in the stop state of Motion CPU Motion CPU Program memory Program No 0 Program No 2 Program No 5 Program No 6 Program No 100 Free area 12 8 2 Write the Motion program by Transfer Key Personal computer Programming software Program No 0 Program No 2 Program No 5 Program No 6 Program No 100 1 Select Sort Key 13 LIMIT SWITCH OUTPUT FUNCTION 13 LIMIT SWITCH OUTPUT FUNCTION 13 1 Operations This function is used to output the ON OFF signal corresponding to the data range of the watch data set per output device Motion contro
58. S P SVST PLC instruction 5 1 nnne 5 12 5 4 Current Value Change Instruction from The PLC CPU to The Motion CPU S P CHGA PLC instruction S P CHGA oo ccccccsecsecsscseecsecseeeseecsessesseeseecsesseseesaesaesseseeeeateaees 5 17 5 5 Speed Change Instruction from The PLC CPU to The Motion CPU S P CHGV PLC instruction S P CHGV Jiri eienen unaenea eaaa a aa aai aaa 5 30 5 6 Torque Limit Value Change Request Instruction from The PLC CPU to The Motion CPU S P CHGT PLC instruction 5 5 34 5 7 Write from The PLC CPU to The Motion CPU S P DDWR PLC instruction S P DDWR 5 38 5 8 Read from The Devices of The Motion CPU S P DDRD PLC instruction S P DDRD 5 42 5 9 Interrupt Instruction to The Other CPU S P GINT PLC instruction 5 5 46 6 1 Motion SFC Program Configuration sssssssssssssseeeeeeeneeennen nennen nennen nennen nnne nnns 6 1 6 2 Motion SF C Chart Symbol 2 o ED Ee de ET D er de e e 6 2 6 3 Branch and Coupling Chart List ee a 6 5 6 4 Motion SFC Program 6 9 REELE a EE M EIE 6 10 0 531 Motion control E A aE ee ea ae A hee a
59. STARTING UP THE MULTIPLE CPU SYSTEM 2 1t02 2 2 1 Startup Flow of the Multiple CPU System sssssssssseseeeeeeneennnen nennen nennen nnne 2 1 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 3 1 to 3 26 3 1 Automatic Refresh Function of The Shared CPU Memory 3 1 3 2 Control Instruction from the PLC CPU to The Motion CPU Motion dedicated instructions 3 20 3 3 Reading Writing Device Data oo ec ecceeceeneeeneeeeeeeeeeeeeeaeeeaeseaeeeaeseaeseaeeeaeeeaeseaeeeaeeeaeeeaeeeaeeaeeeaeeeaeeeateeas 3 21 34 Shared uU 3 22 4 1 Motion Control SV13 SV22 Real 4 2 4 2 Motion Control in SV22 Virtual Mode sssssssesseseeeneenenneneennennneenen nennen nnne nnns 4 3 5 MOTION DEDICATED PLC INSTRUCTION 5 1to 5 48 5 1 Motion Dedicated PLC Instruction essent nnns 5 1 5 1 1 Restriction item of the Motion dedicated PLC instruction eseeenene 5 1 5 2 Motion SFC Start Request from The PLC CPU to The Motion CPU S P SFCS PLC instruction S P SFCS E aa 5 9 5 3 Servo Program Start Request from The PLC CPU to The Motion CPU
60. Usable data Usable Data Bit device Setting data 64 bit 64 bit Bit Comparison 16 bit 32 bit 16 bit 32 bit Calculation P floating Coasting floating conditional conditional integer integer integer integer type expression f point expression expression type type L type K H K H L type K sors a ose reser O Usable Setting data Data type of result Setting data 51 Dividend data Data type of S1 or S2 52 which is greater Functions 1 The data specified with S1 is divided by the data specified with S2 to find a quotient 2 When S1 and 52 differ in data type the data of the smaller data type is converted into that of the greater type before operation is performed Errors 1 An operation error will occur if S2 is 0 or 51 or S2 is an indirectly specified device and its device No is outside the range Program examples 1 Program which divides K456 by 0 and substitutes a quotient to WO WO K456 0 456 wos 0 123 2 Program which divides 0F by 10 and substitutes a quotient to DOL DOL 0F 10 3 2 1 0 12345 789 D1 DO 100 100 3722683 o 7237 The 64 bit floating point type data are used for division and the quotient is converted into the 32 bit integer type and then substituted 7 1
61. an operation to read servo parameters is unnecessary in the following cases a The parameters are changed by auto tuning If the power supply of Motion CPU is turned off reset or the power supply of servo amplifier is turned off immediately after change it may not be reflected 2 After executing the servo parameter reading function when it needs to reflect the servo parameters changed to the SWGRN GSVTIP read the servo parameters from the Motion CPU and save data 18 1 About The Servo Parameter Read Request Devices 1 Set the axis No of servo amplifier to read a parameter in the servo parameter 4 5 read request axis No D9104 and turn the servo parameter read request flag M9104 ON for reading of the servo parameter from servo amplifier While the servo parameter reading flag M9105 is turned on the servo parameter read request flag does not become valid Use this condition as an interlocks Reading of servo parameter from servo amplifier becomes valid at the turning OFF to ON of the servo parameter read request flag The servo parameter read request flag is not turned off automatically Execute the 18 device OFF processing by the user side After executing the read function of the servo parameter from servo amplifier when the servo parameter read request is executed toward the other axis turn the servo parameter read request flag M9104 OFF to ON set the correspondence axis in the servo paramete
62. converted into that of the greater type before comparison is performed Errors 1 An operation error will occur if e S1 or S2 is an indirectly specified device and its device No is outside the range Program examples 1 Program which compares whether 0 and DO are unequal or not 0 DO 0 Iz True 4 po 2 7 OPERATION CONTROL PROGRAMS FIFS 7 11 3 Less than lt 51 lt 52 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device 16 bit floating Coasting een el seme floating Calculation snditional conditional integer integer integer integer type 4 expression point expression expression type type L type K H K H L type K ae D C IR DENM PM GST D SEM REPE 62 _ o lololol an lol ol I O Usable Setting data Setting data Data type of result S1 TR 52 Data which will be compared Logical type true false Functions 1 The result is true if the data specified with S1 is less than the data specified with S2 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before comparison is performed Errors 1 An operation error will occur if S1 or 52 is an indirectly specified device and its device No is outside the range Program examples 1 Program which compare
63. for parameter setting 11 6 1 Automatic start Operations An automatic start is made by turning PLC ready flag M2000 on 11 6 2 Start from the Motion SFC program Operations A start is made by executing a subroutine call start step in the SFC program Refer to Chapter 6 MOTION SFC PROGRAMS for details of the subroutine call start step 11 6 3 Start from PLC PLC instruction S P SFCS The SFC program can started by executing the S P SFCS in the PLC program Refer to Chapter 5 MOTION DEDICATED PLC INSTRUCTION for details 11 16 11 MOTION SFC PARAMETER 11 7 How to End The Motion SFC Program Operations 1 The Motion SFC program is ended by executing END set in itself 2 The Motion SFC program is stopped by turning off the PLC ready flag M2000 3 The program can be ended by the clear step Refer to Section 6 5 4 Clear step for details of the clear step Point 1 Multiple ENDs can be set in one Motion SFC program 11 8 How to Change from One Motion SFC Program to Another Use a subroutine start to stop the Motion SFC program running and switch it to another Motion SFC program Motion SFC program changing example using subroutine start man sue ER 11 9 How to Manage The Executing Program There are no specific information that indicates which the Motion SFC program is executing Use a user program Motion SFC program PLC program to control the executing program
64. i Pe Pe a EE a Usable Setting data Setting data Data type of result Bit device for device output Bit logical type Condition data which determines device output true false Functions 1 If the data specified with S is true the bit data specified with D is set and if the data specified with S is false the bit data specified with D is reset 2 When this instruction is set as a transition condition in the last block of a transient program whether the data specified with S is true or false is returned as logical type data 3 In this case S cannot be omitted Errors 1 An operation error will occur if or S is an indirectly specified device and its device No is outside the range Program examples 1 Program which sets M100 when is ON 1 and program which resets M100 when is OFF 0 OUT M100 MO 2 Program which sets M100 when and 1 are both on and resets M100 except it OUT M100 1 7 OPERATION CONTROL PROGRAMS 3 Program which sets M100 when DO is equal to D2000 and resets M100 when D is not equal to D2000 OUT M100 00 D2000 7 OPERATION CONTROL PROGRAMS FIFS 7 10 Logical Operations 7 10 1 Logical acknowledgement None S Number of basic steps Usable data Usable Data Setting 64 bit E 64 bit Bit Comparison data Bit device ABE 208 floating Coasting ae Dit sent floating Ca
65. l F NMI task execute program i i 3 55ms event task execute program Hd When there are programs which are executed by the NMI task 3 55ms fixed cycle even task with a program to run by the NMI task and the normal task like a chart 1 The 3 55ms fixed cycle event task is executed at intervals of 3 55ms Normal task execute program 2 The NMI task is executed with the highest priority when an NMI interrupt is input and 3 The normal task is executed at free time as shown above Points One Motion SFC program can be executed partially by another task by setting the area to be executed by another task as a subroutine and setting a subroutine running task as another task lt Example gt No 0 Main Motion SFC program Normal task No 1 Subroutine Event task 3 55ms cycle A normal task may be hardly executed when a NMI task an event task are executed in many 11 7 11 MOTION SFC PARAMETER 11 4 Task Parameters Setting item Initial value Remark Number of Normal task These parameters imported when PLC ready flag M2000 turns off to on and used for control consecutive Normal task 1 to 30 transitions common Set whether the event task or NMI task is thereafter When setting changing the values Interrupt setting used for external Event task of these parameters turns the interruptinputs PLC ready flag M2000 off 10 to 115
66. of Q173CPU N CPU No 2 sets it up to have refresh by M2400 to of Qn H CPU CPU No 1 therefore the condition of Q173CPU N CPU No 2 can be grasped with Qn H CPU of the CPU No 1 by monitoring the following device Devices of QnHCPU CPU No 1 Correspond with devices of Q173CPU N CPU No 2 M2400 to M3039 M2400 to M3039 M3040 to M3103 M2000 to M2064 M3104 to M3119 M9000 to M9015 DIN W2D M9064 F1 Each axis monitor devices 1100000 to D0639 640 words D000 to CPU No 1 of the Qn H CPU BMOV W100 DO K640 Special devices D9000 to D9015 16 words 1D640 to CPU No 1 of the Qn H CPU W380 D9000 W381 D9005 W382 D9008 W384L D9010L W386L D9012L W388L D9014L Special registers D9182 to 09197 I 16 words D656 to CPU No 1 of the Qn H CPU W38AL D9182L W38CL D9184L W38EL D9186L W390L D9188L W392L D9190L W394L D9192L W396L D9194L W398L D9196L Note Refresh does data for 32 axes by this sample example number of refresh points is made a necessary minimum corresponding to the system for processing time shortening 1 Each monitor devices DO to D639 for 32 axes transferred to W100 to 2 Special register D9000 to D9015 transferred to W380 to 3 Special register D9182 to M9197 transferred to W38A to Automatic refresh of the between Multiple CPU and W100 to of Q173CPU N CPU No 2 sets it up to have refresh by
67. switch 2 and 3 Turn ON again or reset the power supply of Multiple CPU system Create or correct the system setting parameters and programs using SW6RN GSVDP and write to the Motion CPU module Execute the trial run and adjustment Check the operation YES v Set Installation mode mode written in ROM as a DIP switch 5 v Turn ON again or reset the power supply of Multiple CPU system Y Execute the ROM writing of the program and parameter using the SW6RN GSV P v Note Set normal mode as a DIP switch 5 and set Mode operated by ROM as a DIP Switch 2 and 3 Turn ON again or reset the power supply of Multiple CPU system ROM operation start Note Do not execute the ROM writing for program and parameter while installing the operating system software 14 9 14 ROM OPERATION FUNCTION 4 Operation at the Mode operated by ROM Operation at the Mode operated by ROM is shown below Programs and parameters written in the internal FLASH ROM are abnormal Mode operated by ROM start or When the additional parameters for ROM operation function are wrote in the internal FLASH ROM and a version of operating system software does not correspond to the ROM NO operation function Is the registration code of internal FLASH OM normal YES Programs and parameters written in
68. to M3579 M3580 to M3599 M3600 to M3619 M3620 to M3639 M3640 to M3659 M3660 to M3679 M3680 to M3699 M3700 to M3719 M3720 to M3739 M3740 to M3759 M3760 to M3779 M3780 to M3799 M3800 to M3819 M3820 to M3839 Signal name Axis 17 command signal Axis 18 command signal Axis 19 command signal Axis 20 command signal Axis 21 command signal Axis 22 command signal Axis 23 command signal Axis 24 command signal Axis 25 command signal Axis 26 command signal Axis 27 command signal Axis 28 command signal Axis 29 command signal Axis 30 command signal Axis 31 command signal Axis 32 command signal 1 OVERVIEW Detailes of each axis M3200 20n Stop command Stop command M3201 20n Rapid stop command Rapid stop command Forward rotation JOG start M3202 20n Forward rotation JOG start command command Reverse rotation JOG start M3203 20n Reverse rotation JOG start comannd command M3204 20n Complete signal OFF command Complete signal OFF command Speed position switching enable Speed position switching enable M3205 20n command comannd M3206 20n Unusable Unusable M3207 20n_ Error reset command M3208 20n External stop input disable at start External stop input disable at start M3209 20n command command M3210 20n Unusable Unusable M3211 20n Feed current value update request Feed current value update request M3212 20n command command Address clutch refer
69. 0 is written to since buffer memory address of the Intelligent function module special function module First I O No 010H TO H010 HO 0 K2 Intelligent function module special function module First I O No 010H Buffer memory Swords transfer Device memory 0H Wo 0 1H 1 L 7 OPERATION CONTROL PROGRAMS FIFS 7 13 9 Read device data from intelligent function module special function module FROM Refer to the Section 1 3 4 for the correspondence version of the Motion CPU and the software FROM D S1 S2 n Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculation data Bit device AS bit 32 pit floating Coasting A S2 bit floating conditional conditional integer integer i integer integer type point timer point expression expression type type L type K H K H L type F type K o o o m sp tage ee ee 6 o 5 L z JT ol jo 1 O Usable Setting data ee ae ore Rem eT special futichon module 000H to FFOH 82 First address of the buffer memory which it will be read Number of words to be read 1 to 256 Functions 1 A part for n words of data are read from the address specified wit
70. 1 CPU switch status 0 RUN 1 STOP D9200 State of switch State of CPU switch 2 L CLR S Main processing 2 Memory card switch Always OFF 3 Dip switch B8 through B12 correspond to SW1 through SW5 of system setting switch 1 0 OFF 1 ON B13 through B15 is not used Information concerning which of the following states the LEDs on the CPU are in is stored in the following bit patterns O is off 1 is on and 2 is flicker B12B11 B8 B7 T T S 4 D9201 State of LED State of CPU LED RUN 5 BOOT S Change status ERROR 6 No used M RUN 7 No used BAT ALARM 8 MODE Bit patterns for MODE 0 OFF 1 Green 2 Orange Note It adds newly at the Motion controller Q series 1 54 1 OVERVIEW ERO E X H 1 3 Hardware Configuration This section describes the Q173CPU N Q172CPU N system configuration precautions on use of system and configured equipments 1 3 1 Motion system configuration This section describes the equipment configuration configuration with peripheral devices and system configuration in the Q173CPU N Q172CPU N system 1 55 1 OVERVIEW 1 Equipment configuration in Q173CPU N system a When using the Dividing unit external battery Extension of the Q series module i U Motion module Q172LX Q172bEX Q173PX monaco Power supply module QCPU I O module Int
71. 14 15 16 17 18 19 110 111 112 113 114 and 115 1 to 3 can be set also by OR A duplication setting is possible The same event can be shared among multiple Motion SFC programs When you have set the NMI task further set the interrupt input which will be enabled 1 External interrupt make selection from those set to NMI task Multiple interrupt can be set from among 10 11 I2 13 14 15 16 17 18 19 110 111 112 113 114 and 115 Number of consecutive transitions 1 to 10 Set the number of consecutive transitions toward the program set to the event or NMI task END operation End continue Set the operation mode of the END step toward the program set to the event or NMI task Remark These parameters are imported at starting of the PLC ready flag M2000 and used for control there after When setting changing the values of these parameters turn PLC ready flag M2000 off The settings of END operation are invalid for the subroutine called program END operation is controlled as end 11 10 11 MOTION SFC PARAMETER 1 Start setting Description The following control is changed by automatically started or not setting e Program run by normal task When automatically started When not automatically started In the main cycle after the PLC ready flag M2000 The program is started by the Motion SFC start instruction turns off to on the progra
72. 2 B indicates a bit device 9 MOTION CONTROL PROGRAMS Table 9 2 Servo Instruction List continued Positioning data E j o Dwell time Instruction symbol Auxiliary point Central point Processing Parameter block No Address travel value Command spee Torque limit value Positioning control asm olololo o olololol EGS ABSA Absolute central point specified circular interpolation CW Absolute central point specified circular neci interpola ion CCW eS opel ad de dee do INC x Incremental central point specified circular interpolation CW Incremental central point specified circular interpolation COW Circular interpolation Central point specified ABH gt Absolute auxiliary point specified helical interpolation INH 2 Incremental auxiliary point specified helical interpolation EP Absolute radius specified helical ees interpolation less than CW 180 Absolute radius specified helical ABHC y interpolation CW 180 or more PER Absolute radius specified helical BBHEA interpolation less than CCW 180 Absolute radius specified helical ABHC 5 interpolation CCW 180 or more Incremental radius specified helical interpolation less than CW 180 Incremental radius specified helical interpolation CW 180 or more Fir za Incremental radius specified helical lt A interpolation less than CCW 180 Incremental ra
73. 422 485 2 Qn H 9173 c24 c24 Qn H Q173 c24 Q173 CPU CPU CPU CPU CPU N N N RS 422 485 Qn H Q173 C24 Q173 c24 Qn H 9173 c24 CPU CPU CPU CPU CPU CPU N N N x xX Communication is possible Communication is possible Setting of the routing parameter is necessary X Communication is impossible 16 6 16 COMMUNICATIONS VIA NETWORK 16 2 4 Network configuration which MELSECNET 10 H Ethernet CC Link RS 422 485 were mixed 1 When the MELSECNET 10 H or Ethernet is defined as Network and CC Link or RS 422 485 is defined as Link combination of whether to be able to access from the programming software GX Developer SW6RN GSVLPP etc is shown below TTE Usable Network communications unusable Programming software CPU C24 Network Link gt CPU Ed Proganmna sotare GPU 6H ou o Programming software CPU C24 Link Network gt Link CPU Programming software Network Link Network gt CPU Programming software Link Network Link CPU Usable x Unusable It can be accessed to 8 network points by setting the routing parameter in the Network Because routing cannot access it can access only the connected network The connected network c
74. 5 Operation control transition execution errors 16300 to 16599 continued Error factor Corrective Action Write device data to shared CPU memory of the self CPU MULTW execution error Read device data from shared CPU memory of the other CPU MULTR execution error Error code Number of words n to be written is outside the range of 1 to 256 The shared CPU memory address D of self CPU of the writing destination device is outside the range 800H to FFFH of the shared CPU memory address The shared CPU memory address D of self CPU of the writing destination device number of words n to be written is outside the range 800H to FFFH of the shared CPU memory address First device No S which writing data are stored number of words n to be written is outside the device range MULTW instruction was executed again before MULTW instruction is executed and complete bit device is turned on D1 is a write disabled device S is a bit device and the device number is not a multiple of 16 PX PY is set in S to S n 1 Number of words n to be read is outside the range of 1 to 256 The shared CPU memory first address S2 of the data which it will be read is outside the range 000H to FFFH of the shared CPU memory address The shared CPU memory first address S2 of the data which it will be read number of words n to be read is outside the range 000H to FFFH
75. 5V O to 5V 10 to 10V 0 to 10V User range 4 to 20mA Temperature drift compensation Used None Used Resolution mode Normal High Normal Operation mode First I O No Normal A D conversion Offset gain setting 00 to FFO in units of 16 points Normal A D conversion 0 Output range setting 4 to 20mA 0 to 20mA 1 to 5V O to 5V 10 to 10V User range 4 to 20mA HOLD CLEAR function setting CLEAR only CLEAR Output mode Resolution mode Normal Asynchronous Synchronous output Normal High Normal Asynchro nous Normal Operation mode Normal D A conversion Offset gain setting Normal D A conversion Number of usable modules Q173CPU N Total 256 points or less Total 256 points or less Note 1 A maximum of 4 modules analogue input modules and analogue output modules can be used 1 90 1 OVERVIEW Error name LAY ERROR SL AXIS No MULTIDEF AMP No SETTING SYS SET DATA ERR AXIS No ERROR POINTS OVER 3 System setting errors Motion CPUs generate a system configuration error under the following conditions Error code Note 1 10000 Note 2 Error cause The slot set in system settings is vacant or a different module is installed Duplicate axis No is set in system settings Not a single axis is set in system settings System setting data is not written
76. 7 5 6 Bit left shift lt lt 51 lt lt 92 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device 16 bit Sebit floating Coasting een a seme floating Calculation snditional conditional integer integer i integer integer type expression point expression expression type type L type K H K H L type K C 6 _ o lol lololo l gp eee O Usable Setting data Data type of result 51 Data to be left shifted Data type of S1 S2 Number of left shifts Integer type Functions 1 The data specified with S1 is shifted to the left by the number of times specified with 52 2 O enters the least significant bit of the left shift result 3 When S1 is a 16 bit integer type and S2 is a negative number or not less than 16 the result is O 4 When S1 is a 32 bit integer type and S2 is a negative number or not less than 32 the result is O Errors 1 An operation error will occur if S1 or S2 is an indirectly specified device and its device No is outside the range Program examples 1 Program which shifts 0 one bit position to the left and substitutes the result to DO b15 bO o e 7 OPERATION CONTROL PROGRAMS FIFS 7 5 7 Sign inversion Complement of 2 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison 16 b
77. 7 OPERATION CONTROL PROGRAMS FIFS 7 5 5 Bit right shift gt gt 51 gt gt S2 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device 16 bit floating Coasting een el seme floating Calculation snditional conditional integer integer integer integer type expression point expression expression type type L type K H K H L type K BISERE 6 l o lol Ee ae ol ee a ee Usable Setting data 51 Data to be right shifted Data type of S1 Integer type Functions 1 The data specified with S1 is shifted to the right by the number of times specified with S2 2 If the most significant bit of S1 is 1 1 enters the most significant bit of the right shift result If the most significant bit of S1 is 0 0 enters the most significant bit of the right shift result 3 When S1 is a 16 bit integer type and S2 is a negative number or not less than 16 the result is 0 4 When S1 is a 32 bit integer type and S2 is a negative number or not less than 32 the result is 0 Errors 1 An operation error will occur if S1 or S2 is an indirectly specified device and its device No is outside the range Program examples 1 Program which shifts 0 two bit positions to the right and substitutes the result to DO oo PORT 7 22 7 OPERATION CONTROL PROGRAMS FIFS
78. Axis 15 monitor device to Axis 31 monitor device D619 D620 Axis 16 monitor device to Axis 32 monitor device D639 1 36 1 OVERVIEW Detailes of each axis SV13 SV22 Real mode SV22 Virtual mode Signal derection DO 20n Feed current value roller cycle Feed current value D1 20n speed D2 20n Real current value Real current value D3 20n D4 20n d Deviation counter value Deviation counter value D5 20n D6 20n D7 20n D8 20n Monitor device Home position return re travel D9 20n Hold value D10 20n Travel value after proximity dog D11 20n D12 20n Execute program No 013 20n E E D14 20n Torque limit value Torque limit value Data set pointer for constant D15 20n speed control D16 20n Command Travel value change register D17 20n device D18 20n Real current value at stop input Hold Monitor device 019 20n Note 1 the above device No shows the numerical value which correspond to axis No Q173CPU N Axis No 1 to No 32 n 0 to 31 Q172CPU N Axis No 1 to No 8 n 0 to 7 Note 2 Device area of 9 axes or more is unusable in the Q172CPU N 1 37 1 OVERVIEW 2 Table of the control change registers SV13 SV22 D640 Axis 1 JOG speed D672 Axis 17 JOG speed D642 Axis 2 JOG speed D674 Axis 18 JOG speed D644 Axis 3 JOG speed D676 Axis 19 JOG speed D646 Axis 4 JOG speed D678 Axis 20 JOG speed D648 Axis 5 JOG speed D680 A
79. CHGA execution ON S P CHGA instruction OFF To self CPU high speed interrupt accept flag from CPUn Start accept flag Cam axis Current value change Current value change 1 1 0 Instruction start OFF accept complete device i 1 01 0 i ON Abnormal completion only State display device D1 1 at the instruction start OFF 1 accept completion Instruction accept gt 1 scan completion at the Motion CPU side 5 26 5 MOTION DEDICATED PLC INSTRUCTION 1 The current value status of the cam axis within one revolution current value change can be confirmed with the cam axis within one revolution current value changing flag in the shared CPU memory of target CPU 2 S P CHGA instruction accepting and normal abnormal completion can be confirmed with the complete device D1 or status display device D2 at the completion a Complete device It is turned on by the END processing of scan which the instruction completed and turned off by the next END processing b Status display device at the completion It is turned on off according to the status of the instruction completion e Normal completion OFF e Abnormal completion It is turned on by the END processing of scan which the instruction completed and turned off by the next END processing Setting range 1 Setting the cam axis which execute the within one revolution current value change
80. CHGV K2 K10 2 Return program which changes the positioning speed of axis 1 to a negative value CHGV K1 K 1000 The following operation will be performed when a return request is made in constant speed control Servo program CPSTART2 Axis 1 Axis 2 Speed 1000 P1 Axis 1 10000 Axis2 0 2 ABS 2 Axis 2 10000 ABS 2 Axis 1 20000 Starting point Axis 2 10000 CPEND P3 Stat request SVST Start accept M2001 n CHGV 71000 1000 Speed change request New speed Return operation to point Waiting at Pa Combined speed Command in position OFF Speed change 0 d accepting flag EH If a speed change to a negative speed is made during execution of positioning to P2 as shown above the axis returns to P1 along the program specified locus and waits at P1 7 OPERATION CONTROL PROGRAMS 1 A speed change may be invalid if it is made from when a servo program start request is made until the positioning start completion signal status changes to ON When making a speed change at almost the same timing as a start always create a program which will execute the speed change after the positioning start completion signal has turned ON A return request which is made while the axis is at a stop waiting for FIN using the M code FIN signal waiting function during constant speed control will be ignored 3 In the above example if a return request is given ri
81. CPU r Refresh Setting Setting System Basic Setting Operating Mode Error operation mode at the stop of CPU Jv Allstation stop by stop error of CRUT IV All station stop by stop error of CPU2 All station stop by stop error of CPU3 V station top eror ejf The first device can be arbitrarily set up for every CPU DUMMY can be set to the first device except the self CPU Send range for each CPU CPU share memory G 1 The applicable device of head device is D W M Y B The unit of points that send range for each CPU is word Settings should be set as same when using multiple CPU The motion device can be set as a first device Cancel b Setting selection send range refresh range for each CPU The refresh setting of four ranges can be set by setting selection For example ON OFF data may be refreshed using bit device setting while other data may be refreshed word device setting The number of points in the shared CPU memory is set in units of 2 points 2 words is set in the send range for each CPU 2 points if word device is specified for the CPU side device or 32 points if bit device is specified Data of the CPU for which 0 is set as the number of points representing the transmitting range of the CPU may not be refreshed The maximum number of transmitting points combining all four ranges is 2k words
82. CPU 1000 to 10000 Middle Error information Operating Diagnostic apu Error messages classification Single Multiple imi Classification code d RUN ERROR Status of CPU timing composition composition 1000 OFF Flickers Stop Always MAIN CPU DOWN CPU hard error In the CPU RAM error At OFF Flickers Stop y RAM ERROR Stop Conti At SP UNIT DOWN 1401 Module No Flickers Stop power supply ON at reset Module No OFF Flickers Always CONTROL BUS A t ERROR Module No Note 1 Flickers peer SHREY 79 Power Detection of AC DC 1600 ON OFF BATTERY ERROR Drive name Continue Always BAT ALM 1601 LED ON 2121 Handling the 2124 Intelligent function Module No module installation error SP UNIT LAY 2125 ERROR At power supply OFF Flickers Stop ON at reset Module No Note 1 Note 1 CPU No is stored in slot No of the common information classification Note 2 Base No in common information classification code of error information classification code is 0 CPU base 1 to 7 Number of extension bases Note 3 Because a stop error or CPU No except CPU No that it was reset becomes MULTI CPU DOWN simultaneously a stop error or CPU No except CPU No that it was reset may store in the classification of error information depending on timing Note 4 When an error occurs in the Motion CPU and so on except PLC CPU if a PC
83. CPU SYSTEM 3 3 Reading Writing Device Data Device data can be written or read to from the Motion CPU by the PLC CPU using the dedicated instructions listed in the table below Refer to Chapter 5 MOTION DEDICATED PLC INSTRUCTIONS for the details of each instruction Data cannot be written or read to from the PLC CPU by another PLC CPU to from the PLC CPU by the Motion CPU or to from a Motion CPU by another Motion CPU Instruction name Description Write a device data of the self CPU PLC CPU to a device of the other S P DDWR CPU Motion CPU Read a device data of other CPU Motion CPU to a device of the self S P DDRD CPU PLC CPU For example by using the S P DDWR dedicated instruction the device data of the PLC CPU can be written to the device data of the Motion CPU Example PLC CPU Motion CPU S P DDWR instructioi A ut NJ Write device memory Read device memory Device memory EN 1 One PLC CPU can execute a total of up to 32 Motion dedicated instructions and dedicated instructions excluding the S P GINT simultaneously When Motion dedicated instructions and dedicated instructions excluding the S P GINT are executed simultaneously the instructions will be processed in the order received Device memory If the command which has not completed processing becomes 33 or more an OPERATION ERROR error code 4107 will be occurred 2 Data refresh via the S P DDRD S
84. D LOSI ER mec Se STS CECE SEE LSD lt eK S3 Personal computer Note For information about GPP functions of PLC CPU refer to the operating manual of PLC Also refer to the help of each software for information about operation of each programming software package 1 OVERVIEW 1 3 2 Q173CPU N System overall configuration Motion CPU control module lt gt 2 2 2 s 8 E E 9 E e EIS E 8958 o coc CPU base 58S 25 unit PLCCPUL E99 553 Q30B Motion CPU one AoE Soe 0160 QXO0 060 0 7 7 ayoo 600 or Er N x Or N m X 04 N Rel x Q61P AO 1 O module of the Q Series or Special function module Analogue input output Input output Up to 256 points 100 200VAC a Personal Computer IBM PC AT Dividing unit Q173DV Interrupt signals 16 points USB RS 232 Manual pulse generator x 3 module MR HDP01 Up to 1 module Serial absolute synchronous encoder cable MR JHSCBLLIM H Q170ENCCBLLIM Teaching unit Nete 1 A31TU D3L A31TU DN E Serial absolute synchronous encoder x 2 module P
85. D D5 F K20 D 10L H6L F D 4L lt lt K2 Note When you want to use the result of calculation other than the above to specify the device No indirectly describe it in two blocks as shown below DO SHORT ASIN 0F WO D0 7 OPERATION CONTROL PROGRAMS 7 3 Constant Descriptions The constant descriptions of the 16 bit integer type 32 bit integer type and 64 bit floating point type are shown below S1 16 Bit integer type 32 Bit integer type 64 Bit floating point type Decimal K 1 79E 308 to K 2 23E 308 ecima K 32768 to K32767 K 2147483648L to K2147483647L KO0 0 representation Hexadecimal H0000 to HFFFF HO00000000L to HFFFFFFFFL representation 1 The 32 bit integer type is ended by L and the 64 bit floating point type is provided with a decimal point and exponent part E to denote their data types explicitly K2 23E 308 to K1 79E 308 2 The constant without the data type is regarded as the applicable minimum type 3 The constant in decimal representation is headed by K and the one in hexadecimal representation by H K can be omitted 4 The 64 bit floating point type cannot be represented in hexadecimal 7 OPERATION CONTROL PROGRAMS FIFS 7 4 Binary Operations 7 4 1 Substitution 0 5 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculati data Bit device 16 bit Seu floating Coasting ae Se floating itu an condit
86. DO to D100 11 normality complete processing Read the data from DO to D100 land abnormality complete processing 5 E Read the data from D200 to D300 E normality complete processing Read the data from D200 to D300 land abnormality complete processing Read the data from D200 to D300 E land normality complete processing Read the data from D200 to D300 land abnormality complete processing There is the following restriction in the case as the example 2 1 The Multiple CPU dedicated instruction of Motion CPU cannot be used Interrupt program fixed cycle executive type program and low speed executive type program When it is used an instruction may not work by the timing APP 12 APPENDICES APPENDIX 2 3 Motion control example by Motion SFC program 1 The Motion SFC program composition example to execute motion control This sample program example is described to every following function Function list of sample program Monitor of the positioning The positioning dedicated device status of the Motion CPU CPU No 2 dedicated device is reflected on M2400 to and DO to of the PLC CPU CPU No 1 The clock data read request M9028 is turned on so that clock data 2 Reading of the clock data may be set to the error history When the forced stop input assigned to is on all axes turn on and motion control i
87. For WindowsXP Home position return function ROM operation function Online change function Additional correction partial correction Safety precautions About processing of waste Startup slow of the Multiple CPU system User file list Error code list etc partial correction Mar 2006 IB NA 0300042 C Addition model Apr 2010 B NA 0300042 D Q62P Q172EX S2 Q172EX S3 Q170ENC Addition function Cam axis command signal Smoothing clutch complete signal Gain changing signal Real mode axis information register Motion SFC instruction FMOV Bit device setting by Motion SFC instruction Security function Additional correction partial correction Safety precautions User file list Error code list Warranty Manual model code 1CT781 1XB781 etc Additional correction partial correction Safety precautions 1 6 1 I O No for I O modules and intelligent function modules Warranty Japanese Manual Version IB NA 0300023 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 2002 MITSUBISHI ELECTRIC CORPORATION A 11 INTRODUCTION Thank you for choosing the Q173CPU N Q172CPU N Motion Controller Please read this manual carefully so that equipmen
88. M can be specified No default value has been set The set bit device is designated as contact B and performs the following control in response to ON OFF of the device Bit device is turned OFF Forced stop input is ON forced stop Bit device is turned ON Forced stop input is OFF forced stop is released d Latching range setting Set the following latching ranges for M B F D and W respectively Range in which the latch can be cleared with the latch clear key Latch 1 Range in which the latch cannot be cleared with the latch clear key Latch Q2 1 OVERVIEW Module name Servo external signals input module 2 Individual module settings The setting items for each module are shown below Setting items for each module External signal setting Setting range Set the number of axes for which the 8 axes input is used Initial value 1 to 8 axes used DOG CHANGE turning OFF to ON ON to OFF DOG CHANGE input turning OFF to ON or turning ON to OFF Turning OFF to ON Input response time 0 4 0 6 1 ms DOG CHANGE response time 0 4 ms Number of usable modules Q173CPU N Q172CPU N Serial encoder input module Manual pulse generator input module Serial encoder use setting Serial encoder selecting Input response time Used Unused Q170ENC MR HENC 0 4 0 6 1 ms TREN response time Unused Q172EX S1 use MR HENC e Q172EX S2 S3 use Q170ENC 0 4 ms
89. M100 MO M100 o wo 0 7 OPERATION CONTROL PROGRAMS F FS 7 9 Bit Device Controls 7 9 1 Device set SET SET D S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculati data Bit device 16 bit floating Coasting ipl en floating epics conditional conditional integer integer point integer integer type expression point expression expression type type L type F type K H K H L type ee T ee ee ee ee eee ee es ee Lo lo l lo 9 Usable Note 1 PX is write disabled and cannot be used at D Note 2 M2001 to M2032 cannot be used at D Setting data Setting data Description Data type of result Do Bit data for device set Bit logical type Condition data which determines whether device S true false set will be performed or not 1 If the data specified with S is true the bit data specified with D is set Functions 2 S can be omitted At this time the format is SET D and device set is made unconditionally 3 When this instruction is set as a transition condition in the last block of a transient program whether the data specified with S is true or false is returned as logical type data In this case S cannot be omitted Errors 1 An operation error will occur if D or S is
90. M2000 OFF and write the Motion SFC program again 16506 Gn program code Internal code error in the transition program Or replace the external battery if it passed error Gn over a life 16207 Specified the invalid The invalid device T C in the program is set Correct the program which does set the device up effective device 19 4 19 ERROR CODE LISTS Table 19 5 Operation control transition execution errors 16300 to 16599 Error factor 16301 Event task enable Event task enable was executed at except for El execution error the normal task Event task disable Event task disable was executed at except for 16302 DI execution error the normal task normal task only Correct the program Event task disable may be executed in the normal task only Correct the program The cam data of the cam No specified with D or S is not yet registered to the Motion controller Correct the program so that cam data is that The resolution of the cam No specified with of the already registered cam No D or S differs from the number of Correct the program to match n with the cam transferred words specified with n resolution Block transfer S to S n 1 is outside the device range Change n so that the block transfer range is 16303 BMOV execution D to D n 1 is outside the device range within the device range error n is 0 or a negative number Change n to a posit
91. M5561 M5562 M5563 M5564 M5565 M5566 M5567 M5568 M5569 M5570 M5571 M5572 M5573 M5574 M5575 M5576 M5577 M5578 M5579 M5580 M5581 M5582 M5583 8 Signal recton o put axis 1 o put axis 2 o put axis 3 o put axis 4 o put axis 5 o put axis 6 o put axis 7 o put axis 8 o put axis 9 o put axis 10 o put axis 11 o put axis 12 o put axis 13 Output axis 14 o put axis 15 o put axis 16 o put axis 17 o put axis 18 o put axis 19 o put axis 20 o put axis 21 o put axis 22 Output axis 23 Output axis 24 Output axis 25 put axis 26 o put axis 27 Output axis 28 o put axis 29 o put axis 30 o put axis 31 o put axis 32 SV22 only Main shaft side Auxiliary input side Main shaft side Auxiliary input side w Main shaft side Auxiliary input side Main shaft side Auxiliary input side Main shaft side Auxiliary input side Main shaft side Auxiliary input side Main shaft side e o Auxiliary input side Main shaft side Auxiliary input side Main shaft side Auxiliary input side eo Main shaft side Auxiliary input side Main shaft side Auxiliary input side Main shaft side Auxiliary input side Main shaft side Auxilia
92. M768 monitor device for Real monitor device the Motion CPU 1056 points RE M3055 1056 points f 5 gt Mc M1824 Virtual command device for L M3072 the Motion CPU 704 points _ A Real command device S 768 points M2528 virtual monitor device for M3839 the Motion CPU 704 points M4000 M3232 as Virtual monitor device Sa M4703 704 points M8191 4 M4800 Virtual command device 704 points Data registers M5504 Real command device for the Motion CPU 118 points _ M8191 D118 Real monitor device for the Motion CPU 640 points SA Data registers D758 virtual monitor device for DO Real monitor device the Motion CPU 660 points 640 points D640 D1418 Real command device D757 118 points D8191 D800 virtual monitor device 660 points D1460 D8191 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM Automatic refresh setting 1 PLC CPU CPU No 1 Motion CPU CPU No 2 Send range for each CPU CPU side device Send range for each CPU CPU side device CPU CPU share memory G Dev starting CPU CPU share memory G Dev starting Not 1 aa Mso72 woes No2 ef meaz wo2 eo waooo moss Automatic refresh setting 2 PLC CPU CPU No 1 Motion CPU CP
93. MR HENC Q170ENC Up to 6 modules Cable for the teaching unit Q170TUDOICBLOM A External input signals Number of Inputs FLS Upper stroke limit SSCIF RLS Lower stroke limit 8 axes module Communication STOP Stop signal Up to 4 modules 170CDCBLOM DOG CHANGE Proximiydog Q170BDCBLLM Speed position switching SSC I F Card Board SSCNET cable A30CD PCF ALIOBD PCF SSCNELSYSTEMA SSCNET SYSTEM3 SSCNET SYSTEM2 Terminal Terminal Terminal Terminal connector connector connector connector Panel Personal Computer 41 d8 d1 d8 d1 d8 a d8 WinNT Win98 Win2000 WinXP scmErSverEM p d e lt lt b Computer link SSC ry A A A A Extension base unit Q o Extension cable MR HDOBN MR J2S 01B MR J2M B MR J2 C1B MR J2 03B5 model Servo amplifier Vector inverter FR V500 Up to 32 axes UP to 7 extensions Note 1 Be sure to use the Q173CPUN T A31TU D30 A31TU DNO corresponds to only Japanese It does not correspond to display for English 1 61 1 OVERVIEW Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system The ratings and characteristics of the parts other than Motion controller servo amplifier and servomotor used in a system must be compatible with
94. Name in Motion CPU Name in PLC CPU Number of Multiple CPUs Number of CPU modules Operation mode when a CPU Verification item Remark Operation mode Multiple CPU settings stop error occurred Number of automatic refresh Automatic refresh setting points Only the module numbers set in System Settings on the Motion CPU side are assignment verified Motion slot settings Control CPU Control CPU No Total number of bases Not verified if base settings Basic Base settings Base No are omitted on the PLC CPU settings Base Number of base slots side 1 82 1 OVERVIEW a Multiple CPU settings Set the following items identically in Multiple CPU Settings Motion CPU setting in SW6RN GSVOP and in Multiple CPU Settings PLC CPU setting in GX Developer Number of CPU modules Operation mode when a CPU stop error occurred Number of automatic refresh points Settings 1 to 4 must be the same for all CPUs e Multiple CPU Settings Motion CPU setting in SW6RN GSVoOiP x Base Setting Multiple CPU z tting System Basic Setting Operating Error operation mode at the stop of CPU vi All station stop by stop error of CPUT All station stop by stop error of CPU2 JV Alllstation stop by stop error of CPUS Error operation made at I station stop by stop error of CEUS Refresh Setting the stop of CPU Number of automatic Setting
95. New project create the project Read from Motion CPU Menu by the SW6RN GSVLP and also read the project from the Motion CPU 4 Select the Monitor Error list Motion SFC error history and Error list Menu 5 Display the error code and error message Refer to the applicable the help of the SW6RN GSVLP for details of the SW6RN GSVLIP operating method The occurrence date of the Motion CPU error history uses a watch function with the internal Motion CPU Make the set of the clock data and the clock data read request M9028 by user programs As for the self diagnosis error code confirmation can be done by the PC diagnosis of GX Developer Refer to the GX Developer operation manual for the GX Developer operation procedure 19 ERROR CODE LISTS 19 2 Motion SFC Error Code List Eight errors that occurred in the past during the Motion SFC control are stored in the error history devices 8000 to 8063 of the motion registers Check by SW6RN GSVLIP The error codes for the Motion SFC program are shown below Refer to the Q173CPU N Q172CPU N Motion controller SV13 SV22 Programming Manual REAL MODE Q173CPU N Q172CPU N Motion controller SV22 Programming Manual VIRTUAL MODE for minor errors major errors servo errors and servo program setting errors Table 19 1 Motion SFC dedicated devices 8000 to 8063 Signal direction Refresh Device No Signal name Status Command cycle n Motio
96. No of canceling error is stored reset error No releasing an error D9061 Multiple CPU No Multiple CPU No CPU No of the self CPU is stored Servo parameter D9104 read request axis request error Motion CPU WDT error cause D9185 Manual pulse D9186 generator axis D9187 setting error Servo parameter read axis No It is operating in requirement error occurrence of the test mode axis information Error meaning of WDT error occurs Manual pulse generator axis setting error information Stores the day and hour in BCD to so Example 31st 10 a m H3110 1 1 to 12 11 Example 35 min 48 sec H3548 Minute S U Request 80 Example Friday H0005 Day of week Sunday 0 must be set here Monday Tuesday Wednesday Thursday Friday Saturday U iti i New S Initial processing Note Axis No of servo amplifier which begins to read servo parameter is setting EE U Q173CPU N 1 to 32 Axis1 to 32 Q172CPU N 1 to 8 Axis1 to 8 Each axis is stopping O Operating 1 information is stored as a bit data D9182 to b15 Axis 1 to Axis 16 D9183 to b15 Axis 17 to Axis 32 The following error codes are stored in D9184 S W fault 1 Operation cycle over Q bus WDT error WDT error Information processor H W error 201 to 215 Q bus H W fault 250 to 253 Servo amplifier interface H W f
97. No 3 Motion CPU N Data registers Internal relays DO Command device for MO the Motion CPU No 2 2m 118 points D118 Monitor device for 2000 T the Motion CPU No 2 J Monitor device 640 points 3 x M3055 1056 points D758 ommand device for the Motion CPU No 3 M3072 118 points n device D876 Monitor device for A M3839 B the Motion CPU No 3 M3840 640 points S D1516 e M8191 C D8191 1 CPU No 2 Motion CPU N m Data registers N Y 00 Monitor device 640 points D640 Command device 118 points Y 0758 p D8191 CPU No 3 Motion CPU Data registers DO Monitor device 640 points D640 Command device 118 points D758 D8191 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM Automatic refresh setting 1 PLC CPU CPU No 1 Motion CPU CPU No 2 Send range for each CPU CPU side device Send range for each CPU CPU side device CPU No 1 CPU share memory G Dev starting CPU CPU share memory G Dev starting 4 wo Not MN32 masso No2 ef meaz wo2 eo waooo moss Nos 0 Automatic refresh setting 2 PLC CPU CPU No 1 Motion CPU CPU No 2 Send range for each CPU CPU side device Send range for each CPU CPU side device CPU CPU share memory
98. Q173CPU Q172CPU Motion CPU module Motion CPU module Q172LX Q172EX Q173PX Q172LX Servo external signals interface module Q172EX S1 S2 S3 Serial absolute synchronous encoder interface module te1 or Motion module Q173PX S1 Manual pulse generator interface module MR H BN Servo amplifier model MR HLIBN MR J20 B Servo amplifier model MR J2S L1B MR J2M B MR J2 LI1B MR J2 03B5 General name for Servo amplifier model MR HLIBN MR J2S LIB MR J2M B MR J2 LIB MR J2 03B5 Vector inverter FREQROL V500 series QCPU PLC CPU Qn H CPU or PLC CPU module Multiple CPU system Abbreviation for Multiple PLC system of the Q series or Motion system Cof Abbreviation for CPU No n n 1 to 4 of the CPU module for the Multiple CPU system Programming software package General name for MT Developer and GX Developer General name for SWLIRN SVLIQLT Operating system software for conveyor assembly use Motion SFC SWE6RN SV13Q0 Operating system software for automatic machinery use Motion SFC SWE6RN SV22Q00 or Servo amplifier Abbreviation for Integrated start up support software package MT Developer Abbreviation for MELSEC PLC programming software package GX Developer Operating system software MT Developer GX Developer Version 6 or later Manual pulse generator m Abbreviation for Manual pulse generator MR HDP01 o D I g U 3 Abbreviation for Serial abs
99. QI60 which is currently not subject to function upgrade supports the Multiple CPU system c The intelligent function modules support the Multiple CPU system only when their function version is B or later These modules cannot be controlled by the Motion CPU so be sure to use the PLC CPU as a control CPU d All motion modules Q172LX Q172bEX Q173PX support the Multiple CPU system These modules cannot be controlled by the PLC CPU so be sure to use the Motion CPU as a control CPU 3 Access range from a non control CPU a The Motion CPU can access only the modules controlled by the self CPU It cannot access the modules controlled by other CPUs b Access range from a non control CPU for the modules controlled by the Motion CPU are shown below I O setting from outside the group Access target setting from the PLC CPU 00 Output Buffer memory The function version of an intelligent function module can be checked on the rated plate of the intelligent function module or in the GX Developer s system monitor product information list Refer to the Q173CPU N Q172CPU N User s Manual for the model name which can be controlled by the Motion CPU 1 OVERVIEW 1 4 4 Modules subject to installation restrictions 1 Modules subject to installation restrictions in the Motion CPU are sown below Use within the restrictions listed below X yo Maximum installable modules per CPU Description Model name Q173CP
100. ROM Motion CPU normal start 2 RUN LED Motion CPU fault LED turns off when the trouble occurred at Motion CPU start or WDT error occurred LED turns on at following errors occurrence 1 WDT error 2 System setting error 3 Servo error 3 JERR LED 4 Self diagnostic error which will not stop the operation except battery error 5 Operating system software is not installed Flickers Detection of self diagnostic error which will stop the operation Normal During motion control 4 MRUN LED Flickers Latch clear start Not lit Not during motion control or detection of self diagnostic error which will stop the operation BAT LED e Lit Battery error occurrence External battery use 6 Lit Mode operated by ROM BOOT LED Not lit Mode operated by RAM Installation mode mode written in ROM 14 3 14 ROM OPERATION FUNCTION 2 Applications of switches Move to RUN STOP RUN STOP switch RUN Motion SFC program is started STOP Motion SFC program is stopped RESET Set the switch to the RESET position once to reset the hardware Applies a reset after an operation error and initialized the operation L CLR Clear the latch area all data which set with the parameters LATCH CLEAR also clears data outside the latch area at this time RESET L CLR switch Note 1 Latch clear operating method Momentary switch 1 Setthe RUN STOP switch to STOP Move the RES
101. SFC program can also be started automatically by parameter setting 2 Execute the positioning control using the specified the Motion SFC program Output to the servo amplifier l 3 The servomotor is controlled Program structure in SV13 SV22 real mode lt PLC CPU gt lt Motion CPU gt PLC program Motion SFC program yt SP SFCS seee KO H S M2049 servo ON received Start request Specification of starting iul Servo amplifier instruction of program No Seno program the Motion i K10 real i SFC program i i 1 INC 2 NEN ea a ara a i Axis 1 10000 PLS A i i ervomotor x The Motion SFC program can also be started automatically AXIS 2 20000 FLS H 3 Combined speed 30000 PLS s by parameter setting Aes E ANE PINNA IIINE E ONE OEE S ASEN EIA AEAN Positioning control parameters System settings Fixed parameters Servo parameters Parameter blocks Home position return data JOG operation data Limit switch output data 4 STRUCTURE OF THE MOTION CPU PROGRAM 4 2 Motion Control in SV22 Virtual Mode 1 Software based synchronous control is performed using the mechanical system program constructed by virtual main shaft and mechanical module in SV22 virtual mode 2 Mechanical system programs is required in a
102. Select Write of When selecting the ROM screen Servo Setting Data Axis Data Verify Note ALL data are batch written at the ROM Parameter Block writing Not select these items V SFC Program Mechanical system program and cam data JV SFC parameter SFC used unused setting Password cannot be written to the ROM when using the 7 SFC Program PegisteuChange SW6RN GSV13P The above items are not displayed on the window Control Code SFC F FS G Delete Text F FS G IV Servo Program K Save V Mechanical System Program V Cam Data POINT Be sure to write the all data beforehand to the RAM of Motion CPU at the ROM writing Click on Write to write data from the RAM of the motion CPU to the ROM 14 11 14 OPERATION FUNCTION MEMO 14 12 15 SECURITY FUNCTION 15 SECURITY FUNCTION Refer to Section 1 3 4 for the correspondence version of the Motion CPU and the software This function is used to protect the user data of Motion CPU by registering a password The following user data can be protected in this function Write Protection or Read Write Protection can be set every user data SFC program Motion SFC programs Control code text are protected Servo programs and program allocation are protected Mechanical system program Mechanical system programs are protected SV22 use data are protected
103. Setting data 64 bit 64 bit Bit Comparison 16 bit 32 bit 16 bit 32 bit Calculation s i floating Coasting floating conditional conditional integer integer 1 integer integer type expression expression type type L type K H K H L type K ee ek ate alee ee 9 ee eee ee ee ee ee ee ee O Usable Setting data Setting data Data type of result 51 Augend data Data type of S1 or S2 S2 Addend data which is greater Functions 1 The data specified with S2 is added to the data specified with S1 2 When 51 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before operation is performed Errors 1 An operation error will occur if S1 or S2 is an indirectly specified device and its device No is outside the range Program examples 1 Program which substitutes the result of adding K123 and 0 to WO WO K123 0 2 Program which substitutes the result of adding 0F and 10 to DOL DOL 0F 10 3 2 1 0 12345 789 D1 bo DOL 12468 The 64 bit floating point type data are used for addition and result is converted into the 32 bit integer type and then substituted 7 12 7 OPERATION CONTROL PROGRAMS FIFS 7 4 3 Subtraction 1 92 Number of basic steps Usable data Usable Data Setting
104. System setting data is written without relative check Or it is written at the state of error occurrence System setting data is not written The number of actual I O points set in system settings exceeds 256 SP UNIT LAY ERROR A CPU module is installed in a slot except for a CPU slot or slot 0 to 2 SP UNIT LAY ERROR 2124 Note 3 A module is installed in slot 65 or subsequent slot A module is installed in a base for which None is set in base settings SP UNIT LAY ERROR PARAMETER ERROR There are non installation slots between the CPU modules The modules except for the PLC CPU are installed between the PLC CPU modules The number of CPU modules set in the parameter differ from the real installation in a Multiple CPU system PARAMETER ERROR The reference CPU No set in the parameter differ from the setting in a Multiple CPU system PARAMETER ERROR MULTI EXE ERROR Multiple CPU automatic refresh setting is any of the followings in a Multiple CPU system When a bit device is set as a refreshed a number except for a multiple of 16 is set as the refresh first device A non specifiable device is specified The number of transmitting points is an odd number A fault CPU is installed in a Multiple CPU system CPUS of unmatched versions are installed in a Multiple CPU system An error is detected at the PLC CPU of function version B Any CPU No among CPU No 2 to 4 was reset
105. The cam axis to execute the within one revolution current value change set as 51 sets C cam axis No in a character sequence S1 usable range Q173CPU N 1 to 32 Q172CPU N 1 to 8 The number of axes which can set are only 1 axis The axis No set in the system setting Refer to Section 1 5 is used as the axis No to start 5 MOTION DEDICATED PLC INSTRUCTION 2 Setting of the current value to change S2 usable range 2147483648 to 2147483647 Cam axis within one revolution current value changing flag System area The complete status of the cam axis within one revolution current value changing flag is stored in the address of the cam axis within one revolution current value changing flag in the shared CPU memory Shared CPU memory address is decimal Description address The cam axis within one revolution current value changing flag is stored by the 1 to 32 axis each bit As for a bit s actually being set Q173CPU N C1 to C32 Q172CPU N C1 to C8 20CH 524 OFF Start accept usable 20DH 525 ON Start accept disable b15 20CH 524 address C16 20DH 525 address 2 Errors The abnormal completion in the case shown below and the error code is stored in the device specified with the complete status storing device D2 Complete status Note Error factor Corrective action Error code H 4COQ The specified device cannot be used in the Motion CPU Or it
106. after power on a Multiple CPU system This error occurs by the reset CPU No Check timing When the power is turned ON the key is reset Operation at error occurrence Cannot be started Motion CPU System setting error Cannot be started Multiple CPU System CPU DOWN error Note 1 The error code stored in the diagnosis error area of the self operation information area in the Multiple CPU shared memory Note 2 When an error code 10000 is displayed the M2041 System setting error flag turns ON and an applicable error name shown above is displayed on the error list monitor of the programming software package Note 3 Base settings must be performed in System Settings of the Motion CPU even for those bases in which the modules controlled by the self CPU are not installed 1 OVERVIEW 1 6 Assignment of I O No I O No s used in the Multiple CPU system include those used by the Motion CPU to communicate with I O modules intelligent function modules and those used in the communication between the PLC CPU and the Motion CPU The following explains each I O No and assignment of I O No 1 6 1 I O No for I O modules and intelligent function modules In the Multiple CPU system the OH position slot of I O No which seen from the PLC CPU is different from the position in the case of a standalone CPU However I O No of the control module may be assigned independently for each CPU in the Motion CPU
107. an inter lock by the to self CPU high speed interrupt accept flag from CPUn Operation END D END i i END S P CHGT execution i ON gt t PLC program S P CHGT instruction To self CPU high speed interrupt accept flag from CPUn Torque limit value change Torque limit value change processing ON Instruction start accept OFF complete device D1 0 ON Abnormal completion only State display device D1 1 at the instruction start accept completion OFF Instruction accept 1 scan completion at the Motion CPU side Setting range 1 Setting of the axis to execute the torque limit value change The axis to execute the torque limit change set as S1 sets J axis No in a character sequence sty usabie range Q173CPU N 1 to 32 Q172CPU N The number of axes which can set are only 1 axis The axis No set in the system setting Refer to Section 1 5 is used as the axis No to start 2 Setting of the torque limit value to change S2 usable range 1 to 500 5 35 5 MOTION DEDICATED PLC INSTRUCTION Errors The abnormal completion in the case shown below and the error code is stored in the device specified with the complete status storing device D2 Complete status Note Error factor Corrective action Error code H 4COQ The specified device cannot be used in the Motion CPU Or it is outside the device range The i
108. at the abnormal completion 16 bit D2 Device to store the complete status ina Note 1 Motion CPU cannot used CPU No 1 in the Multiple CPU configuration Note 2 n shows the numerical value correspond to axis No Q173CPU N Axis No 1 to No 32 n 1 to 32 Q172CPU N Axis No 1 to No 8 n 1 to 8 5 12 5 MOTION DEDICATED PLC INSTRUCTION e SS SS SSS Controls 1 This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system Errors occurs when it was executed toward the CPU except the Motion CPU 2 Request to start the servo program specified with S2 3 This instruction is always effective regardless of the state of real mode virtual mode mode switching when the operating system software of Motion CPU is SV22 4 lt S P SFCS S P SVST S P CHGA S P CHGV S P CHGT S P DDRD S P DDWR cannot be executed simultaneously toward the CPU executing S P SFCS instruction When the Motion dedicated PLC instruction is started continuously It is necessary to take an inter lock by the to self CPU high speed interrupt accept flag from CPUn 5 When the servo program is executed also at the motion control step Kn in the Motion CPU it is necessary to take an inter lock by user program because there is no flag which can distinguish the axis starting in the PLC CPU Start accept flag M2001 to M2032 of the motion devices or positioning start completion flag M2400 20n is use
109. by stop error of CPU3 IV All station stop by stop error of CPU4 r Refresh Setting Setting 1 x Send range for each CPU CPU side device CPU share memory G Dev starting bo Stat End Start End 1024 0800 00 The applicable device of head device is D W M Y B The unit of points that send range for each CPU is word Settings should be set as same when using multiple CPU OK Cancel 1 OVERVIEW a When a CPU DOWN error occurs in the CPU of the CPU in a checked Stop all CPUs upon error in CPU No n item all PLC CPU Q173CPU N Q172CPU N of the other CPUs will generate a MULTI CPU DOWN error error code 7000 and the Multiple CPU system will stop Note 1 b When a CPU DOWN error occurs in the CPU of the PLC in an unchecked Stop all CPUs upon error in CPU No n item all CPUs of the other CPUs will generate a MULTI CPU ERROR error code 7020 and continue their operation POINT Note 1 When a CPU DOWN error occurs the CPU detecting the error will generate a MULTI CPU DOWN error Therefore the system may enter a MULTI CPU DOWN mode after detecting the CPU DOWN error in the CPU generating a MULTI CPU DOWN error instead of the error in the CPU that generated the CPU DOWN error in the first place In this case the common error data area may store a CPU number different from one corresponding to the CPU that generated the CPU DOWN error first When recovering
110. can be described with Y N transition But processing time can be shortened more the number of steps when it was described as the following in the case of the processing which could be described only with SET RST because it is made low Forward rotation reverse rotation JOG status of 1 2 axis is turned off at the time of the JOG mode completion not to continue a JOG movement after it moves to other mode of the safety No 130 Manual pulse generator Manual pulse generator F130 D720 100 1 pulse input magnification setting of 1 axis D721 100 1 pulse input magnification setting of 2 axes D714L H00000001 P1 is controlled axis D716L H00000002 P2 is controlled 112 axes SET M2051 P1 Manual pulse generator Ienable flag is ON SET M2052 P2 Manual pulse generator llenable flag is ON 6130 Y IPX2 PX1 Did you complete a manual pulse generator mode a F131 RST M2051 P1 Manual pulse generator lenable flag is OFF RST M2052 P2 Manual pulse generator lenable flag is OFF END A The setup of the following is executed to do manual pulse generator operation of P1 with 1 axis P2 with 2 axis Setting of 1 pulse input magnification of the 1 axis and 2 axis Manual pulse generator axis No setting register is setup to control of P1 with 1 axis P2 with 2 axis Manual pulse generator axis enable flag of P1 P2 is turned on
111. circuit connector for the teaching unit Q170TUTM oe Power supply module module Intelligent function module of the Q series Motion CPU module Q172CPU N Note 3 b SSCNET cable SSCNET cable RUNE i f Battery uni for MR H BN for MR J20 B AE MEEA a p Teaching unit Q170BAT 172HBCBLO M a172J2BCBLOM B CA A31TU D3L A31TU DND Note 4 Servo amplifier Servo amplifier Short circuit connector for AGBAT MR BAT MR H BN MR J20 B the teaching unit TE A31TUD3TM ate whe aa Sica e Seen i HEN ___ It is possible to select the best according to the system Note 1 When using the external battery be sure to use the SSCNET cable Q172J2BCBLUM B Q172HBCBLUM B and to set the battery AGBAT MR BAT Also install the battery A6BAT MR BAT in the Battery unit Q170BAT Battery A6BAT MR BAT is optional Note 2 It is possible to use only Q172CPUN T It is packed together with Q172CPUN T Note 3 It varies by the connecting teaching unit Note 4 It is packed together with Q170TUDOCBLOM Note 5 When using the A31T
112. data m data Data type of result Data which will be compared Logical type true false Functions 1 The data specified with S1 and the data specified with 82 are compared and the result is true if they are equal 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before comparison is performed Errors 1 An operation error will occur if S1 or S2 is an indirectly specified device and its device No is outside the range Program examples 1 Program which compares whether 0 and DO are equal or not 0 DO 0 True q po o 7 OPERATION CONTROL PROGRAMS FIFS 7 11 2 Not equal to S1 2 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device 16 bit floating Coasting een el seme floating Calculation snditional conditional integer integer S integer integer type int expression expression expression type type L type K H K H L KAA 6 _ o lololol greg a aaa ee Usable Setting data Setting data Data type of result 51 Data which will be compared Logical type true false Functions 1 The data specified with S1 and the data specified with S2 are compared and the result is true if they are not equal 2 When S1 and S2 differ in data type the data of the smaller data type is
113. executed When PXA turn on after positioning of linear interpolation in Programming position check is executed positioning of axis No 1 2 linear Normal Not start TM operation interpolation is executed at a double speed in the opposition direction and it stand by until PX4 turned off PX2 ON PX1 The program is fended when they become to except for ON Programming operation mode APP 15 APPENDICES a No 0 Positioning device Positioning device FO Each axis status M2400 to M3039 40 words IM2400 to CPU No 1 of the Qn H CPU DIN WOOL M2400 DIN WO2L M2432 DIN WOA4L M2464 DIN WO6L M2496 DIN WO8L M2528 DIN WOAL M2560 DIN WOCL M2592 DIN WOEL M2624 DIN W10L M2656 DIN W12L M2688 DIN W14L M2720 DIN W16L M2752 DIN W18L M2784 DIN W1AL M2816 DIN W1CL M2848 DIN W1EL M2880 DIN W20L M2912 DIN W22L M2944 DIN W24L M2976 DIN W26L M3008 devices M2000 to M2063 4 words 1M3040 to CPU No 1 of the Qn H CPU DIN W28L M2000 DIN W2AL M2032 Special relays M9000 to M9015 1 word 1M3104 to CPU No 1 of the Qn H CPU DIN W2C M9000 Special relays M9064 to M9079 1 word 1M3110 to CPU No 1 of the Qn H CPU 1 Each axis status M2400 to M3039 for 32 axes transferred to WO to 2 Common devices M2000 to M2064 transferred to W28 to 3 Special relay M9000 to M9015 transferred to W2C to Automatic refresh of the between Multiple CPU and WO to
114. execution type operation control step Fn In the case of Fn executes the specified operation control program Fn n 0 to 4095 once Scan execution type operation control step FSn In the case of FSn repeats the specified operation control program FSn n 0 to 4095 until the next transition condition enables When the specified operation control program Fn FSn does not exist the Motion SFC program error 16201 will occur and stops to execute the Motion SFC program at the error detection Refer to Chapter 7 OPERATION CONTROL PROGRAMS for operation expressions that may be described in operation control programs If an operation or similar error occurs the operation control program running the Motion SFC program continues executing 6 MOTION SFC PROGRAMS 6 5 3 Subroutine call start step Subroutine Calls starts the Motion SFC program of the specified cT name call start step i program name Operations 1 Calls starts the Motion SFC program of the specified program name 2 Control varies with the type of the transition coupled next to the subroutine call start step a WAIT Subroutine Call When the subroutine call step is executed control transits to the specified program as shown below and when END of the called program is executed control returns to the call source program b Except WAIT Subroutine
115. flag 32 axes Operation cycle Remark Signal 9 Note 4 direction Operation Status M2054 Operation cycle over flag cycle signal Status signal Note 2 3 Status signal Note 2 3 Status signal Note 2 3 Status signal Note 2 3 1 OVERVIEW Explanation of the request register E m mm De over Note 1 Handling of D704 to D708 and D755 to D757 register Because cannot be turn ON OFF for every bit from the PLC CPU the above bit devices are assigned to D register and each bit device becomes on with the lowest rank bit 0 1 of each register and each bit device becomes off with 1 0 Use it when the above functions are requested from the PLC CPU using the S P DDRD and S P DDWR instruction Refer to 5 MOTION DEDICATED PLC INSTRUCTION for S P DDRD and S P DDWR instruction Note 2 Device area of 9 axes or more is unusable in the Q172CPU N Note 3 The range of axis No 1 to 8 is valid in the Q172CPU N Note 4 It can also be ordered the device of a remark column Note 5 M3080 does not turn off automatically Turn it off as an user side Note 6 It is unusable in the SV22 real mode The data executed later becomes effective when the same device is executed simultaneously in the Motion SFC and PLC program 1 32 1 OVERVIEW 10 Table of the special relay allocated devices St
116. ge 7 13 7 44 Multiplication 4 o ace t a dt bet 7 15 EAD AIR MO deli edt eI ELI 7 16 AG REMAINDER o od ete Er ne A E et M Ee met Be Er et Et ated Eis etus 7 17 7 5 Bit Operations un eno RP EI a ARTI a e 7 18 7 5 1 Bit inversion Complement ata annus 7 18 9 2 Bitlogical AND amp su eie ui iei b i detiene 7 19 7 5 3 Bit logical OR iiia da ia dnd eda ede eve id eda ean cda adit 7 20 TOA Bit exclusive logical OR iu io ete d pte pte et ada e e fe gps 7 21 BION SH 22 a Rb a ebd 7 22 19 6 BIERS ios aee eddie diem d ee em d e EO en FD Eg iege 7 23 7 5 7 Sign inversion Complement of 2 sssssssssssssssssseeeeeeennen nennen nennen nnne nnns 7 24 7 6 Standard F nctlons reete e tete te us e ee dee ev eot dete ee E eua 7 25 siot ue dude ulus ebd tat 7 25 7 0 2 Coslre ee tel ie ae uten ep utet ete d 7 26 7 6 9 Langent TAN 3 25 21i ee redi egt eda ga e idus 7 27 1 6 4 Arcsine 7 28 7 6 5 eu dat eH d e RE RID EM Ge P ara de Ld ee ade d ee 7 29 7 6 6 Arctangent a 7 30 6 7 Sq are root i SORT pe ee eae 7 31 6 3 Na
117. installation of CPUs Check the following in the Multiple CPU automatic refresh parameters and make correction 1 When specifying the bit device specify a multiple of 16 for the refresh first device 2 Specify the device that may be specified for the refresh device 3 Set the number of transmitting points to an even number Read the individual information of the error at the peripheral device check the error of the CPU resulting in CPU fault and remove the error Reset the PLC CPU and run it again If the same error is displayed again it is a hardware fault of any CPU Explain the error symptom and get advice from our sales representative The CPU No of the function version A or the break down module is exchanged for the CPU module of the function version B after it began to read the individual information of the error at the peripheral devices Read the individual information of the error at the peripheral device check the error of the CPU resulting in CPU fault and remove the error Use the software package of the applicable CPU module to check the details of the error that occurred It occurs in the CPU CPU No which detected a error It occurs in all CPU No at the time of the Multiple CPU composition It does not occur 19 ERROR CODE LISTS 19 4 2 Release of self diagnosis error The CPU can perform the release operation for errors only when the errors allow the CPU to continue its operation
118. is RST D and device reset is made unconditionally 3 When this instruction is set as a transition condition in the last block of a transient program whether the data specified with S is true or false is returned as logical type data In this case S cannot be omitted Errors 1 An operation error will occur if D or S is an indirectly specified device and its device No is outside the range 7 OPERATION CONTROL PROGRAMS Program examples 1 Program which resets M100 when either of MO and XO is 1 RST M100 MO XO 3 M100 0 4 True 1 2 Program which resets M100 when 0 is equal to DO RST M100 0 DO 19 100 0 I True Do 7230 3 Program which resets YO unconditionally RST YO v 3 7 OPERATION CONTROL PROGRAMS FIFS 7 9 3 Device output DOUT DOUT D S Number of basic steps Usable data Usable Data Bit device Setting data 64 bit 64 bit Bit Comparison 16 bit 32 bit 16 bit 32 bit Calculation s i R floating Coasting floating conditional conditional integer integer integer integer type expression expression expression type L type K H Usable Note 1 PX and special M cannot be used at D Note 2 Range including M2000 to M2127 cannot be used at D Setting data sai data Data type of result Output destination bit data Batch bit
119. loading status loading 1 non loading 0 of the servo amplifier checked in initial process and stored as the bit data Servo amplifier D9191 bO to b15 axis 1 to axis 16 Servo amplifier 3 loading loading information D9192 0 to b15 axis 17 to axis 32 S Initial processing information 9 The axis which turned from non loading to loading status after power on is handled as loaded However the axis which turned from loading to non loading status remains as loaded D9193 Real mode virtual Real mode virtual When a mode switching error occurs in real to virtual or virtual to real D9194 mode switching mode Switching mode switching or a mode continuation error occurs in the virtual mode 09195 error information error code its error information is stored The following error code is stored 00 No error 01 Receiving timing error PC link PC link 02 CRC error D9196 communication communication error 03 Communication response code error error codes codes 04 Received frame error 05 Communication task start error Each error code is reset to 00 when normal communication is restarted S Occur an error Operation cycle Operation cycle of D9197 of the Motion the Motion CPU The time when the setting operation cycle is stroed in the ys unit S Initial processing CPU setting setting The CPU switch status is stored in the following format B15 B12B11 B8 B7 B4 T T T T T 3
120. lololol greg a aaa ee Usable Setting data Setting data Data type of result 51 T Data which will be compared Logical type true false Functions 1 The result is true if the data specified with S1 is greater than or equal to the data specified with S2 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before comparison is performed Errors 1 An operation error will occur if e S1 or S2 is an indirectly specified device and its device No is outside the range Program examples 1 Program which compares whether 0 is greater than or equal to DO or not 0 gt DO 0 True A gt po 7 OPERATION CONTROL PROGRAMS FIFS 7 12 Motion Dedicated Functions CHGV CHGT 7 12 1 Speed change request CHGV CHGV S1 S2 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculati data Bit device 16 bit Seu floating Coasting Se floating cuaton conditional conditional i i i i expression integer integer timer integer oint expression expression type type L type K H K H L type K type F Te a SN NE 6 _ o j o lo j o l 1 o 1 1 l O Usable Setting data Setting data Data type of result E SS given S2 Specified speed Functions 1 Aspeed change is made in the fol
121. occurs and stops the Motion SFC program running 11 5 11 MOTION SFC PARAMETER 3 NMI task operation Operations The Motion SFC program is executed when the input set to the NMI task factor among external interrupts 16 points of QI60 turns on Program name PLC program Ee External interrupts _ TL TLU TLU TLU NMI task END operation End 2 END operation Continue 1 2 3 1 2 Do not execute a Execute the number of When END operation is set as program before the consecutive transition for continuation continuation NMI task starting every NMI task occurrence operation is executed Note When making it When stopping it is make to always execute execute CLR by other programs set as automatic start Points a NMI task has the highest priority among the normal event and NMI tasks b If the event task is disabled DI by the normal task the interruption of the NMI task is executed without being masked Errors The motion control step is executed during NMI task If the motion control step is executed during NMI task the Motion SFC program error 16113 occurs and stops the Motion SFC program 11 6 11 MOTION SFC PARAMETER 11 3 Execution Status of The Multiple Task Execution status of each Motion SFC program when the Motion SFC program is executed multiple tasks is shown below 3 55ms NMI interrupt NMI interrupt SEE
122. of words n to be read is within the range of 1 to 256 Correct the program so that the shared CPU memory first address S2 of the data which it will be read is within the range of shared CPU memory address Correct the program so that the shared CPU memory first address S2 of the data which it will be read number of words n to be read is within the range of shared CPU memory address Correct the program so that first device No D which stores the reading data number of words n to be read is within the device range Correct the program so that 3E0H 3E1H 3E2H 3E3H is set at S1 Correct the program so that the self CPU is not specified with S1 Check that the reset flag M9240 to M9243 is OFF then correct the program to execute the MULTR instruction f the errors are detected in the CPU which read exchange the CPU When D is a bit device set the device number to be multiple of 16 When D is a bit device do not set PX PY 19 ERROR CODE LISTS Table 19 5 Operation control transition execution errors 16300 to 16599 continued Error factor Error code Error Processing Corrective Action Write device data to intelligent function module special function module TO execution error Read device data from intelligent function module special function module FROM execution error Indirectly specified 16 bit motion device n read error Indirectl
123. of the corresponding program Restart after end by clear step CLR call start GSUB made from the Motion SFC program Again the program is started by the Motion SFC start instruction S P SFCS from the PLC or by a subroutine The END operation of subroutine called program is controlled as an end e The following operation example assumes that the END operation is continued Program parameters e Automatically started e Execute task event 3 55ms e Number of consecutive transitions 2 e End operation continued Program name lt y T F20 1 After starting M2000 program is 4 Program is executed in 3 55ms executed at 3 55ms intervals cycle fourth time first time after event task Fr enable E 4 F2 2 Program is executed in 5 Program is executed in 3 55ms cycle second time 3 55ms cycle fifth time ra F4 3 Program is executed in 6 Program is executed in 3 55ms cycle third time 3 55ms cycle sixth time yw yw END 11 15 11 MOTION SFC PARAMETER 11 6 How to Start The Motion SFC Program The Motion SFC program is executed during PLC ready flag M2000 is on The Motion SFC program may be started by any of the following three methods 1 Automatic start 2 Start from the Motion SFC program 3 Start from the PLC Set the starting method in the program parameter for every Motion SFC program Refer to Section 11 5 Program Parameters
124. operation instruction Continued Q173CPU N Q172CPU N Classifications Symbol Instruction Operation expression Unit us DOUT 0 DOUT MO 0L 10 14 DOUT Y100 0 9 48 Device output DOUT Y100 0L 12 30 DOUT PY0 0 DOUT PY0O 0L 15 48 DIN 0 MO 8 88 DIN 0L MO 10 20 u DIN 0 0 Device input DIN 40L XO 96 DIN 0 PX0 10 56 DIN ZOL PXO 11 10 OUT M1000 MO 19 26 Bit device output OUT YO MO 21 90 20 88 Logical AND Logical OR SET M1000 0 11 40 SET M1000 D800 D801 14 10 SET M1000 0L 2L 13 98 Equal to SET M1000 D800L D802L 18 42 SET M1000 0F 4F 14 64 SET M1000 D800F D804F 18 48 SET M1000 0 1 12 72 SET M1000 D800 D801 15 24 SET M1000 0L 2L 13 98 Not equal to SET M1000 D800L D802L 18 54 SET M1000 0 4 16 02 SET M1000 D800F D804F 18 66 SET M1000 0 lt 1 10 56 SET M1000 D800 lt D801 16 14 SET M1000 0L lt 2L 16 26 Less than Less than or equal to SET M1000 D800L lt D802L 18 42 SET M1000 0F lt 4F 16 50 SET M1000 D800F lt D804F 19 32 SET M1000 0L lt 2L 14 04 APP 4 APPENDICES Processing time of operation instruction Continued Q173CPU N Q172CPU N Classifications Symbol Instruction Operation expression Unit us SET M1000 0 gt 1 12 18 SET M1000 D800 gt D801 15 72 SET M1000 0L gt 2L 14 64 More than SET M1000 D800L gt D802L 19 74 SET M1000 0F gt 4F 15 30 SET M
125. order to control the Motion CPU Data stored in the special registers are stored as BIN values if no special designation has been made to the contrary The headings in the table that follows have the following meanings Indicates whether the register is set by the system or user and if it is set by system when setting is performed lt Set by gt S Set by system Motion CPU U Set by user Motion SFC program or test operation using a peripheral device S U Set by both system Motion CPU and user Set by When set Indicated only if setting is done by system Motion CPU When set Main process Set during each main processing free time processing of the CPU Initial process Set only during initial processing when power supply is turned ON or when executed the reset Status change Set only when there is a change in status Error Set when error is occurred Request Set only when there is a user request Special reray etc Operation cycle Set during each operation cycle of the Motion CPU 1 51 1 OVERVIEW Special register list Name Meaning Details Set by Remark When set Module No with When fuse blown modules are detected the lowest I O module No is stored D9000 Fuse blown No blown fuse in D9000 1is added to the stored value each time the input voltage becomes AC DC DOWN Number of times 85 AC power supply 65 DC power supply or less of the rating while counter No for AC DC DO
126. output of the limit switch outputs point by point ON The output is ON when the forced output bit is ON Priority is given to control of this setting over off disable of the output enable disable bit If there is no setting no forced outputs are not always made 13 LIMIT SWITCH OUTPUT FUNCTION 4 When the multiple watch data ON region output enable disable bit and forced output bit are set to the same output device the logical add of output results of the settings is output fo 1 Without output enable disable bit forced output settings ae OFF Value ON Value 2 With output enable disable bit forced output settings Output device ea Output control based Output ON Output OFF Forced output Output OFF lq wp ON Value and OFF Value OFF Enable disable bit Output control based on q SUI ORF ON Value and OFF Value Output OFF Forced output bit outputon fo Forced output M 13 3 13 LIMIT SWITCH OUTPUT FUNCTION 13 2 Limit Output Setting Data Limit output data list are shown below Up to 32 points of output devices can be set The following items of No 1 to No 5 are set together as one point Fetch Refresh Item Setting range Remarks cycle cycle s Operation 1 Output device Bit device X Y M L B Motion control data word device D W absolute addr
127. per CPU PLC CPU or Motion CPU or 8k points 8k words for all CPUs 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 4 If is set as the first device setting column A of each automatic refresh setting the first device for every CPU can be arbitrarily set up by the user in the column of B 5 DUMMY setting can be set to the first device column B of the automatic refresh setting DUMMY setting cannot be set to the self CPU DUMMY setting should set as the first devise column B The self CPU does not execute the automatic refresh to the other CPU which carried out DUMMY setting Refresh Setting Setting 1 Send range for each CPU CPU side de CPU share memory G Dey starting Pont Stat End s The applicable device of head device is Dw HM YB The unit of points that send range for each CPU is word Settings should be set as same when using multiple CPU A white portion can be set 6 Setthe same number of transmitting points for all CPUs in the Multiple CPU system If any of the CPUs has a different number of transmitting points a PARAMETER ERROR will be occurred 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM CPU side device The following devices can be used for automatic refresh Other devices cannot be set in SW6RN GSVLP Data resister D Link resister W Motion resister Non
128. 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 operating the product always return the covers and partitions to the designated positions and operate according to the instruction manual REVISIONS The manual number is given on the bottom left of the back cover Print Date Manual Number Jun 2002 IB NA 0300042 A First edition Feb 2004 IB NA 0300042 B Addition model Q173CPUN T Q172CPUN T A31TU D3K13 A31TU DNK13 Q172bX S1 Q173PX S1 QOOCPU Q01CPU 64AD Q68ADV Q68ADI Q62DA Q64DA Q68DAV Q68DAI Q170TUDSCBL3M Q170TUDNCBL3M Q170TUDNCBLO3M A Q170TUTM A31TUD3TM FR V5LIO LJ Software for SV43 Addition function
129. program before the consecutive transition for continuation continuation event task starting every event occurrence operation is executed Note When making it When stopping it is make to always execute execute CLR by other programs set as automatic starting 11 4 11 MOTION SFC PARAMETER lt Example 2 gt Program 2 SFCS PLC program EI DI status by other programs o Tey o o Event processing 1 by external interrupt 4 Starting of the 1 GINI event task is accepted 6 1 2 gt 3 Event occurrence during DI status Event task is not executed is memorized and executed during DI status Except for NMI task Event processing by the fixed cycle Starting of the 1 interrupt event task is accepted 1 Cn 1 Executes by the new event task Points a Multiple events can be set to one Motion SFC program However multiple fixed cycles cannot be set b Multiple Motion SFC programs can be executed by one event c Motion control steps cannot be executed during the event task d The event task cannot be executed when it is disabled by the normal task The event that occurred during event task disable is executed the moment the event task is enabled Errors When the motion control step is executed by the Motion SFC program set to the event task the Motion SFC program error 16113
130. registers Monitor device 640 points D640 Command device 118 points D8191 Automatic refresh setting 1 PLC CPU CPU No 1 Motion CPU CPU No 2 Send range for each CPU CPU side device CPU share memory G Dev starting i M3072 M3839 weooo 55 24 8 a A Automatic refresh setting 2 PLC CPU CPU No 1 Motion CPU CPU No 2 CPU share memory G CPU share memory G bo Do 00 S E up T Although it has set up so that 32 axes may be assigned the above assignment example reduce the number of assignment automatic refresh points a part for the number of axes to be used 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 2 PLC CPU 1 module Motion CPU 2 modules The outline operation and the automatic refresh setting are shown below CPU No 1 PLC CPU CPU No 2 Motion CPU Internal relays Internal relays MO ommand device for the Motion CPU No 2 768 points MES 768 Monitor device for v 0 the Motion CPU No 2 Monitor device 1056 points 1056 points M1824 Command device for FRI the Motion CPU No 3 ig C d devi 768 points ommand device M2592 Monitor device for 768 points the Motion CPU No 3 1056 points M3648 M8191 CPU
131. resistance compatible with the system Use wires and cables within the length of the range described in the instruction manual The ratings and characteristics of the parts other than Motion controller servo amplifier and servomotor used in a system must be compatible with the Motion controller servo amplifier and servomotor Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure when the ball screw and servomotor are connected with a timing belt etc Install a stopping device to ensure safety on the machine side 2 Parameter settings and programming NCAUTION Set the parameter values to those that are compatible with the Motion controller servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode servo amplifier and servo power supply module The protective functions may not function if the settings are incorrect Set the mechanical brake output and dynamic brake output validity parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect Set the
132. setting Refer to Section 1 5 is used as the axis No to start 5 MOTION DEDICATED PLC INSTRUCTION 2 Setting of the current value to change S2 usable range 2147483648 to 2147483647 Start accept flag System area The complete status of the start accept flag is stored in the address of the start accept flag in the shared CPU memory Shared CPU memory address Description is decimal address The start accept flag is stored by the 1 to 32 axis each bit As for a bit s actually being set Q173CPU N J1 to J32 Q172CPU N J1 to J8 OFF Start accept flag usable IS ON Start accept flag disable 205H 517 b15 204H 516 address 16 205H 517 address 32 Errors The abnormal completion in the case shown below and the error code is stored in the device specified with the complete status storing device D2 Complete status Note Error factor Corrective action Error code H 4COO The specified device cannot be used in the Motion CPU Or it is outside the device range The instruction for the Multiple CPU system which did 4C01 not be correspond with operating system software of the Motion CPU was executed Confirm a program 4C05 Axis No set by CHGA instruction is injustice and correct it to a There are 33 or more instruction requests to the correct PLC Motion CPU from the PLC CPU in S P SFCS S P SVST S P CHGA S P GINT sum table simultaneously and the Motion CPU ca
133. specify actually is the following CPU No 2 3E1H CPU No 3 3E2H CPU No 4 3E3H pinary eo No Jn 92 to execute the torque limit value change EH eee J1 to J32 Q172CPU N J1 to J8 sequence 16 bit Setting of the torque limit value change to change Complete devices D1 0 Device which make turn on for one scan at start accept completion of instruction D1 1 Device which make turn on for one scan at start accept abnormal completion of instruction D1 0 also turns on at the abnormal completion 16 bit D2 Device to store the complete status Ed binary Note 1 Motion CPU cannot used CPU No 1 in the Multiple CPU configuration Note 2 n shows the numerical value which correspond to axis No Q173CPU N Axis No 1 to No 32 n 1 to 32 Q172CPU N Axis No 1 to No 8 n 1 to 8 5 MOTION DEDICATED PLC INSTRUCTION Controls 1 This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system Errors occurs when it was executed toward the CPU except the Motion CPU 2 The torque limit value of the axis specified with S1 is changed to the value of S2 regardless of the state of during operating or stopping at the real mode 3 S P SFCS S P SVST S P CHGA S P CHGV S P CHGT S P DDRD S P DDWR cannot be executed simultaneously toward the CPU executing S P CHGT instruction When the Motion dedicated PLC instruction is started continuously It is necessary to take
134. starting step in a jump Points a The Motion SFC program which includes motion control steps should be set to a normal task b During execution of an event or NMI task the execution of the normal task is suspended Note that since the normal task allows the event task disable instruction DI to be described in an operation control step the event task can be disabled in the area enclosed by the event task disable instruction DI and event task enable instruction El 11 3 11 MOTION SFC PARAMETER 2 Event task operation Operations An event task executes the Motion SFC program at occurrence of an event There are the following events a Fixed cycle The Motion SFC program is executed periodically in any of 0 88ms 1 77ms 3 55ms 7 11ms and 14 2ms cycles b External interrupt 16 points of IO to 115 Among 16 points of the QI60 16 point interrupt module loaded in the motion slot the Motion SFC program is run when the input set for an event task turns on c PLC interrupt The Motion SFC program is executed when the S P GINT instruction is executed in the PLC program Example 1 gt Program 1 Program name i F4 9 i a END SFCS PLC program 3 55ms 1 1 pe TL Event task END operation End 2 lt gt END operation Continue 1 gt 2 lt 3 gt 2 ll Do not execute a Execute the number of When END operation is set as
135. step one for one If the step following WAITON WAITOFF is not a motion control step the Motion SFC program error 16102 will occur and the Motion SFC program running will stop at the error detection An error will not occur if the jump destination immediately after WAITON WAITOFF is a motion control step Left below A pointer may exist immediately after WAITON WAITOFF Right below ON MO Gn E P Kn If the servo program specified with a motion control step could not be started due to a major minor error the Motion SFC program continues running and execution shifts to the next independently of the WAITON WAITOFF bit device status To stop the Motion SFC program at error detection provide an error detection condition at the next transition transition condition The following instructions can be used in the motion control step used combining the WAITON WAITOFF Linear interpolation control circular interpolation control helical interpolation speed switching control position follow up control constant speed control and high speed oscillation 2 Combination with operation control step Operations At an operation control step both Shift and WAIT perform the same operation and after cn NN NN executing of the operation control program Fn transits to the next step by formation of transition condition Gn Fn Fn 3 Combination with sub
136. stroke limit input validity parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect Set the servomotor encoder type increment absolute position type etc parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect Set the servomotor capacity and type standard low inertia flat etc parameter to values that are compatible with the system application The protective functions may not function if the settings are incorrect Set the servo amplifier capacity and type parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect Use the program commands for the program with the conditions specified in the instruction manual NCAUTION 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
137. the Motion CPU is an access range equivalent to Qn H CPU Refer to Section 16 2 Access Range of The Communications via Network By setting the routing parameter to the control CPU of the network module and the CPU which connected the peripheral devices in the network by MELSECNET 10 H and Ethernet it is possible to relay to 8 network points and communicate Because the Motion CPU cannot become the control CPU of the network module there is not setting item of the network module and network parameter However when connecting with the CPU on the other network from the peripheral device which connected the Motion CPU it needs to the setting of the routing parameter It can operate by remote control the monitor or program editing of the Motion CPU via the intranet using the Ethernet module Personal Computer Personal Computer IBM PC AT IBM PC AT Ethernet gt a amp o a o n Power supply 16 2 16 COMMUNICATIONS VIA NETWORK 16 2 Access Range of The Communications via Network 16 2 1 Network configuration via the MELSECNET 10 H or the Ethernet 1 It can access the other CPU via the network from the programming software GX Developer SW6RN GSVLEPP etc of the personal computer connected with the CPU or serial communication module in USB RS 232 2 It can access the other CPU via the network from the programming software in the personal computer by connectin
138. the internal FLASH ROM are normal y Motion CPU WDT error 302 occurs and ERROR LED turns ON Y Wait the restart of Multiple CPU system After that it cannot be operated because of Normal operation start slop status P Retry the operation for ROM writing gt Wm A Mode operated by ROM after confirm the After that it is same operation at the contents for programs and parameters of RAM operation internal SRAM Read the system setting data each parameter for servo control servo program mechanical system program SV22 only and cam data SV22 only in the internal FLASH ROM to the internal SRAM If the ROM operation of a data written in the internal FLASH ROM is executed in the combination of the Motion CPU module for additional parameter ROM operation function and programming software by the operating system software not for additional parameter ROM operation function a Motion CPU WDT error error code 302 will occur and the ROM operation cannot executed In this case use the operating system software for additional parameter ROM operation function Refer to Section 1 3 4 14 10 14 ROM OPERATION FUNCTION 14 4 Operating Procedure of ROM writing The operating procedure of ROM writing using the SWGRN GSVLIP is shown below System setting screen E System Setting GS 22P MT Developer File Edit View Option Communication Update Help Operating procedure Commu
139. the self CPU operation data area The error number of an error generated during diagnosis is stored as a BIN code Corresponding Special resister Diagnosis error occurrence time Diagnosis error occurrence time The year and month when the error number was stored in address 1H of shared CPU memory is stored in 2 digit BCD code The date and hour when the error number was stored in address 1H of shared CPU memory is stored in 2 digit BCD code The minutes and seconds when the error number was stored in address 1H of shared CPU memory is stored in 2 digit BCD code Error data category code Error data category code Category codes indicating the nature of the stored common error data and individual error data are stored 6H Error data Error data Common data corresponding to the error number of an error generated during diagnosis is stored 7H to 1CH Not used Not used 1DH Switch status CPU switch status The switch status of the CPU is stored 1EH LED status CPU LED status The bit pattern of the CPU LED is stored 1FH CPU operation status CPU operation status The operation status of the CPU is stored Note Refer to the applicable special register for details b The self CPU operation data area is refreshed every time the applicable register has been changed However the refresh timing may be delayed by up to the main cycle ti
140. the system remove the cause of the error present in the CPU not stopped by a MULTI CPU DOWN error In the screen below the cause of the error present in CPU No 2 which does not have a MULTI CPU DOWN error should be removed PLC status m PLC operation status Nol PLC operation STOP switch RUN No2 PLC operation STOP switch RUN No3 PLC operation STOP switch RUN No4 PLC operation STOP switch RUN m Error status 20 Monitor run stop PARAMETER ERROR Error Jump CONT UNIT ERROR MULTI CPU DOWN Start monitor FIilflriep enon r Eror log PLCI x Error log Clear log No Eror message Year Month Day AC DC DOWN 2001 12 17 E Close AC DC DOWN 2001 12 17 EntorJump AC DC DOWN 2001 12 17 MULTI CPU DOWN 2001 12 17 Hel gt 1 OVERVIEW c Use the following procedure to recover the system 1 Check the CPU generating the error and cause of the error using the PC diagnostic function of GX Developer 2 If the error occurred in a Q173CPU N Q172CPU N and the error code is 10000 check the cause of the error using error list of SW6RN GSVLIP 3 Remove the cause of the error 4 Reset the PLC CPU of CPU No 1 or restart the power 5 Resetting the PLC CPU of CPU No 1 or restarting the power resets all CPUs in the Multiple CPU system and the system will be recovered 3 Operation at a Motion CPU error Operations at a Motion CPU error are show
141. time x 10 times x 100 times x 1000 times Magnification M2000 turn it on with switch STOP RUN PLC ready flag M2000 or M2000 turn it on when both of switch RUN and M2000 turn on by PLC program setting register is set 1 An optional bit device PX M is specified in the Emergency stop of the CPU base unit Forced stop input parameter Emergency stop terminals of the Forced stop terminals of the servo amplifiers servo amplifiers can be used cannot be used Internal rechargeable battery Set the external battery A6BAT MR BAT if Back up battery for internal memory SR A6BAT MR BAT continuous power off time is longer for 1 month or more Note 3 Note 1 Use the Dividing unit Q173DV or dividing cable Q173J2B ACBLOM Q173HBACBLOIM Note 2 When using the incremental synchronous encoder SV22 use you can use above number of modules When connecting the Manual pulse generator you can use only 1 module Note 3 When adding the external battery AGBAT MR BAT Q173DV Q173CPU N use or Q170BAT Q172CPU N use is used 1 14 1 OVERVIEW 1 2 5 Positioning dedicated devices special relays special registers 1 Positioning dedicated devices The following section describes the positioning dedicated devices A range of up to 32 axes is valid in Q173CPU N and a range of up to 8 axes is valid in Q172CPU N Refer to the Q173CPU N Q172CPU N Motion controller SV13 SV22 Progr
142. to 8 1 to 32 4 The torque limit value that may be set at 52 is within the range 1 to 500 5 The torque limit value specified here and the one specified in the servo program have the following relationships At a normal start the torque limit value is given to the servo of the start axis according to P torque set in the servo program or the torque limit value of the specified parameter block For an interpolation start the torque limit value is given to the number of axes to be interpolated Executing the CHGT instruction gives the preset torque limit value to only the specified axis Thereafter the torque limit value given to the servo at a servo program start or JOG start is made valid only when it is lower than the torque limit value specified in CHGT This torque limit value clamp processing is performed per axis 7 72 7 OPERATION CONTROL PROGRAMS During start a If the following torque limit value has been set it will not be changed to higher than the torque limit value specified in the CHGT instruction Torque limit value at a midway point in constant speed control or speed switching control Torque limit value at the point of switching to position control in speed position changing control Torque limit value in speed control b The CHGT instruction accepts a torque limit value which is higher than the torque limit value set in the servo program or parameter block 6 The torque limit value change
143. to B1F of CPU No 1 can be read or written freely using CPU No 1 but B20 to B3F correspond to the refresh area for the data of CPU No 2 and can only be read not written by CPU No 1 Similarly B20 to B3F of CPU No 2 can be read or written freely using CPU No 2 but BO to B1F correspond to the refresh area for the data of CPU No 1 and thus can only be read not written by CPU No 2 b Executing the automatic refresh function The automatic refresh function can be executed regardless of whether the applicable PLC CPU and Motion CPU are in the RUN or STOP state When a CPU DOWN error will occur in the PLC CPU or Motion CPU the automatic refresh function is not executed When one CPU generated a CPU DOWN error the other CPU free from CPU DOWN error retains the data saved immediately before the CPU DOWN error occurred For example if CPU No 2 generated a CPU DOWN error while B20 was ON in the operation block diagram in a BO of CPU No 1 remains ON If necessary interlocking is performed using other CPU DOWN detection signals M9244 to M9247 c To execute the automatic refresh function for the Motion CPU the number of transmitting points for the CPU and the devices whose data is stored devices to which the automatic refresh function is executed must be set in Multiple CPU Settings of System Settings For the PLC CPU the applicable parameters must be set identically in Multiple CPU Settings of PC parameters Item Description Bit Y M
144. touch the Motion controller servo amplifier or servomotor terminal blocks while the power is ON as this may lead to electric shocks Do not touch the built in power supply built in grounding or signal wires of the Motion controller and servo amplifier as this may lead to electric shocks 2 For fire prevention Z CAUTION Install the Motion controller servo amplifier servomotor and regenerative resistor on incombustible Installing them directly or close to combustibles will lead to fire if a fault occurs in the Motion controller or servo amplifier shut the power OFF at the servo amplifier s power source If a large current continues to flow fire may occur When using a regenerative resistor shut the power OFF with an error signal The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fire Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used Failing to do so may lead to fire Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to fire 3 For injury prevention Z CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal Doing so may lead to destruction or damage Do not mistake the terminal connections as this may lead to destructi
145. 0 053 wo wa eie nos j 3 Automatic refresh setting 2 Send range for each CPU CPU side devive 4 levice CPU CPU share memory G Dev starting V W100 jj INNEN Point Stat End 5 Eni _ No2 640 0832 1 wio wae Eies E a p E T Lv j T 4 Automatic refresh setting 3 Send range for each CPU CPU side device CPU CPU share memory G Dev starting Point Stat end 5 Eni _ j pq ___ ee v3 up e o 5 Automatic refresh setting 4 Send range for each CPU CPU side device CPU CPU share memory G Dev starting fF Pot Stat End 5 EC NEN MEN eulx qu BT HEP T Lv j APP 22 This device area is set up in M2400 with the Qn H CPU No 1 The bit device for monitor is transferred to WO to by Q173CPU N side This device area is set up in DO with the Qn H CPU No 1 The ward device for monitor is transferred to W100 to by the Motion SFC program on the Q173CPU N side This setting area is used for the use except for the positioning device for the monitor APPENDICES 6 System setting Setting items Operation cycle setting Operation mode M2000 is turned on with switch Stop to Run Emergency shout down input 7 Latch range setting jintemalrelay S M J J
146. 0 Special index 23 System User File o direct JO O function Constant pais Digit specified register Other D register module K H UL GO ita NP gos ee EE mad O Usable A Usable partly Note Setting data n1 to D2 Index qualification possible Instruction Condition Start command SP GINT SP GINT Start command S GINT S GINT Setting data Setting data Data type First I O No of the target CPU 16 n1 Value to specify actually is the following CPU No 1 3EOH CPU No 2 3E1H CPU No 3 3E2H CPU No 4 3E3H 16 bit Interrupt instruction No 0 to 15 binary Note 1 Motion CPU cannot used CPU No 1 in the Multiple CPU configuration Note 1 16 bit binary Controls This instruction generates the interrupt to the Motion CPU by PLC program when the execution instruction of S P GINT is started OFF ON The Motion CPU executes the active program operation program status processing of the Motion SFC program set by PLC interruption of the event task at the interrupt generation from the PLC CPU 1 This instruction is always effective regardless of the state of real mode virtual mode mode switching when the operating system software of Motion CPU is 5 22 2 Motion CPU side is during DI interrupt disable event processing can make wait even as for the El interr
147. 1 refresh points ge for each CPU CPU side device Dev starting Pom Stat End Stat se wi WOF 256 0800 O8F W10 WIF oO oO e applicable device of head device is Dw HM Y B es The unit of points that send range for each CPU is word Settings should be set as same when using multiple CPU OK Cancel Multiple PLC Setting PLC CPU setting in GX Developer Multiple PLC settings No of PLC No of PLC 2 Operating mode Out of group input output settings The input condition outside the group is taken The output condition outside the group is taken Refresh settings Change screens Setting 1 amp Send range for each PLC side device PLC PLC share 5 Dev starting W100 Stat Stt End End No1 0800 err No2 2561 08000 08 200 wZ2FF ee 1 a ee CS a aa as ery The applicable device of head device is B M Y D WR ZR The unit of points that send range for each PLC is word operation mode at the stop of PLC J Allstate sop oy stom Jv All stetion ston piled Jv 2007 siog oy stom enor gi settings should be set as same when using multiple PLC Diversion of multiple PLC parameter Check Cancel
148. 1 2 Qn H Q173 Q173 Q173 CPU CPU CPU CPU N N N Oil These CPUs must not be reset If one of them is reset all CPU in the Multiple CPU system generate a MULTI CPU DOWN error CPU No 1 can reset the entire Multiple CPU system gt 2 2 o o A No 1 CPU No 2 CPU No 3 CPU No 4 4 CPU 1 In a Multiple CPU system the PLC CPUs Motion CPUs of CPU No 2 3or 4 cannot be reset individually When a PLC CPU or Motion CPU of CPU No 2 3 or 4 is reset while the Multiple CPU system is operating the other CPUs generate a MULTI CPU DOWN error error code 7000 and the entire system stops Note that depending on the timing at which the PLC CPU or Motion CPU of CPU No 2 3or 4 is reset the PLC CPU of a the other CPU may stop due to an error other than MULTI CPU DOWN 2 Resetting CPU No 2 3 or 4 generates a MULTI CPU DOWN error regardless of the operation mode set in the Multiple CPU Settings tab Stop continue all CPUS upon error in CPU No 2 3 or 4 Refer to section 1 4 7 for the setting of operation mode in Multiple CPU Settings 1 OVERVIEW 1 4 7 Processing at a CPU DOWN error occurrence by a PLC CPU or Q173CPU N Q172CPU N In the Multiple CPU system the system operates differently when CPU No 1 generated a CPU DOWN error as compared with when CPU No 2 3 or 4 did 1 When CPU No 1 generated a CPU DOWN error a When the PLC CPU of CPU No 1
149. 1 OVERVIEW Motion Slot Setting Motion CPU setting in SW6RN GSVOP b System Setting GSV22P MT Developer File Edit View Option Communication Upc Motion slot settings Set the modules controlled by the self CPU by the Motion Slot Settings Motion CPU setting in SW6RN GSVLIP In GX Developer set the slot for Motion CPU control as the CPU number of the Motion CPU in I O Assignment Settings PLC CPU setting BS we Smena xi Li I a Motion Module PLC Module dE Control CPU No d Servo External Signal Module C 1 0 Module C C Sync Enco Input Module es ee ER C Q172EX Hu C Analogue Output Module C Q172EX S1 C Q172EX S2 C Q172EX S3 Il Il MAN PLS Input Module C Q173PX C Q173PK 51 Master slave oiga BTr2EX S C 173 51 Detail Setting f Cancel Assignment Setting PLC CPU setting in GX Developer i MELSOFT series GX Developer C XMELSECNXGPPWASAMPLE Q MOTION LD Edit mode MAIN 39 Step 1515 Z Project Edt Find Replace Convert View Onine Diagnostics Tool Window 1 n rer E ee EE Program z PLE name PLC system PLC PLC RAS Device Program Boot fle SFC 1 0 assignment Device comment 5 18 Parameter i PLE parameter 12 Network param 12 Remote pass E Device memory E Device init
150. 1 QY41 CPU CPU N PXO to PX1F PY20 to PY3F X40 to X5F Y60 to meg Power supply module XO to X1F Y20 to CPU CPU Modules Modules Modules Modules No 1 No 2 controlled controlled controlled controlled byCPU by CPU byCPU by CPU No 2 No 2 No 1 No 1 1 OVERVIEW 3 Setting of the Motion CPU control modules by the PLC CPU a Type number of points Follow the table below when Motion CPU control modules are set in I O Assignment Settings of the PLC CPU The PLC CPU handles the Q172LX Q172EX and Q173PX as intelligent function modules having 32 occupied points Type and number of points may be left unset Number of points Input module Forthe control CPU Output module Output Selected according set the CPU that Input Output composite to the module corresponds to the Motion CPU required Type and number of 16 points points may be left unset Intelligent 1 Set the I O device of the Motion CPU within the range from PX PY000 to PX PYFFF Set the number of real I O points within 256 points I O No may not be consecutive 2 As for the Motion CPU the Q172LX Q172EX Q173PX and QI60 are not included in the number of real I O points b Ifthe installed Motion CPU control module is different from the I O assignment type of PLC CPU the operation is abnormal Name of installed assignment type of PLC CPU Operation Motion CPU control module High speed input
151. 10 1to ue 600000000 mm min 600000000 inch min 2147483647 degree min 10000000 b Virtual mode request 10000000 10000000 5 The speed changed by CHGV instruction is effective only on the servo program during starting 7 OPERATION CONTROL PROGRAMS 6 By specifying a negative speed and making a speed change request during the start allows the axis to start deceleration at that point and return in the opposite direction upon completion of deceleration The following operations by the servo instruction are shown below Control mode ABS 1 INC 1 ABS 2 INC 2 On completion of deceleration the axis Linear control reverses its moving direction returns to the ABS 3 INC 73 positioning starting point at the absolute value of the specified speed and stops waits there Circular interpolation INC circular For circular interpolation the axis returns in ABS circular INC circular the circular path Fixed pitch feed FEED 1 FEED 2 FEED 3 On completion of deceleration the axis CPSTART1 CPSTART2 reverses its moving direction returns to the CPSTART3 CPSTART4 preceding point at the absolute value of the Constant speed control specified speed and stops waits there Speed control 1 On completion of deceleration the axis reverses its moving direction at the absolute value of the specified speed Speed control 11 The axis does not stop until a stop instruction is in
152. 10 H Ether Ethernet di Qn H Q173 C24 CC CC CC Qn H Q173 CC MNET CPU CPU Link Link Link CPU CPU Link or Network N N Ether No 1 RS 422 485 Network No 2 Qn H 0173 CC MNET Qn H Q173 MNET MNET CPU CPU Link or CPU CPU or or N Ether N Ether Ether Network No 3 RS 422 485 Qn H Q173 MNET C24 Qn H Q173 C24 Qn H Q173 C24 CPU CPU or CPU CPU CPU CPU N Ether N N X X x X lt Example 3 gt Persona computer CC Link board RS 422 485 Qn H Q173 C24 CC CC Qn H Q173 Qn H Q173 CC MNET CPU CPU Link Link CPU CPU CPU CPU Link or Network N N N Ether No 1 RS 422 485 Network No 2 Qn H Q173 Qn H Q173 MNET Qn H CPU CPU CPU CPU or CPU N N Ether xi x OO Q173 MNET MNET CPU or or N Ether Ether Communication is possible Communication is possible Setting of the routing parameter is necessary X Communication is impossible 16 9 16 COMMUNICATIONS VIA NETWORK MEMO 16 10 17 MONITOR FUNCTION OF THE MAIN CYCLE 17 MONITOR FUNCTION OF THE MAIN CYCLE Refer to Section 1 3 4 for the correspondence version of the Motion CPU and the software 1 Information for main cycle of the Motion CPU processing process cycle executed at fr
153. 1000 D800F gt D804F 19 86 SET M1000 0 gt 1 12 12 SET M1000 D800 gt D801 15 84 SET M1000 0L gt 2L 14 16 More than or equal to SET M1000 D800L gt D802L 19 38 SET M1000 0F gt 4F 16 44 SET M1000 D800F gt D804F 21 84 CHGV K1 0 13 80 CHGV K1 D800 15 72 CHGV K1 0L 14 70 CHGV K1 D800L 18 36 CHGT K1 0 Torque limit value change CHGT K1 D800 8 70 request CHGT K1 0L Speed change request Block transfer Same data block transfer Write device data to shared CPU memory of the self CPU APP 5 APPENDICES Processing time of operation instruction Continued 7 Q173CPU N Q172CPU N Classifications Symbol Instruction Operation expression Unit us u Read device data from shared CPU memory of the other CPU Write device data to intelligent function module special function iti TO H0 H0 40 K256 TO H0 H0 D800 K256 FROM 0 HO HO K1 FROM D800 HO HO K1 FROM 40 H0 HO K10 Read device data from intelligent Time to wait APP 6 APPENDICES 2 Transition conditional expressions Processing time of transition conditional expressions ES Q173CPU N Q172CPU N Classifications Symbol Instruction Operation expression Unit us 2 82 ON Normally open contact X100 When condition enables Moe OFF Normally closed contact 1X4100 When condition enables MO M1 10 32 Logical AND X100 X101 11 28 1 12 36 1 Logical OR 100 101 PX0 P
154. 2 Common system parameters 1 Parameters for operating the Multiple CPU system In the Multiple CPU system the common system parameters and individual parameter for each CPU are set and written into each CPU Regarding the Motion CPU the items in System Settings related to the entire Multiple CPU system must be identical to the parameter settings in the PLC CPU PLC CPU PLC CPU Motion CPU Motion CPU parameters parameters parameters parameters Common system Common system Common system Common system parameters parameters parameters parameters Individual Individual Individual Individual parameter parameter parameter parameter Parameter write Power supply 1 OVERVIEW 2 Parameters common throughout the Multiple CPU system In the Motion CPU during initialization the parameters in the table below are verified against the parameters in the PLC CPU of CPU No 1 Unmatched parameters generate a PARAMETER ERROR error code 3012 so the parameters show below must be set identically between Motion CPUs and the PLC CPU of CPU No 1 If the system settings are changed in a Motion CPU it is necessary to reset Therefore the parameters are checked only during initialization PLC CPUs can use the parameters of the other CPUs via Multiple CPU parameter utilization in GX Developer Since Motion CPUs don t have this function however the common parameters must be set for each Motion CPU Type of parameter
155. 3 1 3 shared memory Communications via network Main operation cycle monitor Read the servo parameter from the servo amplifier Section 12 3 Chapter 16 Chapter 17 Chapter 18 Section 7 13 7 Section 7 13 6 Section 7 9 5 Section 7 13 8 Section 7 13 9 Section 7 13 5 Motion dedicated instruction H Section 5 3 to 5 6 SVST instruction and etc Vector inverter connectable K Basic model QCPU Function version B QOOCPU Q01CPU Home position return functions added L Security function MR J2S B Servo parameter No 41 and later setting in the Motion controller position return BMOV FMOV MULTW MULTR TO FROM SV22 Clutch for slippage system linear acceleration Section 7 2 deceleration system for mechanical system Note 4 program SV22 o R j CCE WT TH i There is no restriction by the version Chapter 15 Section 6 22 1 Note 3 Section 7 13 4 to 7 13 9 Note 1 Note 2 Note 3 Note 4 SV13 SV22 is the completely same version Q173CPUN T Q172CPUN T corresponds from the version A Q173CPU N Q172CPU N Motion controller SV13 SV22 Programming Manual REAL MODE Q173CPU N Q172CPU N Motion controller SV22 Programming Manual VIRTUAL MODE YS 1 67 1 OVERVIEW 5 Relevant software packages a PLC software package GX Developer SWLID5C GPPW E Note
156. 4 The layout example of automatic refresh setting The layout example of automatic refresh when Read Write does a Motion dedicated device in the Motion CPU with PLC CPU is shown below a SV13 Overall configuration Table of the internal relays Table of the Data registers MO User device Axis monitor device to 2000 points 20 points x 32 axes Common device Control change register 320 points 2 points x 32 axes Special relay allocated device Common device Status Common signal 80 points 54 points Common device Monitor 42 points Axis status 20 points x 32 axes Unusable Common device Command signal 64 points Special relay allocated device Command signal 64 points Axis command signal 20 points x 32 axes User device 7392 points User device 4352 points 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM CPU CPU 1 PLC CPU 1 module Motion CPU 1 module The outline operation and the automatic refresh setting are as follows CPU No 1 PLC CPU CPU No 2 Motion CPU Internal relays Internal relays Mo Command device for the Motion CPU 768 points M768 Monitor device 1056 points Monitor device for Command device 768 points M8191 Data registers DO Command device for the Motion CPU 118 points D118 Monitor device for the Motion CPU 640 points D758 Data
157. 4 internal relay CPU No 1 Shared CPU memory Device Shared CPU memory of other CPU Setting 1 BO CPU No 1 Write during END processing CPU No 1 to transmitting data 5 transmitting data CPU No 2 Read via END processing No 1 CPU No 2 f CPU No 2 ou receiving das No 1 t UM I transmitting data No 1 uonsmiung cata CPU No 3 No 2 CPU No 2 receiving data No 1 Maximum transmitting data No 2 GPU Nosi Maximum 2k words CPU No 2 E ee NS ous saa 2k words transmitting data No 3 M SSS Setting 2 CPU No 2 CPU No 1 Y transmitting data No 4 Jy CPU No 1 transmitting data D transmitting data 1 No 2 No 4 CPU No 3 k BEEN UO CPU No 2 defii CPU No 3 receiving data No 2 S 7 sree ransmitting data No 1 LL MM x W CPU No 3 CPU No 3 receiving data No 2 transmitting data No 2 d 2k words CPU NOS CPU No 3 receiving data No 2 g ransmitting data No 3 N Setting 3 8 gt CPU No 3 Words rae ees NT CPU No 1 V ev v transmitting data No 4 transmitting data Sy No 3 Y CPU No 4 S E S S S S CPU No 2 Sy CPU No 4 receiving data No 3 v4 ransmitting data No 1 CPU No3 CPU No 4 receiving data No 3 Pa transmitting data No 2 v CPU No 4
158. 6 7 OPERATION CONTROL PROGRAMS FIFS 7 4 6 Remainder S1 S2 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device 16 bit floating Coasting et Ml Seat floating Calculation snditional conditional integer integer integer integer type A expression point expression expression type type L type K H K H L type K BISERE CA ee RERO 6 _ olol lololo l dl ol l Usable Setting data Data type integer type of S1 or S2 which is greater Integer type Functions 1 The data specified with S1 is divided by the data specified with S2 to find a remainder 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before operation is performed Errors 1 An operation error will occur if 52 is 0 or S1 or 52 is an indirectly specified device and its device No is outside the range Program examples 1 Program which divides K456 by 0 and substitutes a remainder to WO WO K456 0 456 Wo 8 02 7 OPERATION CONTROL PROGRAMS FIFS 7 5 Bit Operations 7 5 1 Bit inversion Complement S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data bi bi bi bi Calculati at Bit device 16 bit bit floating Coas
159. 643 Unusable M4644 Error detection External signal TREN Virtual mode continuation operation disable warning Unusable Error detection Axis 3 signal TREN i i Virtual mode continuation operation disable warning Unusable Error detection External signal TREN Axis 4 ue ES Virtual mode continuation operation disable warning Unusable Error detection External signal TREN Virtual mode continuation operation disable warning Unusable Error detection Axis 6 signal TREN Virtual mode continuation operation disable warning Unusable Error detection Axis 7 External signal TREN i Virtual mode continuation operation disable warning Unusable Axis 5 Error detection Axis 8 External signal TREN i Virtual mode continuation operation disable warning Unusable Error detection Axis 9 signal TREN i Virtual mode continuation operation disable warning Unusable Error detection Axis 10 Extra signal z Virtual mode continuation operation disable warning Unusable Error detection Axis 11 EXertal signal TREN i i Virtual mode continuation operation disable warning Unusable Error detection Axis 12 Extemal signal TREN Virtual mode continuation operation disable warning Unusable Note 1 The range of axis No 1 to 8 is valid in the Q172CPU N Note 2 Device area of 9 axes or more is unusable in the Q172CPU N 1 26 1 OVERVIEW 6 Table of the
160. 7 monitor device D1189 D1190 to Axis 8 monitor device D1199 D1200 to Axis 9 monitor device D1209 D1210 to Axis 10 monitor device D1219 D1220 to Axis 11 monitor device D1229 D1230 to Axis 12 monitor device D1239 1 42 1 OVERVIEW Detailes of each axis D1120 10n Current value D1121 10n D1122 10n D1123 10n D1124 10n Drsaiomn ee 01125 10 si 125 10 01126 10 Current value after synchronous encoder axis D1127 10n main shaft s differential gear 01128 10n Error search output axis No D1129 10n Note 1 n in the above device No shows the numerical value which correspond to axis No Q173CPU N Axis No 1 to No 12 n 0 to 11 Q172CPU N Axis No 1 to No 8 n 0 to 7 Note 2 Device area of 9 axes or more is unusable in the Q172CPU N 1 43 1 OVERVIEW 5 Table of the cam axis monitor devices SV22 only D1240 D1400 to Axis 1 monitor device to Axis 17 monitor device D1249 D1409 D1250 D1410 to Axis 2 monitor device to Axis 18 monitor device D1259 D1419 D1260 D1420 to Axis 3 monitor device to Axis 19 monitor device D1269 D1429 D1270 D1430 to Axis 4 monitor device to Axis 20 monitor device D1279 D1439 D1280 D1440 to Axis 5 monitor device to Axis 21 monitor device D1289 D1449 D1290 D1450 to Axis 6 monitor device to Axis 22 monitor device D1299 D1459 D1300 D1460 to Axis 7 monitor device to Axis 23 monitor device D1309 D1469 D1310 D1470 to Axis 8 mo
161. 733 D734 D735 D736 D737 D738 D739 Note 1 The range of axis No 1 to 8 is valid in the Q172CPU N Note 2 Device area of 9 axes or more is unusable in the Q172CPU N 1 46 1 OVERVIEW 2 Special relays Special relays are internal relays whose applications are fixed in the Motion CPU For this reason they cannot be used in the same way as the normal internal relays by the Motion SFC programs However they can be turned ON OFF as needed in order to control the Motion CPU The headings in the table that follows have the following meanings Explanation No Indicates the device No of the special relay Name Indicates the name of the special relay Indicates the nature of the special relay Indicates detailed information about the nature of the special relay Indicates whether the relay is set by the system or user and if it is set by system when setting is performed lt Set by gt S Set by system Motion CPU U Set by user Motion SFC program or test operation using a peripheral device S U Set by both system Motion CPU and user Set by When set Indicated only if setting is done by system Motion CPU When set Main process Set during each main processing free time processing of the CPU Initial process Set only during initial processing when power supply is turned ON or when executed the reset Status change Set only when there is a change in status Error Set whe
162. 74 is OFF a minor error du 00 occurs and a current value change is not made If the cam shaft within one revolution current value change is executed in the real mode a servo program setting error 903 or 905 occurs and the current value change is not made 903 when the current value change servo program is set to within the virtual mode program No range or 905 when it is set to within the real mode program No range If a current value change is made during mode changing a servo program setting error Note 907 real virtual changing or 908 virtual real changing occurs and the current value change is not made Note Refer to the Q173CPU N Q172CPU N Motion controller SV13 SV22 Programming Manual REAL MODE Q173CPU N Q172CPU N Motion controller SV22 Programming Manual VIRTUAL MODE for minor error major error and servo program setting error Note 9 MOTION CONTROL PROGRAMS 9 5 Programming Instructions 9 5 1 Cancel start When a cancel start has been set in the setting items of the servo program which was started at the motion control step of the Motion SFC program the cancel of the running servo program is valid but the servo program specified to start after a cancel is ignored without being started The following example shows the Motion SFC program which exercises control equivalent to a cancel start Selective branch KO Ee Dis an al js ac Providing transitio
163. 7s CHECK e 70 cos pem gt asm PO cos 2 oo res Taran mw 8 sant saare 2 olol tr IDEE Eod O e ee es 27 7 01 as eso 2 _ a mo Rao 2 olol rt rx 2 olol me Rame 2 sw feco Bi conversion olol ron a a f 2 po ro pL pes SHORT Convert 15v meger ype sanea storre 771 oomen mo ions e o fof L2 FLOAT EE as signed data and convert into 64 FLOAT S bit floating point type HR UFLOAT Regard as unsigned data and convert into UFLOAT S 64 bit floating point type ON normally open contact Bit device status rer normally closed contact SET Device set SET D conditional expression Bit device control RST D conditional aa er 794 E TU ae foto expression 1 11 1 OVERVIEW Table of the operation control transition instruction continued Usable step step YIN transition s Section of Classification Symbol Function Format Basic steps bos F FS conditional reference expression ERN M acknowledgment Conditiona expression olo 7 10 1 1 Logicalnegation negation Conditional expression pa fetep 7 10 2 Logical opera
164. 94 7 14 Comment Statement ie ii dci de c d i d d ed i ere d ide E e did e ds 7 96 8 1 Transition Programs iE e Eee tib n ere nibii ib or e MEE ret iae 8 1 9 1 Servo Instruction LiSt E E E E E E E E E E E E 9 1 9 2 Servomotor Virtual Servomotor Shaft Current Value Change eene 9 14 9 3 Synchronous Encoder Shaft Current Value Change Control SV22 9 17 9 4 Cam Shaft Within One Revolution Current Value Change Control SV22 Only 9 20 9 5 Programming Instructions essen 9 22 9 5 1 Cancel 9 22 9 5 2 Indirect designation using motion devices ssseneeeeeneenn nennen 9 22 1 ct o e T 10 MOTION DEVICES 10 1 Motion Registers 0 to 8191 10 1 10 2 Coasting aucdi n 10 6 11 MOTION SFC PARAMETER 11 1to 11 20 Td d Task DefihitioliS 11 1 11 2 Number of Consecutive Transitions and Task Operation 11 2 11 2 1 Number of consecutive transitions nm en aeaa aaa a ia a a aaa tette 11 2 141 2 2 Task Operaltlon s iid m a 11 3 11 3 Execution Status of The Multiple Task nnne 11 7 11 4 Task Paramelets e ar ee ERE REUS 11 8 11 5
165. ABm PAT1 CALL Fn SFT Gn JMP PAEm PAT2 CALL Fn SFT Gn JMP PAEm PAEm CALL Fn CALL Fn JMP Pn CALL Fn Pn CALL Kn The route which transition condition enables first is executed after executing the step or transition preceding a branch Selective branch destinations should always be started by transitions all of which must be Shift or WAIT Using Shift and WAIT together will cause a parallel branch After the route branched by a selective branch has been processed execution shifts to a coupling point A coupling may be preceded and followed by either a step or a transition Multiple routes steps connected in parallel are executed simultaneously Each parallel branch destination may be started by either a step or transition Execution waits at the coupling point for executions of the routes branched by a parallel branch to be completed and shifts to the next when executions of all routes are completed A coupling may be preceded and followed by either a step or a transition When this coupling is preceded by an FS step scans are executed during waiting After waiting is complete scans are not executed 1 Normal jump After the step or transition preceding this jump transition is executed execution shifts to the pointer Pn specified within its own program The jump destination may either be a step or transition When a jump takes place from an FS step to a transition scans are exec
166. ALL Fn JMP PAEm 1 PAT2 CALL Fn JMP PAEm 1 PAEm 1 JMP PAEm PAT2 CALL CALL Kn JMP PAEm PAEm SFT Gn After a selective branch a selective branch can be performed The two selective coupling points for selective branch selective branch can be the same Note that in the Motion SFC chart this type is displayed in order of a selective couplinga selective coupling as shown on the left In this case a pointer Pn cannot be set between the selective coupling point IFEm 1 and the selective coupling point IFEm After a parallel branch a parallel branch can be performed A parallel branch can be nested up to four levels The two parallel coupling points for parallel branch parallel branch can be the same Note that in the Motion SFC chart this type is displayed in order of a parallel coupling a parallel coupling as shown on the left In this case a pointer Pn cannot be set between the parallel coupling point PAEm 1 and the parallel coupling point PAEm 6 MOTION SFC PROGRAMS representation Selective coupling IFEm Parallel branch Parallel coupling PAEm Selective branch Selective coupling IFEm Selective branch IFBm 1
167. APP 9 APPENDICES There is the following restriction in the case as an example 1 The Multiple CPU instruction of Motion CPU cannot be used Interrupt program fixed cycle executive type program and low speed executive type program When it is used an instruction may not operate by the timing APP 10 APPENDICES APPENDIX 2 2 The program example to execute plural Multiple CPU instruction by the instructions of one time This is the program example which executes to the Multiple same Motion CPU at high speed by one instruction In this case you must take an interlock with To self CPU high speed interrupt accept flag from CPU When an instruction cannot be accepted even if it is executed it becomes No operation The program which read the data for 10 points from DO of the Motion CPU installing the CPU No 2 to since D100 of the PLC CPU the data for 10 points from D200 of the Motion CPU to since D300 of the PLC CPU and the data for 10 points from D400 of the Motion CPU to since D500 of the PLC CPU by starting of is shown as an example 1 At this time number of multiple CPU dedicated execute instructions at one command should no exceed the maximum acceptable number of instructions Refer to Chapter 5 of one Motion CPU When an maximum acceptable number of instructions is 32 the program which made not to execute the multiple dedicated instructions when number of the Multiple CPU dedicated execute instructions exceeds 32 is sh
168. Axis 14 status to Axis 30 status M2679 M2999 M2680 M3000 to Axis 15 status to Axis 31 status M2699 M3019 M2700 M3020 to Axis 16 status to Axis 32 status M2719 M3039 1 18 1 OVERVIEW Detailes of each axis M2402 20n Zero pass signal External signals M2416 20n Torque limiting signal M2418 20n Virtual mods continuation operation disable warning signal SV22 Note 1 n in the above device No shows the numerical value which correspond to axis No Q173CPU N Axis No 1 to No 32 n 0 to 31 Q172CPU N Axis No 1 to No 8 0 to 7 Note 2 Device area of 9 axes or more is unusable in the Q172CPU N 1 19 1 OVERVIEW 2 Table of the axis command signals SV13 SV22 Device No M3200 to M3219 M3220 to M3239 M3240 to M3259 M3260 to M3279 M3280 to M3299 M3300 to M3319 M3320 to M3339 M3340 to M3359 M3360 to M3379 M3380 to M3399 M3400 to M3419 M3420 to M3439 M3440 to M3459 M3460 to M3479 M3480 to M3499 M3500 to M3519 Signal name Axis 1 command signal Axis 2 command signal Axis 3 command signal Axis 4 command signal Axis 5 command signal Axis 6 command signal Axis 7 command signal Axis 8 command signal Axis 9 command signal Axis 10 command signal Axis 11 command signal Axis 12 command signal Axis 13 command signal Axis 14 command signal Axis 15 command signal Axis 16 command signal 1 20 Device No M3520 to M3539 M3540 to M3559 M3560
169. B Set the first device No as a multiple of 16 in Type of refresh device modules of 32 bits Word D W Set in modules of 2 words Number of refresh device range settings 4 ranges Bit and word may be mixed Number of refresh words per CPU A maximum of 8k words Number of transmitting words per CPU A maximum of 2k words Set in units of 2 words If necessary perform interlocking during the execution of the automatic refresh function using other CPU DOWN detection signals M9244 to M9247 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 2 Automatic refresh settings 1 Automatic setting a When executing the automatic refresh function of shared CPU memory set the number of each CPU s transmitting points and devices in which data is to be stored using Multiple CPU Settings of System Settings Refer to the QCPU User s Manual Function Explanation Program Fundamentals about the setting of the PLC CPU Basic Setting x Base Setting Multiple CPU Setting System Basic Setting m No of CPU r Operating Mode No of CPU 4 X Eror mode at zor of CPU Please set the E l staon by ation of ERU Select the setting No number of CPU All station stop by stop error of CPU2 which includes CPU All station stop by st ki 7 Allstatierrsfop by stop error of CPUS Set the f
170. CATED PLC INSTRUCTION 5 3 Servo Program Start Request from The PLC CPU to The Motion CPU S P SVST PLC instruction S P SVST x Refer to Section 1 3 4 for the applicable version of the Motion CPU and the software Servo program start request instruction from the PLC CPU to the Motion CPU S P SVST Usable devices Internal devices MELSECNET 10 Special Bit Indirectly Index System User File direct JO O function Constant Setting data Note digit specified register Word specified device Bit Word module or i or Unco O Usable A Usable partly Note Setting data except S1 Index qualification possible Instruction Condition Start request sp svst _4 SP SVST Start request S SVST S SVST Setting data Setting data Data type First I O No of the target CPU 16 Note 1 16 bit n1 Value to specify actually is the following s ina CPU No 2 3E1H CPU No 3 3E2H CPU No 4 3E3H Es Axis No Jn N to start Character Q173CPU N J1 to J32 Q172CPU N J1 to J8 Sequence 16 bit S2 Servo program No to start binary Complete devices D1 0 Device which make turn on for one scan at start accept completion of instruction 01 1 Device which make turn on for one scan at start accept abnormal B completion of instruction D1 0 also turns on
171. CD BIN conversion BIN BIN S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculati data Bit device a8 bit 32 ot floating Coasting 16 bit eo floating conditional conditional integer integer integer integer type expression i int expression expression type type L type K H K H L pon P p type F type K L S 1 o o 2 JJ o o l1 go Usable Setting data Setting data Data type of result Data type of S S BCD data which will be converted into BIN data Integer type Functions 1 The BCD data specified with S is converted into BIN data 2 If S is a 16 bit integer type the data range is 0 to 9999 3 If S is a 32 bit integer type the data range is 0 to 99999999 Errors 1 An operation error will occur if A value other than 0 to 9 is in any digit of S or S isan indirectly specified device and its device No is outside the range Program examples 1 Program which converts the BCD data of DO into BIN data and substitutes the result to 0 0 BIN DO BIN 9999 BCD 9999 Y Y Y Y Thousands Hundreds Tens Units 7 OPERATION CONTROL PROGRAMS FIFS 7 6 15 BIN BCD conversion BCD BCD S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculati Bit device Je pit Re i floating Co
172. CPU operation data area System area System area gt Automatic refresh area 3 Reading via main cycle Automatic refresh area lt processing of CPU No 2 User defined area User defined area 1 Written via END processing 2 Written via main cycle processing of CPU No 1 of CPU No 2 Device memory BO to B1F CPU No 1 B20 to B3F CPU No 2 4 Reading via END processing of CPU No 1 Device memory BO to B1F CPU No 1 B20 to B3F CPU No 2 Processing details of CPU No 1 PLC CPU at the END processing 1 Data of transmitting devices BO to B1F for CPU No 1 is transferred to the automatic refresh area of shared memory in the self CPU 4 Data in the automatic refresh area of shared memory in CPU No 2 is transferred to B20 to B3F in the self CPU 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM Processing details of CPU No 2 Motion CPU at main cycle processing 2 Data of transmitting devices B20 to B3F for CPU No 2 is transferred to the automatic refresh area of shared memory in the self CPU 3 Data in the automatic refresh area of shared memory in CPU No 1 is transferred to BO to B1F in the self CPU By the above operations the data written to BO to B1F in CPU No 1 can be read as BO to B1F of CPU No 2 while the data written to B20 to B3F in CPU No 2 can be read as B20 to B3F of CPU No 1 BO
173. CTION E 15 5 Clear All This function is used to clear the all user data and password setting in Motion CPU Clear all can be executed in the following operation Select Option Clear All of the communication screen displayed by Communication Transfer Clear All All of the data programs and passwords 5 X inthe motion controller will be cleared Execute The data programs and passwords in GSV will not be cleared f you want to clear the password in F GSV execute File Diversion from Dei Project Management No Turn off the PLC ready flag M2000 and test mode ON flag M9075 to execute Clear All Turn off the power supply of servo amplifier All user data and password setting are cleared at the Clear All Backup of user data and password setting data is recommended before clearance 15 6 16 COMMUNICATIONS VIA NETWORK 16 COMMUNICATIONS VIA NETWORK Refer to Section 1 3 4 for the correspondence version of the Motion CPU and the software The communication between the personal computer and the Motion CPU is possible via Q series Network module MELSECNET 10 H Ethernet CC Link RS 232 and etc the Motion CPU Q173CPU N Q172CPU N Refer to the following manuals for the specifications of each network modules of MELSECNET 10 H Ethernet CC Link and Serial communication the handling method 1 3 MELSECNET 10 H module QJ71LP21 25 QJ71LP21
174. Changes for the Better MITSUBISHI ELECTRIC MOTION CONTROLLERS MOTION CONTROLLER 3 Q series SV13 SV22 Motion SFC Programming Manual SAFETY PRECAUTIONS 6 Please read these instructions before using this equipment Before using this product please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly These precautions apply only to this product Refer to the Q173CPU N Q172CPU N Users manual for a description of the Motion controller safety precautions In this manual the safety instructions are ranked as DANGER and CAUTION Ae et am ge ee ef ee EET Ld a RD ER EE ae ee CR ee wg eee eng nee eg ent Soe ee a sg en eg ee ee E a a Ni Indicates that incorrect handling may cause hazardous N D A N G E R conditions resulting in death or severe injury Indicates that incorrect handling may cause hazardous AN CA U T conditions resulting in medium or slight personal injury or physical damage Depending on circumstances procedures indicated by A CAUTION may also be linked to serious results In any case it is important to follow the directions for usage Please save this manual to make it accessible when required and always forward it to the end user For Safe Operations 1 Prevention of electric shocks NDANGER Never open the front c
175. Command signal At virtual Note 1 mode transition At virtual mode m Status transition signal Command signal Note 1 Manual pulse generator 2 enable Manual pulse generator 2 enable M2052 M2052 flag flag Manual pulse generator 3 enable Manual pulse generator 3 enable M2053 flag M2053 flag 1 30 1 OVERVIEW SV13 m2054 8 2061 2093 ez 2128 m2240 2271 2319 Table of the common devices SV13 SV22 continued SV22 Refresh pue Operaton cycle overfag cycle over flag 1 Axis 32 32 m Unusable m rm 1 Axis 32 32 Speed changing flag A axes Speed changing flag esi axes Operation cycle M2093 M2100 2112 Axis 12 12 axes E 13 Unusable ez 2128 Axis 1 Synchronous encoder Mer eee value changing Operation Unusable cycle 1 Automatic decelerating feg EUM 32 2159 Axis 32 2160 Main shaft hee eet side axis 1 input wer 2222 Main shaft Note 6 um side axis 32 input E Unusable 51 1 2240 1 axis 32_ 32 axis 32 9 axes 2271 32 Unusable Unusable 2319 9 1 31 Automatic decelerating flag 32 axes Operation cycle Speed Rage 0 Speed change accepting
176. Command Mode Allocation Sort Set Program Number Previous Number Next Number possetis 200 mm min P Torque STOP 5 Ratio Cancel BIAS SPD f Speed 200 Used Steps 8 Program Steps 4 Total Steps 14334 ER Store Key Commanded speed setting range Direct setting fmm 0 01 to 6000000 00 mm min finch 0 001 to 600000 000 nch min degree 0 001 to 2147483 647 deg min PULSE 1 to 10000000PLS sec LL PT pee Ie Operations for which made the online change to the servo program in the following conditions during execution are shown below Be careful to execute the online change in the following conditions Online change of the servo After completion of condition for program Kn at the WAITON or WAITON WAITOFF the servo after WAITOFF is executed in program before the online change the state of waiting for the is started completion of condition for The servo program that the online WAITON WAITOFF change was made is executed at the next servo program start Online change of the servo After completion of condition for program Kn after Gn is Gn the servo program that online executed in the state of change was made is executed waiting for the completion of condition for Gn 12 6 12 USER FILES 12 3 2 Transfer of program The outline operations to transfer the program from SW6RN GSVDP to the program memory o
177. Comparison 16 bit 32 bit 16 bit 32 bit DF Calculation a floating Coasting floating conditional conditional i i expression integer integer type E P expression expression Setting data integer integer xd Amer type type L Sk type K H K H L Usable Setting data Setting data Data type of result TAN value data on which TAN arctangent S M Floating point type operation will be performed Functions 1 TAN 1 arctangent operation is performed the TAN value data specified with S to find an angle 2 The operation result is in an angle degree unit 3 If S is an integer type it is converted into a floating point type before operation is performed Errors 1 An operation error will occur if S isan indirectly specified device and its device No is outside the range Program examples 1 Program which performs the TAN a arctangent operation of DOF and substitutes the result to 0F 0F ATAN DOF 3 D D1 DO 7 OPERATION CONTROL PROGRAMS FIFS 7 6 7 Square root SQRT SORTS Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculati data Bit device a8 bit 32 bit floating Coasting 16 bit 32 bit floating 908 Ion conditional conditional integer integer integer integer type expression int expression expression type L type K H
178. DO to of Qn H CPU CPU No 1 therefore the condition of Q173CPU N CPU No 2 can be grasped with Qn H CPU of the CPU No 1 by monitoring the following device Devices of QnHCPU CPU No 1 D0000 to D0639 D0640 to D0655 D0656 to D0671 Correspond with devices of Q173CPU N CPU No 2 D0000 to D0630 D9000 to D9015 D9182 to D9197 Note Refresh does data for 32 axes by this sample example number of refresh points is made a necessary minimum corresponding to the system for processing time shortening APP 16 APPENDICES b No 20 Main F20 SET M9028 Clock data read request ON G20 M9076 Did you dur listop ing the forced Motion control Main When a forced stop is released a subroutine starts No 110 Motion control Because the next step is a shift it becomes a subroutine start and the next step is executed at the same time with subroutine practice too G21 Ifforced stop 1M9076 Did you release the CLR Motion control F25 DOUT PY10 H0000 16points OFF HIPY10 to PY1F J No 110 Motion control is made to stop at the time of the forced stop and The program that a subroutine call is executed from No 110 stops too actual output PY is turned off Note 1 The program that a subroutine was started is made to stop if necessary whe
179. E Operation manual 1 CD ROM Note Operating environment of the MT Developer is WindowsNT 4 0 Windows 98 Windows 2000 Windows XP English version only MT Developer 2 Operating environment of the personal computer Operating environment is as follows IBM PC AT with which WindowsNT Windows 98 Windows 2000 Windows XP English version operates normally WindowsNT 4 0 Service Pack 2 or later Note Windows 2000 Windows XP or Windows 98 Pentium133MHz or more Pentium Il 233MHz or more Pentium 450MHz or more Note Impossible to use USB connection 1 65 1 OVERVIEW It is necessary the following capacity depending on the installed software Model name SW3RN CAMP SW6RN DOSCP 35MB 10MB Standard 60MB SW6RN SNETP 3MB Custom When all selection 60 5MB SW3RN DOCPRNP 45MB SW20RN DOCPRNP 45MB Note 1 WindowsNT Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries Note 2 Pentium 9 are trademarks or registered trademarks of Intel Corporation or its subsidiaries in the United States and other countries 1 When the operation of Windows is not unclear in the operation of this software refer to the manual of Windows or guide book from the other supplier 2 The screen might not be correctly displayed depending on the system font size of WindowsNT 4 0 Windows 98 Windows 2000 Windows XP Be su
180. ET L CLR switch to L CLR several times until the M RUN LED flickers M RUN LED flickers Latch clear completed Move the RESET L CLR switch to L CLR once more M RUN LED turn off Dip switch 1 Must not be used Shipped from the factory in OFF position ROM operating setting Shipped from the factory in OFF position Dip switch 2 sw2 SW3 ON SW OFF OFF Mode operated by RAM ON OFF Must not be set Dip switch 3 OFF ON Must not be set ON ON Mode operated by ROM Dip switch 5 ON _ Installation mode mode written in ROM Installation OFF Normal mode Mode operated by RAM Mode operated by ROM ROM writing Turn ON dip switch 5 when installed the operating system software into the switch Motion CPU module from the peripheral device After completing the installation move to switch and re start 10 Memory card EJECT button Used to eject the memory card from the Motion CPU Note 1 It is not possible to reset the Multiple CPU system by each of the PLC CPU Motion CPU No 2 to 4 If it is reset other CPU occurred to stop of the overall Multiple CPU system where MULTI CPU DOWN Error code 7000 The overall Multiple CPU system reset is resetting the CPU No 1 of PLC CPU Dip switches 14 4 14 ROM OPERATION FUNCTION 14 3 ROM Operation Function Details 1 Operation mode Operation mode of CPU is set by the state of DIP switch 2
181. F 19 80 i D800F SIN D804F 25 68 0F COS 4F 13 20 Cosin D800F COS D804F 24 54 OF TAN 4F 19 86 TAN Tangent D800F TAN crt 30 78 0F OF ASING4F 21 18 ASIN Arcsin D800F ASIN 33 48 OF ACOS 4 23 52 ACOS Arccosin 34 80 OF ATAN 4F 15 30 ATAN Arctangent D800F ATAN D804F 19 62 OF SQRT 4F 10 68 SQRT Square root D800F 15 42 0F OFSLN 4F 16 92 LN Natural logarithm D800F LN D804F 22 26 OF EXP 4F 18 54 EXP Exponential operation D800F EXP anc 25 14 WoF ABSGMF ABS 4F 12 90 ABS Absolute value D800F ABS D804F 16 02 0F RND 4F 12 24 Round off D800F RND D804F 12 42 APP 2 APPENDICES Processing time of operation instruction Continued EA T Q173CPU N Q172CPU N Classifications Symbol Instruction Operation expression E Unit us FIX Round down Round up 12 00 11 16 14 94 Converted into 16 bit integer type signed WO USHORTW 2L Converted into 16 bit integer type unsigned HOL LONGU2 00 Converted into 32 bit integer type signed Converted into 32 bit integer type unsigned Regarded as signed data and converted into 64 bit floating point UFLOAT BCD BIN conversion BIN BCD conversion USHORT data and converted into 64 bit floating point type ON normally open contact OFF normally closed contact Device set 14 58 Device reset APP 3 APPENDICES Processing time of
182. FE1CCF385EBC89F K2 23E 308 to K1 79E 308 4 A round off error may be produced in a 64 bit floating point type data operation Especially when using 64 bit floating point type data in a comparison operation note that a round off error may cause an intended operation Example In the following transition program the result of the comparison operation may not become true depending on the value of 200F due to a round off error 100F SQRT 200F 300F 100F 100F 200F 300F d Bit data The bit data is the data where a contact coil or similar device is handled in increments of 1 bit It is used in device set SET and device reset RST Example 1 Je Bit data e Batch bit data The batch bit data is the data where bit data is handled in increments of 16 32 points It is used in device input DIN and device output DOUT As indicated below whether the bit data is handled in increments of 16 or 32 points is governed by the data type of the word device used as an input destination output source D Increments of 16 points Increments of 32 points DIN 0 MO DIN 0L MO DOUT MO DO DOUT MO DOL Program example Specified device No to Specified device No to specified device No 15 specified device No 31 Used devices MO to M15 in the above program MO to M31 in the above program example example 7 OPERATION CONTROL PROGRAMS f Logical data The logical data is a value returned by a bit or
183. FFH of the shared CPU memory address The shared CPU memory address D of self CPU of the writing destination device number of words n to be written is outside the range 800H to FFFH of the shared CPU memory address First device No S which writing data are stored number of words n to be written is outside the device range MULTW instruction was executed again before MULTW instruction is executed and complete bit device is turned on D1 is a write disabled device S is a bit device and device number is not a multiple of 16 PX PY is set in S to S n 1 7 OPERATION CONTROL PROGRAMS Program examples 1 2 words from DO is written in the shared CPU memory to since AOOH and transits to next step after confirmation of writing completion FO RST MO MULTW _ HAOO DO K2 MO GO Shared CPU memory 2 words Device memory transfer 4a DO A01H D1 LY 7 OPERATION CONTROL PROGRAMS FIFS 7 13 7 Read device data from shared CPU memory of the other CPU MULTR Refer to the Section 1 3 4 for the correspondence version of the Motion CPU and the software MULTR D S1 52 n Number of basic steps Usable data Usable Data Woddeie Constat Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculation data Bit device AS bit 32 pit floating Coasting pi debit floating conditional conditional integer integer i integer integer type expression
184. G QJ71BR11 QJ72LP25 25 QJ72LP25G QJ72BR15 QCPU User s Manual Hardware Design Maintenance and Inspection Q Corresponding MELSECNET H Network System Reference Manual PLC to PLC network Q Corresponding MELSECNET H Network System Reference Manual Remote network Ethernet interface module QJ71E71 QJ71E71 B2 QJ71E71 100 Q Corresponding Ethernet Interface Module User s Manual Hardware Q Corresponding Ethernet Interface Module User s Manual Basic Q Corresponding Ethernet Interface Module User s Manual Application Q Corresponding Ethernet Interface Module User s Manual Web function Q Corresponding MELSEC Communication Protocol Reference Manual CC Link module QJ61BT11 QJ61BT11 Control amp Communication Link System Master Local Module User s Manual Hardware GX Configurator CC Version 1 Operating Manual CC Link System Master Local Module User s Manual Serial communication module QJ71C24 QJ71C24 R2 Serial Communication Module User s Manual Hardware Q Corresponding Serial Communication Module User s Manual Basic Q Corresponding Serial Communication Module User s Manual Application Q Corresponding MELSEC Communication Protocol Reference Manual 16 1 16 COMMUNICATIONS VIA NETWORK SS eee 16 1 Specifications of The Communications via Network 1 2 Communications via network of the Motion CPU is possible by SW6RN GSVEP Access range of the communications via network of
185. G Dev Starting no CPU CPU share memory G Dev starting No 1 u8 Not 18 No2 oo ota 0757 wo eo of pes Nos of of No Automatic refresh setting 3 PLC CPU CPU No 1 Motion CPU CPU No 2 Send range for each CPU CPU side device Send range for each CPU CPU side device CPU No 1 CPU share memory G Dev Starting M1824 CPU CPU share memory G Dev starting 4 maj maj nor asf gt noz of of 1 o3 6 nos e J gt piedi pp spp esee Note A dummy setting is made so that an excessive device may not be refreshed in the Motion CPU No 2 Automatic refresh setting 4 PLC CPU CPU No 1 Motion CPU CPU No 2 No 1 nme os nor Lez ce ce s d icm qe cro cr i mr Nos eo oef nos oo gt nos 1 Note A dummy setting is made so that an excessive device may not be refreshed in the Motion CPU No 2 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM Automatic refresh setting 1 Motion CPU CPU No 3 Send range for each CPU CPU side device CPU share memory G Dev starting x noa ej es E E EET No 3 1 7 MH vi Note A dummy setting is made so that an ex
186. G0 to G4095 Operation control program Up to approx 64k bytes 32766 steps F FS Number of blocks line program Up to 8192 blocks in the case of 4 steps min blocks Up to 128 comment included Transition program Up to 64 operand constants word device bit devices Up to 32 levels Calculation expression bit conditional expression Calculation expression bit conditional expression comparison conditional expression Number of multi executed programs Up to 256 Number of multi active steps Up to 256 steps all programs Normal task Executed in motion main cycle Executed in fixed cycle IXI eure T 0 88ms 1 77ms 3 55ms 7 11ms 14 2ms Execute specification Execution Executed SRM External Executed when input ON is set among interrupt module QI60 task masked interrupt 16 points PLC interrupt Executed with interrupt instruction S P GINT from PLC CPU Executed when input ON is set among interrupt module QI60 NMI task 1 16 points Number of I O points X Y 8192 points Number of real I O points PX PY 256 points Internal relays M ys Total L 8192 points Latch relays L Link relays B 8192 points Number of devices Annunciators F 2048 points Device In the Motion CPU oni Special relays 256 points Included the positioning Data registers D 8192 points Link registers W 8192 points dedicated device Special registers D 256 points Number of
187. HGA C instruction changes the within one revolution current value of the specified cam shaft to the address 2 The cam shaft may be starting 3 The used axis No can be set within the following range Q172CPU N Q173CPU N Axis 1 to 8 Axis 1 to 32 4 The address which made the current value change by the CHGA C instruction is valid after also the power supply turned off 9 MOTION CONTROL PROGRAMS Program example A program which made the current value change control of the cam shaft within one revolution current value change is described as the following conditions 1 Current value change control conditions a The current value change control conditions are shown below Item Setting Servo program No Output axis No Current value change address 2 Servo program lt K10 gt CHGA C Cam shaft within one revolution Axis 2 0 current value change control Output axis No 2 Current value change address 0 1 Cam shaft within one revolution current value changing instructions If a new within one revolution current value is outside the range 0 to one revolution pulse count 1 a minor error Note 6120 occurs and current value change is not Set the current value change program the cam shaft within one revolution within the virtual mode program No range set in program mode assignment When PLC ready flag M2000 or PCPU ready flag M90
188. HGT S P DDRD and S P DDWD sum table simultaneously and the Motion CPU cannot process them 5 MOTION DEDICATED PLC INSTRUCTION 4 Self CPU operation data area used by Motion dedicated instruction 30H to 33H The complete status of the to self CPU high speed interrupt accept flag from CPUn is stored in the following address Shared CPU memory address Description To self CPU high speed interrupt 30H 48 accept flag from CPU1 To self CPU high speed interrupt This area is used to check whether to self CPU high speed interrupt accept 31H 49 accept flag from CPU2 flag from CPUn can be accepted or not 32H 50 To self CPU high speed interrupt 9 To self CPU high speed interrupt accept flag from CPUn accept usable accept flag from CPU3 1 To self CPU high speed interrupt accept flag from CPUn accept disable To self CPU high speed interrupt 9857 accept flag from CPU4 5 MOTION DEDICATED PLC INSTRUCTION Shared CPU memory address 204H 516 205H 517 206H 518 207H 519 208H 520 20CH 524 20DH 525 5 System area used by Motion dedicated instruction 204H to 20DH The complete status of the each flag is stored in the following address Start accept flag Axis1 to 16 Start accept flag Axis17 to 32 Speed changing flag Axis1 to 16 Speed changing flag Axis17 to 32 Synchronous encoder current value changing flag Axis1 to 12 Cam axis within one revolution cur
189. ICES a No 20 Main F20 SET M9028 Clock data read request on relay M109 SET M100 Stop ON Initials set i Stop The subroutine starts 170 stop and 150 Programming operation Programming operation G20 The subroutine that motion control was executed at the time of the forced stop M9076 Did you release a forced listop Wh ocea sionis released Ie did not stop and which started it for a ac while goes on and it is executed by F110 servo on command are turned on this sample program SET M2042 All axes servo ON command Motion control is stopped after servo Ilis ON OFF is detected at the time of the forced stop in the inside of the subroutine Real output PY is turned off at the time of the forced stop G21 Resuming of the motion control is Note 1 A subroutine the start 9 1M9076 Did you turn on forced 89 if necessary executed after all the axis servo ON listop command were turned in this Note 2 Actual output is turned off if necessary Note 3 The occurrence detection of servo error and so on is added to the stop condition with the forced stop if necessary program and the detection of servo ON was done on the subroutine side when a forced stop is released F25 DOUT PY10 H0000 PY10 to PY1F
190. ION CONTROL PROGRAMS FIFS 7 6 4 Arcsine ASIN ASIN S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculati data Bit device a8 bit 32 bit floating Coasting 16 bit 32 bit floating 908 Ion conditional conditional integer integer integer integer type expression int expression expression type L type K H i i type F type K dad aoad aoa e Usable Setting data Setting data Data type of result SIN value data on which SIN 1 arcsine operation S Floating point type will be performed Functions 1 SIN j arcsine operation is performed on the SIN value data specified with S to find an angle 2 The SIN value specified with S must be within the range 1 0 to 1 0 3 The operation result is in an angle degree unit 4 If S is an integer type it is converted into a floating point type before operation is performed Errors 1 An operation error will occur if S is outside the range 1 0 to 1 0 or S is an indirectly specified device and its device number is outside the range Program examples 1 Program which performs the SIN i arcsine operation of DO and substitutes the result to 0F 0F ASIN DO 3 2 1 0 939 0 7 OPERATION CONTROL PROGRAMS FIFS 7 6 5 Arccosine ACOS ACOS S Number of basic steps U
191. J Link relay Annunciator jAnnunciator 0 T wo TT Jo Latch 1 It is possible to clear using the latch clear Latch 2 Clearing using the latch clear is disabled c PLC module setting Type of the Number of Occupation I O response Base Slot No module points device time 000 00F cPUbaseunit 1 10mg Output 010 01F_ CPU paseunt 2 Parameter setting of the Qn H CPU No 1 PC parameter item Qn H parameter Description Ht Number of pU_ _2medules__ Operation mode The error Speratng mode in the CPU stop Out of group input settings Out of group pr a The output condition outside the group is not taken pr Refresh setting Setting No 1 CPU side device eeuna J a N mE eme 7 M2400 M3199 Setting No 2 CPU side device First device M2400 Start END bo Start END CPU No 1 CPU No 2 D639 APPENDICES APPENDIX 2 4 Continuation execution example at the subroutine re start by the Motion SFC program 1 Explanation of the operation This is the program example which execute continuously from the motion control step which stopped on the way when it re started after stopping the subroutine program with the clear step during the motion control is running The servo is turned on by the forced stop release and the positioning control of the 2 axes liner interpolation is executed when PX4 is ON in this program One cycle op
192. J1 to J32 Q172CPU N J1 to J8 OFF Start accept usable 206H 518 ON Start accept disable 207H 519 v 206H 518 address 16 207H 519 address J32 5 MOTION DEDICATED PLC INSTRUCTION Errors The abnormal completion in the case shown below and the error code is stored in the device specified with the complete status storing device D2 Complete status Note Error code H 4 00 Error factor Corrective action The specified device cannot be used in the Motion CPU Or it is outside the device range Confirm a program The instruction for the Multiple CPU system which did not be correspond with operating system software of and correct it to a the Motion CPU was executed correct PLC 4C06 Axis No set by CHGV instruction is injustice 4609 CPU No of the instruction cause is injustice Note 0000H Normal The error flag SMO is turned on an operation error in the case shown below and an error code is stored in SDO Note 3 The CPU No to be set by First I O No of the target 2110 CPU 16 is specified The self CPU by First I O No of the target CPU 16 pus is specified Confirm a program 2417 The CPU except the Motion CPU by First I O No of and correct it to a the target CPU 16 is specified correct PLC The instruction is composed of devices except usable program 4004 devices 4100 Since 0 to 3DFH 3E4H by First I O No of th
193. L PROGRAMS FIFS 7 6 11 Round off RND RND S Number of basic steps Usable data Usable Data Bit device Setting 64 bit 64 bit Bit Comparison 16 bit 32 bit 16 bit 32 bit i Calculation ii p R floating Coasting floating conditional conditional integer integer j integer integer type a ae timer Eom expression expression type type L type K H K H L Usable data Setting data Setting data Data type of result S Data whose fractional portion will be rounded off Data type of S Functions 1 The rounded off fractional portion value of the data specified with S is found 2 If S is a negative number the absolute value of S is found and its fractional portion is rounded off and signed 3 If S is an integer type its value is returned unchanged with no conversion processing performed Errors 1 An operation error will occur if S isan indirectly specified device and its device No is outside the range Program examples 1 Program which finds the rounded off fractional portion value of DOF and substitutes the result to 0F 0F RND DOF 3 01 pem ED ED EMEN 2 Program which finds the rounded off fractional portion value of DAF and substitutes the result to when D4F is a negative number 0F RND D4F 3 2 D5 D4 o VES aa GN 7 OPERATION CONTROL
194. Latch relay L1000 Link relay B3FF Annunciator FO M9000 O usable X unusable Bit devices Special relay lt Restrictions on write enabled bit devices gt 1 Write to device X is allowed only within the input module non installed range 2 Special relay has predetermined applications in the system Do not perform write to other than the user setting device Note SET RST is disabled in the following device ranges SET RST disable range M2001 to M2032 Start accept device Note DOUT output disabled in the following device ranges DOUT output disable range Designation including M2000 to M2127 M9000 to M9255 1 OVERVIEW Table of the operation control transition control specification continued Description Read Write Normal Event NMI example Dataregister D O O lLinkregister Specialregister p O O Motionregister o o did Coasting timer dem O x CAUTION Restrictions on write enabled word devices 1 Special register has predetermined applications in the system Do not perform write to other than the user set device 16 bit integer type signed 32768 to 32767 K10 D100 etc 16 bit integer type unsigned 0 to 65535 32 bit integer type signed 2147483648 to 2147483647 2000000000 W100L etc 32 bit integer type unsigned 0 to 4294967295 64 bit floating point type IEEE format 1 23 10F etc double precision real number typ
195. M4279 M4599 M4280 M4600 to Axis 15 status to Axis 31 status M4299 M4619 M4300 M4620 to Axis 16 status to Axis 32 status M4319 M4639 1 22 1 OVERVIEW Detailes of each axis M4000 20n Positioning start complete M4001 20n Positioning complete M4002 20n M4003 20n Command in position M4004 20n Speed controlling al 20n Unusable 4006 200 20n M4007 20n Error detection 4008 20 M4009 20n M4010 20n Unusable M4018 20n M4019 20n M code outputting signal Note 1 n in the above device No shows the numerical value which correspond to axis No Q173CPU N Axis No 1 to No 32 n 0 to 31 Q172CPU N Axis No 1 to No 8 n 0 to 7 Note 2 The unused axis areas in the mechanical system program can be used as an user device 1 23 1 OVERVIEW 4 Table of the virtual servomotor axis command signals SV22 only Device No M4800 to M4819 M4820 to M4839 M4840 to M4859 M4860 to M4879 M4880 to M4899 M4900 to M4919 M4920 to M4939 M4940 to M4959 M4960 to M4979 M4980 to M4999 M5000 to M5019 M5020 to M5039 M5040 to M5059 M5060 to M5079 M5080 to M5099 M5100 to M5119 Signal name Axis 1 command signal Axis 2 command signal Axis 3 command signal Axis 4 command signal Axis 5 command signal Axis 6 command signal Axis 7 command signal Axis 8 command signal Axis 9 command signal Axis 10
196. MULTI EXE ERROR Module No Note 1 Multiple CPU start error MULTI CPU ERROR Module No Note 1 CPU error except for PLC CPU CONT UNIT ERROR Note 4 Note 5 servo Continue other at Stop Run error OFF other error Except for PLC CPU J ES ESI ES ESI w w w w o o N Note 6 19 16 19 ERROR CODE LISTS Error code Error contents and cause Parameter contents have been destroyed The number of CPU modules set in the parameter differ from the real installation in a Multiple CPU system Multiple CPU automatic refresh setting is any of the followings in a Multiple CPU system 1 When a bit device is used as a refresh device a number except a multiple of 16 is set as the refresh first device 2 A non specifiable device is specified 3 The number of transmitting points is an odd number In a Multiple CPU system a CPU fault occurred at the CPU where all station stop by stop error of CPU was selected in the operating mode It occurs in the CPU except for the CPU that suspension of a system is chosen In a Multiple CPU system CPU No 1 resulted in stop error at power on and the other CPU cannot start This error occurred at CPU No 2 to 4 At initial communication in a Multiple CPU system no response is given back from the target CPU of initial communication 1 A fault CPU is installed i
197. NSTRUCTION d Use a flag in the shared CPU memory which correspond with each instruction not to execute multiple instructions to the same shaft of the Motion CPU of same CPU No for the inter lock condition Program example 1 e S P SFCS S P SVST S P CHGA S P CHGVS P CHGT S P DDWR S P DDRD instructions cannot be executed simultaneously Therefore it is necessary to take an interlock by to self CPU high speed interrupt accept flag from CPUn One PLC CPU can be executed max 32 Motion dedicated PLC instructions simultaneously using to self CPU high speed interrupt accept flag from CPUn Except S P GINT instruction If 33 instructions or more are executed the PLC CPU returns the OPERATION ERROR 4107 f When multiple Motion dedicated PLC instructions are directly executed because one contact point turns on an instruction may not be executed In this case create a program with reference to program example Program example 2 g When the Motion dedicated function of the operation control step Fn FSn and Motion control program Kn in Motion CPU Since there is no flag which can be distinguished on instruction execution in the PLC CPU it is necessary to taken an interlock by user program Program example 3 Program example 1 Program which executes multiple instructions to the same shaft of the Motion CPU of same CPU No To self CPU high Start accept Start accept speed interrupt flag of t
198. Note 1 32 axes only svcampr3 bin Note 1 Cam data files of cam No 201 to 264 svcampr4 bin Nete 1 Cam data files of cam No 301 to 364 19 Backup data file Svbackup bin Information file 1 for backup and load svbackup2 bin Information file 2 for backup and load svbackup6 bin Information file 6 for backup and load gt 20 Motion register file modevice bin Motion register 0 to 8191 reading file Only user device range 0 to 7999 is written Device memory file devmem bin Devices X Y MIL B F D W Special relay Special register except reading file Q1 ee devset inf Device setting information file of device setting screen gt 22 ma Patem wa Data files of Multiple CPU setting I O assignment etc 23 Setting information fie communtint Communication setting information files temp Program editing temporary directory 12 2 12 USER FILES 12 3 Online Change in The Motion SFC Program The online change is used to write to the Motion SFC program to the internal SRAM during the positioning control M RUN LED ON Program correction and a check of operation can be executed repeatedly at the Multiple CPU system start Data in which online change is possible are shown below Applicable data Online change System setting data System setting ae ee Servo setting data NEZ EM Motion SFC program Motion SFC parameter x Online change is possible for t
199. O OS Device description Device No n specifyied ranges Input relay Xn PXn 0 to 1FFF Output relay Yn PYn 0 to 1FFF Internal relay 0 to 8191 Lathreay Jo oonan O O Annunciator o Fn to 2087 a When using the device in DIN or DOUT as batch bit data specify n as a multiple of 16 7 OPERATION CONTROL PROGRAMS 3 Indirect specification of device No In the above word bit device descriptions device No n can be specified indirectly a Indirect specification of device No n using word device The word device which the device No was specified indirectly cannot be used You can use the 16 bit and 32 bit integer type word devices for indirect specification The 64 bit floating point type cannot be used Description examples Good example Bad example D10 D D5 b Indirect specification of device No n using word device using operation expression Device No can be specified indirectly by calculation expressions which use the following data and operators 16 bit integer type word device 32 bit integer type word device Usable data 16 bit integer type constant 32 bit integer type constant Addition Subtraction Multiplication Usable operators The word device which the device No is specified indirectly cannot be used Only one operator may be used Description examples Good example Bad example D10 K5
200. Output Composite I O Interrupt nteligent Input High speed input Composite I O Interruptiintelligent Input module Output module Input Output composite Input High speed input Output Operation is abnormal An error does not occur module Interrupt Intelligent Error 2100 SP UNIT LAY ERR Q172LX Q172EX Q173PX Interrupt Operation is abnormal An error does not occur Input High speed input Output Error 2100 SP UNIT LAY ERR Interrupt module QI60 Composite I O Intelligent Operation is abnormal An error does not occur All module Not used Operation is abnormal An error does not occur 1 93 Analogue input module Input High speed input Output Error 2100 SP UNIT LAY ERR Analogue output module Composite I O 1 OVERVIEW c Example of setting I O assignment to X1F PYO to PY1F X40 to X5F Y60 to Y20 to 2 Q a a a CPU CPU No 1 No 2 Modules controlled by CPU No 2 Intelligent 32 points Modules Modules Modules controlled controlled controlled by CPU by CPU by CPU No 2 No 1 No 1 Output Input Output 32 points 32 points 32 points Assignment Settings PLC CPU setting in GX Developer Q parameter setting E I stop KOEN AKI a 4 i Setting of type number of points Setti
201. P DDWR is not synchronized with data refresh via the automatic refresh function of shared CPU memory Do not issue S P DDRD S P DDWR instructions to the devices whose data in shared CPU memory is being refreshed 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 3 4 Shared CPU Memory Shared CPU memory is used to transfer data between the CPUs in the Multiple CPU system and has a capacity of 4096 words from OH to FFFH Shared CPU memory has four areas self CPU operation data area system area automatic refresh area and user defined area When the automatic refresh function of shared CPU memory is set the area corresponding to the number of automatic refresh points starting from 800H is used as the automatic refresh area The user defined area begins from the address immediately next to the last address of the automatic refresh area If the number of automatic refresh points is 18 12H points the area from 800H to 811H becomes the automatic refresh area and the area after 812H becomes the user defined area The diagram below shows the structure of shared CPU memory and accessibility from a PLC program Self CPU Other CPU Shared Write Read Write Read OH Self CPU operation to data area Not allowed Not allowed Not allowed Allowed IFFR a e Ac 200H to System area Not allowed Not allowed Not allowed Allowed _ _
202. PROGRAMS FIFS 7 6 12 Round down FIX FIX S Number of basic steps Usable data Usable Data Bit device Setting 64 bit 64 bit Bit Comparison 16 bit 32 bit 16 bit 32 bit OF Calculation j floating Coasting 7 floating conditional conditional integer integer integer integer type expression as timer type type L type K H K H L Usable data Setting data Setting data Data type of result S Data whose fractional portion will be rounded down Data type of S Functions 1 The largest integer not greater than the data specified with S is found 2 If the S value is positive the absolute value will be smaller and if it is negative the absolute value will be greater 3 If S is an integer type its value is returned unchanged with no conversion processing performed Errors 1 An operation error will occur if S isan indirectly specified device and its device No is outside the range Program examples 1 Program which finds the rounded down fractional portion value of DOF and substitutes the result to 0F 0F FIX DOF 3 01 EC DERI 2 Program which finds the rounded down fractional portion value of DAF and substitutes the result to when D4F is a negative number 0F FIX D4F 3 2 D5 D4 34 0 t 54 7 OPERATION CONTROL PROGRAMS
203. PU 1 95 1 OVERVIEW 1 6 3 Setting I O No The procedure for the I O No setting for the Motion CPU in System Settings of SW6RN GSVLPP is shown below In the Motion CPU by setting a module used each CPU base or extension base slot in System Settings the control CPU of the applicable slot is assigned as the self CPU Input modules output modules and composite I O modules require an I O No to be set Refer to the help of SWG6RN GSVLIP for the detailed operating procedure on the System Settings screen System Settings tting GSV22P MT Developer few Opton Communication Update Help 2180 vj 1 Double click the slot position display the Motion Slot Settings dialog box 65 2 CPU 0173 Project C Program Mest 4 lt Motion Slot Settings gt Motion Module Servo External Signal Module C 0172x C 0160 2 Select the I O module Sync Enco Input Module 0172 C Analogue Input Module C Analogue Output Modul C 2 51 solet C 0172 52 C QI72EX S3 MAN PLS Input Module C 0173 C 0173 51 cames 3 Click Detail Setting 4 Select applicable module type and number of points for the I O module to be used HI SPD Input C 120 Mixed Same C 10 Mixed Half In Out 5 Set the first I O No PX No PY No 6 Click OK Note Display of system setting and motion slot setting are different dep
204. PU system Each Motion CPU controls the servo amplifiers connected by SSCNET cable Distributed system configuration a By distributing such tasks as servo control machine control and information control among multiple processors the flexible system configuration can be realized b You can increase the number of control axes by using a multiple Motion CPUs It is possible to control up to 96 axes by using three Q173CPU N s c You can reduce the PLC scan time of the overall system by using a multiple PLC CPUs and distributing the PLC control load among them Communication among the CPUs in the Multiple CPU system a Transmission of data among the CPUs in the Multiple CPU system is performed automatically using the multiple CPU automatic refresh function This makes it possible to use the device data of the other CPUs as the device data of the self CPU b You can access the device data and start the Motion SFC program from the PLC CPU to the Motion CPU by Motion dedicated PLC instruction 1 OVERVIEW 1 4 2 Installation of PLC CPU and Motion CPU Up to a total four PLC CPUs and Motion CPUs can be installed in the CPU base unit in the four slots starting from the CPU slot the slot located to the immediate right of the power supply module to slot 2 in series There must be no non installation slot left between a PLC CPU and a Motion CPU or between Motion CPUs When two or more Motion CPUs are installed they are installed t
205. ROGRAMS 2 The word devices that may be set at D S n and D1 are shown below F Note 1 Note 1 Note 2 eT ere Word devices Bit devices etting data DAAA OAA Note 1 The device No cannot be specified indirectly Note 2 Specify a multiple of 16 as the device number of bit data Note 3 Special relays M9000 to M9255 and dedicated devices M2000 to M2399 cannot be set Note 4 PX PY cannot be set 3 When data are read normally from the target CPU specified with S1 the reading complete flag M9216 to M9219 CPU No 1 M9216 CPU No 2 M9217 CPU No 3 M9218 CPU No 4 M9219 corresponding to the target CPU turns on If data cannot be read normally the reading complete flag of the target CPU does not turn on 4 Adjust an executive task the number of transfer word referring to the operation processing time so that this instruction may not obstruct the execution of the motion operation because processing time becomes long in argument to the number of words n to be written When multiple MULTR instructions are executed to the same CPU simultaneously the reading complete flag M9216 to M9219 turns on as a result of MULTR that it is executed at the end c1 a 6 Reset the reading complete flag M9126 to M9219 using the user program Errors 1 An operation error will occur if Number of words n to be read is outside the range of 1 to 256 The shared CPU memory first address S2 of t
206. Start When the subroutine start step is executed control starts the specified program and then shifts to the next as shown below Since the start source and destination Motion SFC programs are executed in parallel The started program ends at END execution SUB MAIN p SUB 3 3 SUB 2 SUB 2 zm END Shift END URS Aue 2 VES END END WAIT Except WAIT Subroutine call Subroutine start Errors 1 When the specified Motion SFC program does not exist at a subroutine call start the Motion SFC program error 16005 will occur and stops to execute the Motion SFC program at the error detection 2 When the called started Motion SFC program is already starting at a subroutine call start the Motion SFC program error 16006 will occur and stops to execute the Motion SFC program at the error detection 3 When the self program is started at a subroutine call start the Motion SFC program error 16110 will occur and stops to execute the Motion SFC program at the error detection 4 When the subroutine to be called started at a subroutine call start in the Motion SFC program 2 running which was called started from the Motion SFC program 1 is the Motion SFC program 1 call source start program the Motion SFC program error 16111 will occur and the call start source Motion SFC program 2 running is stopped at the point of error detection 6 12 6 MOTION SFC PROGRAMS Instructions There are no restricti
207. Starting angle Amplitude Frequency Reference axis No Control unit Speed limit value Acceleration time Deceleration time Rapid stop deceleration time Torque limit value Deceleration processing at stop input Allowable error range for circular interpolation S curve ratio Repeat condition Program No Command speed FIN acceleration deceleration WAIT ON OFF pt Pde rect Must be set A Set if required 1 Only reference axis speed specification 2 B indicates a bit device 9 MOTION CONTROL PROGRAMS 9 2 Servomotor Virtual Servomotor Shaft Current Value Change The current value of the specified axis is changed in the real mode The current value of the specified virtual servomotor shaft is changed in the virtual mode Items set on peripheral device Circular Parameter block Other at stop input Dwell time Control un Allowable error range for circular interpolation S curve ratio Speed limit value Servo Positioning Number of instruction method Control axes Parameter block No Address travel Command speed Torque limit value Auxiliary point Central point Acceleration time Deceleration time Rapid stop deceleration time Torque limit value Deceleration processing FIN acceleration deceleration Absolute Disable Item which must be set A Item which is set when required Controls Control using CHGA instruction 1 Executing t
208. THE MOTION CPU PROGRAM 4 STRUCTURE OF THE MOTION CPU PROGRAM Motion CPU programs is created in the Motion SFC of flowchart format The motion control of servomotors is performed using the real mode servo programs specified by motion control steps in a Motion SFC program in SV13 SV22 real mode Virtual servomotors in a mechanical system program are controlled using the virtual mode servo programs specified by motion control steps so as to enable synchronous control in SV22 virtual mode Refer to the documents below for the details of Motion SFC programs motion control in real mode and motion control in virtual mode Item Reference manual Motion SFC program Section 6 in this manual Motion control in SV13 SV22 real mode Servo program Q173CPU N Q172CPU N Motion controller SV13 SV22 Programming Manual REAL MODE Motion control in SV22 virtual mode Mechanical system program Q173CPU N Q172CPU N Motion controller SV22 4 Programming Manual VIRTUAL MODE 4 STRUCTURE OF THE MOTION CPU PROGRAM 4 1 Motion Control in SV13 SV22 Real Mode 1 System with servomotor is controlled directly using the servo program in SV13 SV22 real mode 2 Setting of the positioning parameter and creation of the servo program Motion SFC program are required 3 The procedure of positioning control is shown below 1 Motion SFC program is requested to start using the S P SFCS instruction of the PLC program Motion
209. The subroutine starts a No 160 Re start continuation after all axes servo are turned on and servo on of 1 axis and 2 axes is confirmed when a forced stop is released No 160 Re start continuation is stopped at the time of the forced stop and actual output PY is turned off 1 This program jumps corresponding to the value of the continuation point 100 of the following 2 1 to 9 100 Jump destination Following 2 1 Following 2 3 30 2 The following motion control is executed 1 This program stands by until PX4 is turned on Restant Normal Netaiad 2 10 is set on continuation point 100 continuation 3 1 axis 2 axes are located in 0 0 in the linear control absolute 2 axes positioning 4 Positioning completion signal on of 1 axis 2 axes is confirmed and 20 is set on the continuation point 100 5 In position on of 1 axis and 2 axes is confirmed 6 1 axis 2 axes are located in 1000000 2000000 in the linear control absolute 2 axes positioning 7 Positioning completion signal on of 1 axis 2 axes is confirmed and 30 is set on the continuation point 100 8 This program stands by until PX4 is turned off 9 0 is set on continuation point 100 APP 25 APPENDICES a No 20 Main F20 SET M9028 Clock data read request on 100 0 Continuation point 0 G20 M9076 Did you release a forced listop F110 SET M2042 All ax
210. To release the errors follow the steps shown below 1 Eliminate the error cause 2 Store the error code to be released in the special register D9060 3 Turn the special relay M9060 off to on 4 The target error is released After the CPU is reset by the release of error the special relays special registers and LEDs for the error are returned to the states under which the error occurred If the same error occurs again after the release of the error it will be registered again 19 18 APPENDICES APPENDICES APPENDIX 1 Processing Times APPENDIX 1 1 Processing time of operation control Transition instruction 1 Operation instructions Processing time of operation instruction ATI gt Q173CPU N Q172CPU N Classifications Symbol Instruction Operation expression Unit us u Substitution 1 2 9 72 13 50 DA H OL 2L 4L Addition 3 OF 4F 8F 0 1 2 OL 2L 4L Subtraction H OF 4F 8F 11 52 1 2 Q T e e co o N 16 68 13 26 19 20 10 02 13 14 10 68 22 50 12 06 19 26 8 76 D802 12 66 8 46 18 12 12 30 19 14 0 1 2 10 08 13 02 OL 2L 4L 13 62 Division FS 205 ZOF AHAF 28F 14 16 20 04 D800L D802L D804L 20 76 40 74 Bit inversion D800 D801 11 22 Bit operation r N r A r e e e n e Az e co
211. U D30 A31TU DNO be sure to use the Q172CPUN T Note 6 A31TU D30 A31TU DNO corresponds to only Japanese It does not correspond to display for English 1 OVERVIEW b When not using the external battery o il Power supply module QCPU I O module Intelligent unction module of the Q series nannan CPU base unit Q33B Q35B Q38B Q312B Motion module Q172LX Q172EX Q173PX ananan Extension cable QCLIB Motion CPU module Q172CPU N Short circuit connector for the teaching unit Q170TUTM SSCNET cable SSCNET cable for MR H BN for MR J20 B Q172HBCBLUM Q172J2BCBLUM Cable for the teaching unit Q170TUDOCBLOM A Servo amplifier MR H BN Servo amplifier MR J2D B Short circuit connector for the teaching unit A31TUD3TM Motion module Q172LX Q172EX Q173PX Q6LB extension base unit Q63B Q65B Q68B Q612B Power supply module I O module Intelligent function module of the Q series Teaching unit A31TU D3LI A31TU DND Extension of the Q series module mimm f L Note 1 Note 2
212. U N Q172CPU N Servo external signals Q172LX 4 modules 1 module interface module Serial absolute synchronous Q172EX f 6 modules 4 modules interface module Note 1 4 modules Note 1 3 modules Note 1 When using the incremental When using the incremental Manual pulse generator Q173PX serial encoder serial encoder interface module Note 2 1 module 1 module Input module QxO QXLI S1 Output module QHO QXLDIYLI Total 256 points 6 OY 6 Analogue input module Note 3 Q6LIAD L 1 Q6LIDALI Analogue output module Note 3 Q6OIDA O Interrupt module aio _ mode Note 1 SV22 only Note 2 When the Manual pulse generator and the serial encoder are used at the same time with the SV22 the When using only the Manual When using only the Manual pulse generator pulse generator Input output composite module Q173PX installed in the slot of the smallest number is used for manual pulse generator input Note 3 A maximum of 4 modules analogue input modules and analogue output modules can be used 2 Modules controlled by a Motion CPU cannot be installed in the extension base unit QA1S6L 1B Install them in the CPU base unit or extension base unit Q6LB 3 A total of eight base units including one CPU base unit and seven extension base units can be used However the usable slots number of modules are limited to 64 per system including vacant slots If a module is in
213. U No 2 Send range for each CPU CPU side device Send range for each CPU CPU side device CPU CPU share memory G Dev Starting no CPU CPU share memory G Dev starting No 1 u8 ns No2 amp o 0757 _no2 Des nos i T noa o _ ___ Automatic refresh setting PLC CPU CPU No 1 Motion CPU CPU No 2 Send range for each CPU CPU side device Send range for each CPU CPU side device CPU No 1 CPU share memory G Dev Starting M1824 CPU CPU share memory G Dev starting L non a oz ess Lez a s ha 9 cess I Automatic refresh setting 4 PLC CPU CPU No 1 Motion CPU CPU No 2 Send range for each CPU CPU side device Send range for each CPU CPU side device CPU CPU share memory G Dev starting D758 CPU CPU share memory G Dev starting noa dE O In the case of the combination PLC CPU 1 module Motion CPU 2 modules with SV22 make all the devices of all the CPUs refresh as mentioned above because the setting that Read Write is made of the PLC CPU cannot be executed 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 3 2 Control Instruction from the PLC CPU to The Motion CPU Motion dedicated instructions Control can be instructed f
214. U User s Manual Multiple CPU System This manual explains Multiple CPU system overview system configuration I O modules communication SH 080485ENG between CPU modules and communication with the I O modules or intelligent function modules 13JR75 Optional QCPU Programming Manual Common Instructions This manual explains how to use the sequence instructions basic instructions application instructions and SH 080809ENG micro computer program 13JW10 Optional QCPU Q Mode QnACPU Programming Manual PID Control Instructions This manual explains the dedicated instructions used to exercise PID control Sess Optional QCPU Q Mode QnACPU Programming Manual SFC This manual explains the system configuration performance specifications functions programming SH 080041 debugging error codes and others of MELSAP3 13JF60 Optional Module Type Building Block User s Manual This manual explains the specifications of the I O modules connector connector terminal block SH 080042 conversion modules and others 13JL99 Optional MEMO 1 OVERVIEW 1 OVERVIEW 1 1 Overview This programming manual describes the Motion SFC program and Multiple CPU system of the operating system software packages SW6RN SV13QD SW6RN SV22QL for Motion CPU module Q173CPU N Q172CPU N In this manual the following abbreviations are used Generic term Abbreviation Q173CPU N Q172CPU N or Q173CPUN Q172CPUN Q173CPUN T Q172CPUN T
215. U operating system software 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM The following tasks can be performed between the PLC CPU and the Motion CPU in the Multiple CPU system Data transfer between CPUs by the automatic refresh function of the shared CPU memory Control instruction from the PLC CPU to Motion CPU by the Motion dedicated Instructions Reading writing device data from the PLC CPU to Motion CPU by the dedicated instruction 3 1 Automatic Refresh Function of The Shared CPU Memory 1 Automatic refresh function of the shared CPU memory a The automatic refresh function of the shared CPU memory is executed automatically the data transfer between CPUs in the Multiple CPU system during END processing in the PLC CPU or during main cycle processing free time except motion control in the Motion CPU When the automatic refresh function is used the data in the device memory of the other CPU is read automatically so the device data of other CPU can be used as the device data of self CPU The diagram below illustrates the automatic refresh operation involving 32 points BO to B1F for the PLC CPU of CPU No 1 and 32 points B20 to B3F for the Motion CPU of CPU No 2 CPU No 1 PLC CPU CPU No 2 Motion CPU Shared CPU memory Shared CPU memory Self CPU operation data area Self
216. WN the CPU module is performing an operation and the value is stored in BIN code When error is found as a result of self diagnosis error No is stored in BIN code Refer to 19 4 Multiple CPU Error Codes for details of the error code The age A D the rightmost two digits when data on D9008 are updated Diagnostic error and the month stored with a BCD code two digits occurrence B15 to B8B7 to Bo Example October 1995 Year Month Year 0 to 99 Month 1 to 12 H9510 Dignostic error D9008 Diagnostic error number The day when data D9008 are updated and the hour stored with a BCD Diagnostic error code two digits occurrence time B15 to B8B7 to BO Example 25st 10 a m Day Hour Day 1 to 31 Hour 0 to 23 H2510 Diagnostic error occurrence time The minute when data on D9008 are updated and the second stored with a S Occur an error Diagnostic error BCD code two digits occurrence time B15 to B8B7 to Bo Example 35 min 48 sec Minute Second Minute 0 to 59 Second 0 to 59 H3548 The classification code to judge the error information stored in the eror information D9014 is stored Error information Error information The following code is stored classfication classfication code 0 None 1 Module No CPU No Base No 2 Parameter No Error information to comply with the diagnostic error D9008 is stored There are following two types informatio
217. X1 11 10 D800 D801 9 48 OL H 2L HOF H4F D800F D804F D800 D801 OL 2L 8 16 Not equal to D800L D802L 12 06 OFI 4F ow D800F D804F 12 24 0 lt 1 1 68 D800 lt D801 990 __ OL lt 2L Less than D800L lt D802L 12 48 HOF HAF D800F lt D804F 13 80 0 lt 1 2 76 D800 lt D801 OL lt 2L Less than or equal to D800L lt D802L 13 02 OF lt H4F D800 lt D804F 11 40 HO gt HH 00 gt 0801 0L gt 2L More than D800L gt D802L OF gt HAF D800F gt D804F 11 40 0 gt 1 1 26 D800 gt D801 0L gt 2L 2 70 More than or equal to D800L gt D802L 12 06 HOF gt H4F D800F gt D804F 13 08 APP 7 APPENDICES 3 Processing time by the combination F and G program described in F G is NOP F alone G alone F G GSUB CLR JMP coupling co EA Q173CPU N Q172CPU N us 31 92 28 38 34 5 87 24 47 3 22 86 Parallel branch 2 Pcs Z i Jr At branch At coupling At branch At coupling Q173CPU N Q172CPU N us 50 82 50 34 83 94 116 34 Selective branch 2 Pcs Selective branch 5 Pcs G G G s G Q173CPU N Q172CPU N us 139 68 196 02 Note Varies greatly with the started or cleared program Long processing time may cause a Motion CPU WDT error or servo fault Especiall
218. X256 pcs Text file after conversion of Motion SFC chart of one Motion SFC program into list 4 Motion SFC code file SFC program name cod 256 pcs File after conversion of list file of one Motion SFC program into internal codes including comment information gt Glist 5 Glistfile g0000 bin to g4095 bin Goode Llst file of transition programs GO to G4095 6 G code file g0000 cod to g4095 cod La Flist File after conversion of transition program GO to G4095 list file gn bin O n 4095 into internal codes _FIFS list file f0000 bin to f4095 bin La Focode 7 List file of operation control programs F FSO to F FS4095 list file gt 8 F FS code file f0000 cod to f4095 cod File after conversion of operation control program F FSO to F FS4095 list file fn bin 0sns4095 into internal codes LOB 9a Motion SFC program conversion file control code sfcprog cod File where SFC code G code and F FS code files are combined and converted into CPU s Motion SFC program code memory storage format LEE 9b Motion SFC program conversion file text sfcprog bin File where list and F FS list files are combined and converted into CPU s Motion SFC program text memory storage format Note 2 The above two files are always updated simultaneously 10 Motion SFC parameter file sfcprm bin Motion SFC control parameter setting information files LG 11 K code file svprog bin
219. Y N selective branch continues to selective branch or parallel branch 1 6 MOTION SFC PROGRAMS E 6 11 Motion SFC Comments A comment can be set to each symbol of the step transition in the motion SFC chart Comments are shown in the Motion SFC chart by changing the display mode to Comment display on the Motion SFC program edit screen Since the Motion SFC comments are stored into the CPU code area performing read from PC displays the Motion SFC chart with comments Classification cation Symbol Comment Setting Program name START Comment setting cannot be made Motion control step Program start end Once execution type operation control step Scan execution type operation control step Subroutine call start Program namel step Clear step Program name Shift Up to 80 characters preread transition Displayed in 20 characters x4 lines WAIT WAITON Transition WAITOFF Shift Y N WAIT Y N Displayed in 16 characters x4 lines Pointer Pointer 6 MOTION SFC PROGRAMS 1 Motion SFC comments are stored into the CPU code area The CPU code area stores the Motion SFC chart codes operation control F FS program codes transition G program codes and Motion SFC comments Be careful not t
220. Y N are the same as those between Shift and WAIT Completion Y of condition A YIN transition is designed to describe the following two route selective branch program easily lt Y N transition is not used GO and G1 programs should be different only in acknowledgement negation of the conditional expressions Example 1 Example 2 G 0 G 0 G 1 MO 80 0 80 00 lt Y N transition is used Set the GO program shown above Example 1 or Example 2 as a GO program The Motion SFC program list codes after conversion are the same as the conventional description different only the Motion SFC chart representation Therefore automatic search for free G number automatic generation of program which conditional expression part is logically negated is performed during program editing to occupy two G programs Using Program editor to delete a Y N transition does not delete the automatically generated G program G1 below Use Program use list to delete that program 6 MOTION SFC PROGRAMS ee M d 1 Automatic free G number search feature a When not set to automatic numbering Searches for a free number forward starting with the set G number 1 at the Shift Y N or WAIT Y N symbol
221. amming Manual REAL MODE Q173CPU N Q172CPU N Motion controller SV22 Programming Manual VIRTUAL MODE for details of the positioning dedicated devices a Table of the internal relays e Overall configuration SV13 SV22 0 User device MO User device 2000 points to 2000 points M2000 Common device M2000 Common device t 320 points to 320 points M2320 Special relay allocated device Status 2320 Special relay allocated device Status t 80 points to 80 points M2400 M2400 Axis status Axis status 20 points x 32 axes 20 points x 32 axes to Real mode Each axis Virtual mode Output module M3040 M3040 Unusable Unusable to to M3072 Common device Command signal M3072 Common device Command signal to 64 points to 64 points Special relay allocated device Special relay allocated device to Command signal 64 points Axis command signal 20 points x 32 axes User device 960 points Command signal 64 points Axis command signal 20 points x 32 axes Real mode Each axis Virtual mode Output module Unusable Note 1 160 points Virtual servomotor axis status Note 1 2 20 points X 32 axes Mechanical system setting axis only Synchronous encoder axis status Note 2 4 points X 12 axes Unusable Note 1 1 OVERVIEW e Overall configuration Continued SV22 Purpose Device No Purpose M4800 Virtual servomotor axis command s
222. an be selected by specifying the I O No of the module 16 COMMUNICATIONS VIA NETWORK lt Example 1 gt Personal Personal Personal Personal computer computer computer computer C24 Serial communication module USB USB RS 232 MNET MELSECNET 10 H RS 232 RS 232 Ether Ethernet Network No 1 Qn H Q173 C24 MNET Qn H Q173 MNET C24 Qn H 9173 MNET MNET CPU CPU or CPU CPU or CPU CPU or or Network N Ether N Ether N Ether Ether No 2 RS 422 485 Network No 3 Network No 4 Qn H 0173 C24 MNET Qn H Q173 MNET CC CC Qn H Q173 MNET MNET CPU CPU or CPU CPU or Link Link CPU CPU or or N Ether N Ether N Ether Ether RS 422 485 RS 422 485 Network No 5 Qn H Q173 MNET Qn H 0173 CC Qn H 0173 CC MNET Qn H Q173 MNET CPU CPU or CPU CPU Link CPU CPU Link or CPU CPU or N Ether N N Ether N Ether x X OJO S489 x x Communication is possible Communication is possible Setting of the routing parameter is necessary X Communication is impossible 16 8 16 COMMUNICATIONS VIA NETWORK Personal computer RS 232 Personal computer Personal lt Example 2 gt computer C24 Serial communication module MNET MELSECNET
223. an error etc Thus an error correspondence interlock program specified in the instruction manual must be used Use the interlock program specified in the intelligent function module s instruction manual for the program corresponding to the intelligent function module 3 Transportation and installation NCAUTION Transport the product with the correct method according to the mass Q 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
224. an indirectly specified device and its device No is outside the range 7 OPERATION CONTROL PROGRAMS Program examples 1 Program which sets M100 when either of MO and XO is 1 SET M100 MO vo 9 M100 4 x 2 Program which sets M100 when 0 is equal to DO SET M100 0 DO M100 True Do 3 Program which sets YO unconditionally e 4 lt v 1j 7 OPERATION CONTROL PROGRAMS FIFS 7 9 2 Device reset RST RST D S Number of basic steps Usable data Usable Data Bit device Setting data 64 bit 64 bit Bit Comparison 16 bit 32 bit 16 bit 32 bit Df Calculation floating Coasting 7 floating conditional conditional integer integer integer integer type expression f point timer point expression expression type type L type F type K H K H L type K en a eee ee ee io Usable Note 1 PX is write disabled and cannot be used at D Note 2 M2001 to M2032 cannot be used at D Setting data Setting data Data type of result Bit data for device reset Bit logical type Condition data which determines whether device S true false reset will be performed or not 1 If the data specified with S is true the bit data specified with D is reset Functions 2 S can be omitted At this time the format
225. annot be used in Motion SFC program name 6 MOTION SFC PROGRAMS 6 5 Steps 6 5 1 Motion control step Symbol Starts the servo program Kn Motion control step Kn Specified range KO to K4095 Operations 1 Turns on the start accept flag of the axis specified with the specified servo program Kn n 0 to 4095 runnnig 2 Starts the specified servo program Kn n 0 to 4095 Completion of transition condition Start accept flag M200n v IE Errors 1 When the specified servo program Kn does not exist the Motion SFC program error 16200 will occur and stops to execute the Motion SFC program at the error detection Instructions 1 When the current value change is executed in the Motion SFC program running specify the CHGA instruction in the servo program and call it at the motion control step 2 If the servo program has stopped due to a major minor error which occurred at or during a start of the servo program specified with the motion control step the Motion SFC program continues executing When the Motion SFC program is stopped at error detection provide an error detection condition at the transition transition condition 6 MOTION SFC PROGRAMS 6 5 2 Operation control step Operations Errors Instructions Operation tS Executes the operation control program Fn FSn control step Specified range FO to F4095 FSO to FS4095 1 Once
226. as the device data of self CPU because the Multiple CPU automatic refresh may do automatically data giving and receiving between each CPU of the Multiple CPU system d The device data access of the Motion CPU and the Motion SFC program start can be executed from PLC CPU by the Motion dedicated PLC instruction 2 Programming in the Motion SFC programs a Since a program intelligible for anyone can be created in flow chart form by macking a sequence of machine operation correspond to each operation step maintenance nature improves b Since transition conditions are judged with Motion CPU side and positioning starts there is not dispersion in the response time influenced by PLC scan time 1 OVERVIEW c High speed and high response processing is realizable with the step processing method only active steps of Motion SFC d Not only positioning control but also numerical operations device SET RST etc can be processed with Motion CPU side making via PLC CPU is unnecessary and a tact time can be shortened By transition condition description peculiar to Motion SFC the instructions to servo amplifier is possible at completion of starting condition f By transition condition description peculiar to Motion SFC after starting transition to next step is possible without waiting for positioning completion g Motion SFC program that responds and executes it at high speed for interrupt input from external source can be s
227. ase or terminal covers while the power is ON or the unit is running as this may lead to electric shocks Never run the unit with the front case or terminal cover removed The high voltage terminal and charged sections will be exposed and may lead to electric shocks Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF The insides of the Motion controller and servo amplifier are charged and may lead to electric shocks Completely turn off the externally supplied power used in the system before mounting or removing the module performing wiring work or inspections Failing to do so may lead to electric shocks When performing wiring work or inspections turn the power OFF wait at least ten minutes and then check the voltage with a tester etc Failing to do so may lead to electric shocks Be sure to ground the Motion controller servo amplifier and servomotor Ground resistance 100 9 orless 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
228. asting a bit floating acuaton Conditional conditional integer integer integer integer type point expression expression type type L type K H K H L type F type K lo JJ o lo lo Jl o J lo l Usable Setting data Setting data Data type of result Data type of S S BIN data which will be converted into BCD data Integer type Functions 1 The BIN data specified with S is converted into BCD data 2 If S is a 16 bit integer type the data range is 0 to 9999 3 If S is a 32 bit integer type the data range is 0 to 99999999 Errors 1 An operation error will occur if The data is other than 0 to 9999 when S is a 16 bit integer type The data is other than 0 to 99999999 when S is a 32 bit integer type or S isan indirectly specified device and its device No is outside the range Program examples 1 Program which converts the BIN data of DO into BCD data and substitutes the result to 0 0 BCD DO BCD 9999 BIN 9999 Y Y Y Y Thousands Hundreds Tens Units 7 OPERATION CONTROL PROGRAMS FIFS 7 7 Type Conversions 7 7 1 Signed 16 bit integer value conversion SHORT SHORT S Number of basic steps Usable data Usable Data Bit device Setting 64 bit 64 bit Bit Comparison 16 bit 32 bit 16 bit 32 bit Calculation p floating Coasting floating conditional condi
229. ated devices M2000 to M2399 cannot be set 7 OPERATION CONTROL PROGRAMS Errors Program examples 1 2 3 An operation error will occur if D to D n 1 is outside the device range n is 0 or a negative number or PX PY is set in D to D n 1 When n specified is a word device When conversion is made in program editing of the SWG6RN GSVLTP an error will occur if D to D n 1 is outside the device range S is outside the device range n is 0 or a negative number PX PY is set in S PX PY is set in D to D n 1 S is a bit device and the device number is not a multiple of 16 or D is a bit device and the device number is not a multiple of 16 When n specified is a constant Program which sets 3456H to all data for 100 words from 10 FMOV 10 H3456 K100 Transfer H3456 Program which sets a content of D4000 to all data for 50 words from WO FMOV WO D4000 K50 Transfer lt D4000 1234 Program which sets 8000H to all data for 4 words from MO FMOV H8000 K4 M15 MO 1000000000000000 M31 M16 1 0 0 0 00 00 010 0 00 0 00 Transfer b15 bO M47 T M32 oo 1 0 00000000000000 100000 00 0 000 000 M63 M48 1 7 OPERATION CONTROL PROGRAMS FIFS 7 13 6 Write device data to shared CPU memory of the self CPU MULTW Refer to the Se
230. atus SV13 SV22 Not Refresh cycle Fetch cycle Signal direction Remark id M2320 Fuse blown detection M2330 PCPU READY complete flag M9074 At request M2331 Test mode ON flag M9075 Operation M2332 External forced stop input flag Sele M9076 y Manual pulse generator axis setting M2333 error flag Error Status signal M2349 to Unusable M2399 Note The same status as a remark column is output M9077 M9240 M9241 M9242 M9243 M9244 M9245 M9246 M9217 M9218 M9219 1 33 1 OVERVIEW 11 Table of the common devices Command signal SV13 SV22 T Remark Device No Signal name Refresh cycle Fetch cycle Signal direction Note 1 Note 2 M3072 PLC ready flag Main cycle switching point specified flag atstat start M2040 074 Al axes servo command axes servo command M2042 Real mode virtual mode change request S virtual mode M3075 M2043 SV22 S JOG p mu simultaneous start M3076 p mu M3077 Manual pulse generator 1 enable flag M3078 Manual pulse generator 2 enable flag M3079 Manual pulse generator 3 enable flag SFC error clear request 3 signal Main cycle oso M3081 Unusable M3135 Note 1 The device of a remarks column turns ON by OFF to ON of the above device and the device of a remarks column turns OFF by ON to OFF of the above device The stat
231. ault 300 S W fault3 301 15 CPSTART instructions of 8 or more points were started simultaneously 302 During ROM operation system setting data program and parameter written to internal FLASH ROM are fault Contents of the manual pulse generator axis setting error is stored when the manual pulse generator axis setting error flag M9077 turn on Normal O Setting error 1 D9185 The manual pulse generator axis setting error is stored in bO to b2 P1 to P3 The smoothing magnification setting is stored in b3 to b5 P1 to P3 D9186 One pulse input magnification setting error is stored bO to b15 axis 1 to axis 16 D9187 One pulse input magnification setting error is stored in bO to b15 axis 17 to axis 32 S Occur an error Note It adds newly at the Motion controller Q series 1 OVERVIEW Special register list continued Set b Name Meaning Details eas Remark When set Motion operation Motion operation j 7 3 D9188 ci The time when the motion operation cycle is stored in the ys unit S Operation cycle Now cycle cycle D9189 qi program Error program No of When the servo program setting error flag M9079 turns on the erroneous Servo program servo program No will be stored S Occur an error Error item Error code of servo When the servo program setting error flag M9079 turns on the error information program code corresponding to the erroneous setting item will be stored The
232. ay use different devices The same device may be used for settings 1 to 4 In setting 1 shown to the left 160 points from BO to B9F are used Therefore setting 3 can use device No after BAO Device numbers may not overlap even partially such as specifying BO to B9F in setting 1 and B90 to B10F in setting 3 The unit of points that send range for each CPU is word Settings should be set as same when using multiple CPU The first and last addresses are calculated automatically in SW6RN GSVLP 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM AA PU AIL E M oFCL Pe ner n LGArprq StLkeo LLLLLLLLLLLILLLLLLuLAMMMMAAHXCRHD auade95kAQ xXi i 7 v Vug The devices in settings 1 to 4 can be set individually for each CPU For example you may set link relay for CPU No 1 and internal relay for CPU No 2 Refresh settings of CPU No 1 When the CPU side device for CPU No 1 is different from that for CPU No 2 Set the same number of points for all CPUs Refresh settings of CPU No 2 When the CPU side device for CPU No 1 is the same as that for CPU No 2 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM sss Saag 3 The block diagram below illustrates the automatic refresh operation over four ranges of setting 1 link relay B setting 2 link register W setting 3 data register and setting
233. batch annunciator F n read error Indirectly specified 32 bit batch annunciator F n read error Error factor The indirectly specified device No is outside the range or is not a multiple of 16 The block processing in execution is stopped and the next block is executed 19 10 Corrective Action Correct the program so that the indirectly specified device No is proper 19 ERROR CODE LISTS 19 3 Motion SFC Parameter Errors Motion SFC parameters are checked by SW6RN GSVLP Table 19 6 PLC ready flag M2000 OFF ON errors 17000 to 17009 Error factor Error code Error Processing Name Description Normal task The normal task s consecutive transition count eem consecutive The initial value of 3 is of the Motion SFC program started by the used for control normal task is outside the range 1 to 30 Corrective Action transition count error Event task The set number of consecutive transitions of Turn PLC ready flag M2000 OFF make consecutive the Motion SFC program started by the event correction to set the value within the range transition count error task is outside the range 1 to 10 and write it to the CPU The initial value of 1 is used for control NMI task The set number of consecutive transitions of consecutive the Motion SFC program started by the NMI transition count error task is outside the range 1 to 10 Table 19 7 SFC Program start err
234. bit floating conditional conditional integer integer i integer integer type expression point timer point expression expression type type L type K H K H L type F type K o o o Ee m s tage ee ee ee ee ee o o ol _ JT 1 jo 1 O Usable Setting data Setting data Data type of result D1 First No of the intelligent function module special function module 000H to FFOH First address of the buffer which writes D2 een a Oo First device No which writing data are stored nt Number of words to be written 1 to 256 Functions 1 A part for n words of data from device specified with S are written to since address specified with D2 of the buffer memory in the intelligent function module special function module controlled by the self CPU specified with D1 D1 Intelligent function module special function module buffer memory write the data Device memory of a part for n words D2 2 a a 2 5 A 2 23 3 E D1 sets 20H by the system setting when a TO instruction is executed in the D A conversion module Q64DA 88 7 OPERATION CONTROL PROGRAMS Errors 3 The word devices that may be set at D1 D2 S and n are shown below Note 1 Note 1 Note 2 Bit d
235. built in the Motion CPU module and operate it based on the data of internal FLASH ROM memory 14 1 About the ROM Operation Function The outline procedure of ROM operation function is shown below 1 Turn on or reset the power supply of Multiple CPU system in the Mode operated by RAM Execute a trial run and adjustment by creating the system setting programs and 14 parameters using SW6RN GSVLIP Turn on or reset the power supply of Multiple CPU system in the Installation mode mode written in ROM Write the system setting programs and parameters of SRAM built in the Motion CPU module to the internal FLASH ROM by performing the ROM writing request using SW6RN GSVLIP Start a normal operation by starting the Motion CPU in the Mode operated by ROM after reading the system setting programs and parameters written in the internal FLASH ROM to the internal SRAM 1 Switch the operation mode using a DIP switches of Motion CPU module 2 Confirm the operation mode with Mode LED and BOOT LED of Motion CPU module Outline of processing is shown next page 14 1 14 ROM OPERATION FUNCTION Installation mode mode written in ROM Motion CPU module Example SV13 use Internal SRAM memory System setting data Each parameter for servo control Servo program Motion SFC parameter Motion SFC program Personal computer 1 ROM writing request MT Developer Internal FLASH ROM memory System
236. by the Motion SFC start instruction PLC ready flag M2000 the program is executed S P SFCS from the PLC or by a subroutine call start from the initial first step in accordance with the number of consecutive transitions of the corresponding program GSUB made from within the Motion SFC program e When started by the S P SFCS instruction At occurrence of a valid event after execution of the S P SFCS instruction the program is run from the initial first step in accordance with the number of consecutive Start control transitions of the corresponding program e When subroutine started At occurrence of a valid event after execution of GSUB the program is executed from the first step in accordance with the number of consecutive transitions of the corresponding program e When subroutine called The program is executed immediately from the first step After that the program is executed continuously by the number of consecutive transitions of the corresponding program at occurrence of a valid event END control END As specified for END operation Errors None In the case of the program which is executed by the normal task write the program so that it is not ended by but it returns to the starting step by a jump when starting of the automatically from an initial again 11 12 11 MOTION SFC PARAMETER Error code Note 2 Execute task Description Set the timing task to exe
237. ce D2 Complete status Note Error factor Corrective action Error code H 4COQ The specified device cannot be used in the Motion CPU Or it is outside the device range The instruction for the Multiple CPU system which did not be correspond with operating system software of the Motion CPU was executed 4CO3 The servo program No to execute is outside the range Confirm a program 0 to 4095 and correct it to a correct PLC There are 33 or more instruction requests to the program Motion CPU from the PLC CPU in S P SFCS S P SVST S P CHGA S P GINT sum table simultaneously and the Motion CPU cannot process them 4C09 CPU No of the instruction cause is injustice Note 0000H Normal 5 MOTION DEDICATED PLC INSTRUCTION The error flag SMO is turned on an operation error in the case shown below and an error code is stored in SDO 2410 The CPU No to be set by First I O No of the target CPU 16 is specified 2114 The self CPU is by First I O No of the target CPU 16 is specified Confirm a program 2117 The CPU except the Motion CPU by First I O No of correct it to a the target CPU 16 is specified correct PLC The instruction be composed of devices except program 4004 usable devices 4100 Since 0 to 3DFH 3E4H is specified by First I O No of the target CPU 16 is specified Note 0000H Normal Program example Program which requests to start the servo prog
238. cessive device may not be refreshed in the Motion CPU No 3 Automatic refresh setting 2 Motion CPU CPU No 3 Send range for each CPU CPU side device CPU share memory Dev starting s Note A dummy setting is made so that an excessive device may not be refreshed in the Motion CPU No 3 Automatic refresh setting 3 Motion CPU CPU No 3 Send range for each CPU CPU side device CPU share memory G Dev starting 5 Noi as 2 _ Automatic refresh setting 4 Motion CPU CPU No 3 Send range for each CPU CPU side device CPU share memory G Dev starting No1 aa 0757 N2 of nos 60 of S POINT In the case of the combination PLC CPU 1 module Motion CPU 3 modules with SV13 make all the devices of all the CPUs refresh as mentioned above because the setting that Read Write is made of the PLC CPU cannot be executed 3 16 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM b SV22 Overall configuration Table of the internal relays Table of the Data registers MO User device DO Axis monitor device 2000 points to 20 points x 32 axes 320 points to 2 points x 32 axes Special relay allocated device D704 Common device Status Command signal 64 points 54 points Axis status D758 Common device 20 points x 32 axes Monitor 42
239. code completion wait function provided function Watch data Motion control data Word device Made compatible by setting battery to servo amplifier Absolute position system Possible to select the absolute data method or incremental method for each axis Note When the vector inverter is used only the increment method sc 9 Q172LX 4 modules usable Q172LX 1 module usable Q172EX 6 modules usable Q172EX 4 modules usable module Note 2 Q173PX 4 modules usable Q173PX 3 modules usable Note 1 Use the Dividing unit Q173DV or dividing cable Q173J2B ACBLOM Q173HBACBLOIM Note 2 When using the incremental synchronous encoder SV22 use you can use avobe number of modules Motion related interface Note 2 When connecting the manual pulse generator you can use only 1 module 1 OVERVIEW b Motion SFC Performance Specifications Code total Motion SFC chart Operation control 287k bytes Motion SFC program capacity Transition Text total 224k bytes Operation control Transition ii Number of Motion SFC programs 256 No 0 to 255 Motion SFC chart size program Up to 64k bytes Included Motion SFC chart comments Number of Motion SFC steps program Up to 4094 steps Motion SFC program Number of selective branches branch 255 Number of parallel branches branch 255 Parallel branch nesting Up to 4 levels 4096 with F Once execution type and FS Scan execution type combined F FSO to F FS4095 4096
240. column and select a registration condition Write Protection Read Write Protection It leaves in a blank for the user data that does not register change a password c Push Execute key to register a password in the Motion CPU at the password registration d Push Execute key to display a screen which checks old password at the password change Enter old password and push Execute key New password will be registered in the Motion CPU by success of old password check When the new password is the same as old password change for only registration condition Password check screen is not displayed 1 If an user has forgotten a registration password clear a password include user data of Motion CPU by Clear All However if Clear All is executed since all password data and user data will be cleared re write user data in the Motion CPU 2 ROM operation can be executed by user data registered a password The password setting is also included in the ROM writing reading data 3 When a password is registered or changed the password data in the project is also registered or changed Be sure to save a password 4 When an operation is stopped while a registration change of password by reset or power OFF of Motion CPU the data may not be registered In this case register or change a password again to restore the user data 15 2 15 SECURITY FUNCTION 15 2 Password Clearance There are two following methods to dele
241. command signal Axis 11 command signal Axis 12 command signal Axis 13 command signal Axis 14 command signal Axis 15 command signal Axis 16 command signal Device No M5120 to M5139 M5140 to M5159 M5160 to M5179 M5180 to M5199 M5200 to M5219 M5220 to M5239 M5240 to M5259 M5260 to M5279 M5280 to M5299 M5300 to M5319 M5320 to M5339 M5340 to M5359 M5360 to M5379 M5380 to M5399 M5400 to M5419 M5420 to M5439 Signal name Axis 17 command signal Axis 18 command signal Axis 19 command signal Axis 20 command signal Axis 21 command signal Axis 22 command signal Axis 23 command signal Axis 24 command signal Axis 25 command signal Axis 26 command signal Axis 27 command signal Axis 28 command signal Axis 29 command signal Axis 30 command signal Axis 31 command signal Axis 32 command signal 1 OVERVIEW Detailes of each axis Error reset command Unusable M4816 20n Note 1 n in the above device No shows the numerical value which correspond to axis No Q173CPU N Axis No 1 to No 32 n 0 to 31 Q172CPU N Axis No 1 to No 8 n 0 to 7 Note 2 The unused axis areas in the mechanical system program can be used as an user device 1 25 1 OVERVIEW 5 Table of the synchronous encoder axis statuses SV22 only M4640 Error detection M4641 External signal TREN M4642 Virtual mode continuation operation disable warning M4
242. comparison conditional expression and indicates whether the result is true or false Normally it is used in the conditional expression of a transition program In an operation control program the logical data is used in a bit conditional expression set to device set SET or device reset RST Example 1 SET MO X10 Logical data Bit data p Example 2 RST M5 X10 M100 Logical data Bit data R Example 3 transition program DO K100 Logical data 7 OPERATION CONTROL PROGRAMS 7 2 Device Descriptions Word and bit device descriptions are shown below 1 Word device descriptions Device descriptions 32 bit 64 bit TT 16 bit Device No n specifying ranges integer type floating point type integer type n is even No n is even No Data register Du _ 0 to 8191 Link register Wn WnL Wn F 0 to 1FFF Special register Dn DnL DnF 9000 to 9255 0 to 8191 Motion device Motion SFC dedicated devices 8000 to 8191 Coasting timer a For differentiation the 32 bit floating point type is ended by L and the 64 bit floating point type by F F for the link register b For the 32 bit integer type and 64 bit floating point type specify the device number with an even number It cannot be set as an odd number c The coasting timer FT is incremented per 888us The coasting timer is a 32 bit integer type 2 Bit device descriptions onc
243. completion of online change operation control program is the FSn repeats the operation executed during FSn control program that the online execution in the state of change was made until the waiting for the completion of completion of condition for Gn condition for Gn Online change of the Gn After completion of online change program is executed in the the Gn does not transit to the next state of waiting for the step until the completion of completion of condition for Gn condition for program that the The conditional sentences of online change was made program to write are except the TIME instruction Online change of the Gn After completion of online change program including the TIME Gn is ended regardless of the instruction is executed in the waiting time of TIME instruction state of waiting for the and the next step is executed completion of condition for Gn Online change of the Gn After execution of servo program program during the servo the program of changed Gn is program execution for Kn executed 12 USER FILES 3 When the servo program editor screen Store is used Online change of the servo program during edit is executed by selecting the Store key Online change is possible to the servo program during execution A program that the online change was made is executed at the next servo program start Servo Program Editor K10 Real 2 x
244. conditional integer integer integer integer type expression int expression expression type L type K H i i type F type K dad aoad aoa e Usable Setting data Setting data Data type of result Data which will be converted into signed 64 bit S 64 bit floating point type floating point value Functions 1 The data specified with S is converted into a signed 64 bit floating point value 2 If S is a 64 bit floating point type its value is returned unchanged with no conversion processing performed Errors 1 An operation error will occur if S is an indirectly specified device and its device No is outside the range Program examples 1 Program which converts the data of DOL into a signed 64 bit floating point value and substitutes the result to 0F 0F FLOAT DOL 3 2 1 D1 DO Pe o em Go HFFFFFFFF 7 OPERATION CONTROL PROGRAMS FIFS 7 7 6 Unsigned 64 bit floating point value conversion UFLOAT UFLOAT S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculati data Bit device a8 bit 32 ot floating Coasting 16 bit veo floating conditional conditional integer integer integer integer type expression i int expression expression type type L type K H K H L P p type F type K L5
245. ction 1 3 4 for the correspondence version of the Motion CPU and the software Usable data Setting 3 64 bit data Bit device 16 bit eet floating Coasting integer integer amp type L Number of basic steps 8 MULTW D 5 01 Usable Data Constant Bit conditional expression Comparison conditional expression 64 bit floating Calculation expression 16 bit integer type K H 32 bit integer type O Usable Setting data Setting data Data type of result D The shared CPU memory address of self CPU of the writing destination device 800H to First device No which writing data are stored Number of words to be written 1 to 256 Self CPU device is made to turn on by the writing D1 completion Functions 1 A part for n words of data since the device specified with S of the self CPU module are written to since the shared CPU memory address specified with D of the self CPU module After writing completion of the device data the complete bit device specified with D1 turns on Shared CPU memory address Shared CPU 0H Self CPU operation This area memory of the data area cannot be self CPU Write the data Device memory 200H System area used at D H0000 of a part for users area H0005 n words 800H Automatic refresh This area H000A _ _ area Note can be o User defined area Meta H0000 OFFFH users area
246. cute a program Specify whether the program will be run by only one of the normal task main cycle event task fixed cycle external interrupt PLC interrupt and NMI task external interrupt When the event task is set multiple events among the fixed cycle external interrupt for event task and PLC interrupt However multiple fixed cycles cannot be set toward one Motion SFC program Example Interrupt setting Inputs for event task 16 I7 I8 19 110 111 112 113 114 and 115 Motion SFC program No 10 event Fixed cycle 3 55ms Motion SFC program No 20 event Fixed cycle 1 77ms external interrupt 16 Motion SFC program No 30 event External interrupts I7 115 PLC CPU interrupt When the NMI task is set multiple interrupt inputs among the external interrupts for NMI task can be set Example Interrupt setting Inputs for NMI task IO 11 12 13 14 15 Motion SFC program No 10 NMI IO Motion SFC program No 20 NMI 11 12 Motion SFC program No 30 NMI I5 Errors This program parameter is imported when the PLC ready flag M2000 turns off to on and is checked at starting of the Motion SFC program automatic start start from PLC or subroutine start When the value is illegal either of the following Motion SFC errors is set and the initial value is controlled Error cause Name Execute task setting is illegal Contents Multiple events among the normal
247. d 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 production 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 rep
248. d as the inter lock condition 6 It is necessary to take an inter lock by the start accept flag of the shared CPU memory so that multiple instructions may not be executed toward the same axis of the same Motion CPU No Operation END END END i END gt t PLC program S P SVST instruction To self CPU high speed interrupt accept flag from CPUn Start accept flag axis 1 Servo program Servo program execution i LON Instruction start accept complete device D1 0 1 ON Abnormal completion only State display device D1 1 at the instruction start accept completion Instruction accept 1 scan completion at the Motion CPU side 1 The start accept status of each axis can be confirmed with the start accept flag in the shared CPU memory of target CPU 5 13 5 MOTION DEDICATED PLC INSTRUCTION E ORG SUE MEET MGR CR EHE cae oar a E C Rr 2 S P SVST instruction accepting and normal abnormal completion can be confirmed with the complete device D1 or status display device D2 at the completion a Complete device It is turned on by the END processing of scan which the instruction completed and turned off by the next END processing b Status display device at the completion It is turned on off according to the status of the instruction completion e Normal completion OFF e Abnormal completion It is turned on by the END processi
249. d by CHGT instruction is effective only during power supply is on Errors 1 An operation error will occur and a torque limit value change will not be made if The specified axis No at S1 is outside the range or S2 is an indirectly specified device and its device No is outside the range 2 Aminor error will occur and a torque limit value change will not be made if The torque limit value specified with S2 is outside the range 1 to 500 Minor error 311 or The CHGT instruction is executed for any axis that has not yet been started Minor error 312 Program examples 1 Program which changes the torque limit value of axis 2 CHGT K2 K10 1 CHGT instruction is invalid ignored during the virtual mode When changing the torque limit value during operation in the virtual mode set the torque limit value setting device in the output module parameter of the mechanical system program 2 There will be a delay of time equivalent to an operation cycle at the maximum in the response time from when the CHGT instruction is executed until the torque limit value is changed actually 7 OPERATION CONTROL PROGRAMS FIFS 7 13 Other Instructions 7 13 1 Event task enable El Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device AY SUE floating Coasting colt floating Calculation conditional conditional integer integer integ
250. d cM C Output module ae 1 95 H Positioning control parameters System settings Fixed parameters Servo parameters Parameter blocks Limit switch output data Home position return data is not used since home position return cannot be performed in virtual mode 3 Y 3 Y Home position return is executed in real mode JOG operation in virtual mode is controlled using the JOG operation data set by drive module parameters Servo amplifier Servo amplifier al 4 y Servomotor Servomotor 4 STRUCTURE OF THE MOTION CPU PROGRAM MEMO 5 MOTION DEDICATED PLC INSTRUCTION 5 MOTION DEDICATED PLC INSTRUCTION 5 1 Motion Dedicated PLC Instruction 1 The Motion dedicated PLC instruction which can be executed toward the Motion CPU which installed a SV13 SV22 operating system software for the Motion SFC is shown below S P SFCS Start request of the Motion SFC program Program No may be specified S P SVST Start request of the specified servo program S P CHGA Current value change request of the specified axis S P CHGV Speed change request of the specified axis CHGT Torque control value change request of the specified axis S P S P DDWR Write from the PLC CPU to the Motion CPU S P DDRD Reads from the devices of the Motion CPU S P GINT Execute request of an event task of Motion SFC program Note As for the details of each instruction it explains after the next section 5 1 1 Restriction item of t
251. d in the virtual mode a servo program setting error Note 904 occurs and the current value change is not made If a current value change is made during mode changing a servo program setting Note error 907 real virtual changing or 908 virtual real changing occurs and the current value change is not made Note Refer to the Q173CPU N Q172CPU N Motion controller SV13 SV22 Programming Manual REAL MODE Q173CPU N Q172CPU N Motion controller SV22 Programming Manual VIRTUAL MODE for minor error major error and servo program setting error 9 MOTION CONTROL PROGRAMS 9 3 Synchronous Encoder Shaft Current Value Change Control SV22 only The current value of the specified synchronous encoder shaft is changed in the virtual mode Items set on peripheral device Common Circular Parameter block Others o 9 s m S 9 9 g 9 S sS S S S S E E 281513 528 8 5 2 24 6 5 5 5 x s els S c iziziS a s S S g 5 2 S 6 S S slees3 DH 9 0 OO O15 zeae gt Servo Positioning Number of a2 E S 5 3 9 Speed T 5 x 9 oO olol 2 o 5 Y instruction method Control axes 2 B E EIE 9 998 Sia change o ojs 9 5 2181515155 lt ls E 2 s e 3 5 8 o o D s 0 zZ Ed CHGA E abs
252. d others 1XB782 Optional Q173CPU N Q172CPU N Motion controller SV22 Programming Manual VIRTUAL MODE This manual describes the dedicated instructions use to the synchronous control by virtual main shaft 1B 0300044 mechanical system program create mechanical module 1XB783 This manual explains the servo parameters positioning instructions device list error list and others Optional Q173CPU N Q172CPU N Motion controller SV43 Programming Manual This manual describes the dedicated instructions to execute the positioning control by Motion program of EIA language G code 1B 0300070 This manual explains the Multiple CPU system configuration performance specifications functions 1CT784 programming debugging servo parameters positioning instructions device list error list and others Optional 2 PLC Manual Name Manual Number Model Code QCPU User s Manual Hardware Design Maintenance and Inspection This manual explains the specifications of the QCPU modules power supply modules base units SH 080483ENG extension cables memory card battery and the maintenance inspection for the system trouble shooting 13JR73 error codes and others Optional Qn H QnPH QnPRHCPUCPU User s Manual Function Explanation Program Fundamentals SH 080808ENG This manual explains the functions programming methods and devices and others to create programs 13728 with the QCPU Optional QCP
253. d to cancel a stop error Resetting is cancelled 1 OVERVIEW Special relay list continued Se ae E t en set CPU No 1 normal Turn off when the CPU No 1 is normal It contains at M9244 CPU No 1 error flag On CPU No 1 stop continuation error error Turn on during stop error of the CPU No 1 Note 2 CPU No 2 normal Turn off when the CPU No 2 is normal It contai M9245 CPU No 2 error flag On CPU No 2 stop continuation error error on during stop error of the CPU No 2 No Change status CPU No 3 normal Turn off when the CPU No 3 is normal It contai M9246 CPU No 3 error flag On CPU No 3 stop continuation error error Turn on during stop error of the CPU No 3 No CPU No 4 normal Turn off when the CPU No 4 is normal It contai M9247 CPU No 4 error flag On CPU No 4 stop continuation error error Turn on during stop error of the CPU No 4 No Note 1 It adds newly at the Motion controller Q series Note 2 The CPU No 1 is reset after the factor of the stop error is removed to cancel a stop error Resetting is cancelled 1 50 1 OVERVIEW 3 Special registers Special registers are internal registers whose applications are fixed in the Motion CPU For this reason it is not possible to use these registers in Motion SFC programs in the same way that normal registers are used However data can be written as needed in
254. data parts are used for the following purposes Instruction part Indicates the function of that instruction Data part Indicates the data used in the instruction Substitution structure example DO 0 Data part Source S Instruction part Data part Destination D a Source S 1 The source is the data used in an operation 2 It varies with the device specified in each instruction is shown below Bit or word device Specify the device which stores the data used in operation The data must have been stored in the specified device until the operation is executed Changing the data stored in the specified device during program execution allows changing the data used in that instruction Constant Specify the numerical value used in an operation As the constant is set during program creation it cannot be changed during program running b Destination D 1 As the destination data after operation data is stored 2 Destination data is always set the device for storing the data 7 OPERATION CONTROL PROGRAMS 4 How to specify data There are the following six different data usable in each instruction Data usable in each instruction Numerical data Integer data 16 bit integer type data 32 bit integer type data 64 bit floating point type data Bit data Batch bit data Logical data a 16 bit integer type data The 16 bit integer type data is 16 bit integer valu
255. ddition to the positioning parameter servo program Motion SFC program used in real mode 3 The procedure of positioning control in virtual model is shown below 1 Motion SFC program for virtual mode is requested to start using the S P SFCS instruction of the PLC program Motion SFC program can also be started automatically by parameter setting 2 The virtual servomotor the mechanical system program is started 3 Output the operation result obtained through the transmission module to the servo amplifier set as the output module l 4 The servomotor is controlled Program structure in SV22 virtual mode lt PLC CPU gt lt Motion CPU gt PLC program 1 Motion SFC program Mechanical System program iini Drive module i i gt Transfer Virtual servomotor H H sos H i Transmission module i ee Start request Specification of starting i M2044 on virtual mode S instruction of program No H i H the Motion i Servo program SFC program d i Go f i K100 virtual 1 VF i Bangi epee sen ee gt 2 Note 1 The Motion SFC program can also be started Axis 1 automatically by parameter setting Combined D 0 PLSis H END ac
256. ddress of shared CPU memory in setting 1 In the example below CPU No 3 is using the last address in setting 1 Refresh Setting gue 1 m Refresh Setting Setting 2 The applicable device of head device is D Wt M Y B The unit of points that send range for each CPU Ts Settings should be set as same when using multiple CPU le device Send ce Stat End Stat End Last address of CPU side device Last address of the shared CPU memory for each CPU 5 Set the same number of transmitting points for all CPUs in the Multiple CPU system If any of the CPUs has a different number of transmitting points a PARAMETER ERROR will be occurred CPU side device The following devices can be used for automatic refresh Other devices cannot be set in SW6RN GSVLP Data resister D Link resister W Motion resister None Link relay B Internal relay M Output Y Specify 0 or a multiple of 16 as the first No One transmitting point occupies 16 points 1 As for the CPU side devices the devices corresponding to the total number of transmitting points set for CPU No 1 to 4 in one setting range are used in succession starting from the device No to be set Set a device number that ensures enough devices for the set transmitting points When bit device is specified for the CPU side device the number
257. ddress travel value Command spee Torque limit value Positioning control Virtual enable eel emi Rom Fo ed on on ea Bea Number of steps eie ee eee fai fafo LL 2 axes linear interpolation peer Pere L 3 axes linear interpolation pon Jod eun fafofofofafa VF Speed control I forward heu 9 rotation start ayo 1 Speed control 1 reverse VR x rotation start Fixed pitch feed WF Speed control 11 forward rotation start LE Speed control 11 reverse WR rotation start EET Speed position control VPF forward rotation start Es HESS Speed position control restart Speed switching control start Speed switching control end control end oa speed switching nes Reverse Forward rotation ro Speed position Restart Speed switching control 9 MOTION CONTROL PROGRAMS Positioning data Number of steps 1 1 5 Starting angle Amplitude Frequency Reference axis No Control unit Speed limit value Acceleration time Deceleration time Rapid stop deceleration time Torque limit value Deceleration processing at stop input Allowable error range for circular interpolation S curve ratio Repeat condition Program No Command speed FIN acceleration deceleration WAIT ON OFF Must be set A Set if required 1 Only reference axis speed speci
258. diae 6 10 6 5 2 Operation control Step ce cceeccceccceeeeeceeeeeeeeeeeaeeeceneeseneeeeaeecsaeeeceneeseaeeseaeeeeaeessneeseaeeseaeeesineesineeseaees 6 11 6 5 3 Subroutine call start step erede ai eden ee aa ve e ere dau me eae 6 12 6 5 4 Glear step s i orum ot etie ttt titi ete bite tht d t ph tct 6 14 6 6 Transitions 45 rh or A n Ue LL UR A e e LA e A e a o E e Alay 6 15 6 7 Jump Polnter o e teet ee nte qe itte ha eed idee tee bt Pee 6 17 ool END iint mm tetigit tidie scr stis o Puce ND 6 17 0 9 Branches GCouplings 213 even ee ed ade tea cal ndi 6 18 6 9 1 56 P 6 18 6 9 2 Selective branch selective coupling nennen 6 19 6 9 3 Parallel branch parallel coupling eene 6 20 0 10 Y N Transitions 5 um asta det eben dte t tibi tee ln tie dte laete 6 22 6 11 Motion SFC Comments r a a a a a a a aaa a a a a n 6 26 7 1 Operation Control Programs 7 1 7 2 Device Descriptions reete te eee aa 7 T ES Constant Descriptions mn ume tenet eee aeta vides qe ein 7 9 TA Binary Operations eere iba den dp d uh 7 10 7 431 Substitution noun exin un n tenti tto MR LUI LO EHE UH 7 10 FAD Ee Eee ae EU ee e Uum deret do teet 7 12 4 3 Subtraction 2 1 tec de e I in d n e Min eL e a e e v gu p Me dea
259. diagnosis is made in the CPU except PLC CPU from GX Developer via PLC CPU the error code 10000 is indicated Note 5 The Motion SFC error detection signal M2039 turned on at the error detection A self diagnosis error flag M9008 and a diagnosis error flag M9010 do not turn on at the error detection The error code 10000 being set in D9008 is reset in the Motion SFC error detection signal M2039 ON OFF Note 6 MOTION RUN LED turns off at the stop error occurrence The condition of RUN LED does not change Note 7 Operating status of CPU at the error occurrence can be set in the parameter LED display also changes continuously 19 14 s3 73 73 7 3 73 7 J a7 gt ecjojoejoejoijojoJ jolo gt a 19 ERROR CODE LISTS Error code Error contents and cause Corrective action 1002 1 Measure noise level Run away or failure of main CPU 2 Reset and establish the RUN status again If the same error is 1003 1 Malfunctioning due to noise or other reason displayed again this suggests a CPU hardware error Explain 1004 2 Hardware fault the error symptom and get advice from our sales 1005 representative 1009 1 Measure noise level 2 Reset and establish the RUN status again If the same error is 1105 Shared CPU memory fault in the CPU displayed again this suggests a CPU hardware error Explain the er
260. dius specified helical interpolation CCW 180 more ABHA Absolute central point specified helical interpolation CW Absolute central point specified helical BH wa interpolation CCW INH x Incremental central point specified helical interpolation CW n Incremental central point specified helical ING interpolation CCW Auxiliary point specified Radius specified Helical interpolation control Central point specified 9 MOTION CONTROL PROGRAMS Positioning data Ill Number of steps ae DER E ER ee IRR RR ER EUR IER ER IRE UNI je 2 2 2 DDDDBHIDDHUDHHHEGPSHENE Starting angle Amplitude Frequency Reference axis No Control unit Speed limit value Acceleration time Deceleration time Rapid stop deceleration time Torque limit value Deceleration processing at stop input Allowable error range for circular interpolation S curve ratio Repeat condition Program No Command speed FIN acceleration deceleration WAIT ON OFF 10 to 27 10 to 27 Must be set A Set if required 1 Only reference axis speed specification 2 B indicates a bit device 9 MOTION CONTROL PROGRAMS Table 9 2 Servo Instruction List continued Positioning data E j o Dwell time Instruction symbol Auxiliary point Central point Processing Parameter block No A
261. double speed in the opposition direction and PX4 turns off The following the manual pulse generator operation is executed Manual pulse generator operation of 1 axis is executed with the APP 13 APPENDICES 2 Contents processing of the Motion SFC program Motion SFC program list No i Contents of processing This program starts automatically at the time of run of Q173CPU N and it is always executed The positioning dedicated device bit device for monitor is transferred to WO to Normal Start The positioning dedicated device word device for monitor is transferred to W 100 to Note WO to is assigned to M2400 to of the PLC CPU CPU No 1 and W 100 to is assigned to DO to by the automatic refresh setting This program starts automatically at the time of run of Q173CPU N and it is always executed Watch data is taken out and clock data read request M9028 Nice eta is turned on When a forced stop is canceled a subroutine starts a No 110 Motion control No 110 Motion control is stopped at the time of the forced stop and real output PY is turned off Normal Not start 3 PX2 ON PX1 OFF 140 Home position return 4 2 ON PX1 ON No 150 Programming operation 1 The JOG operation speed of 1 axis and 2 axes is set 2 1 axis JOG forward command is turned on when PX3 is on and the reverse command is turned on when PX4 is on 3 2 axes JOG forward command is tu
262. e ud M Specify 0 or a multiple of 16 as the first No Output Y One transmitting point occupies 16 points Self CPU CPU No 2 Refresh setting 1 m Refresh Setting Setting 1 B CPUshaememoyG Dev starting 20 80800 0813 D219 3o oo BID Diag 10 oso wo wg o me pu The device of CPU No4 at setting 1 is not refreshed The applicable device of head device is Dw HM Y B by the CPU No 2 The unit of points that send range for each CPU is word If the device No does not a overlap it is right Settings should be set as same when using multiple CPU Self CPU CPU No 2 Refresh setting 2 Refresh Setting Setting 2 CPU share memoyG Dev starting 7 Stat End Stat End __ oa If the device No does not overlap it is right C o ose o ams 0813 BO BSF 0832 0863 _ L 4 The device of CPU No 4 The applicable device of head device is DW MY B ned The unit of points that send range for each CPU is word Settings should be set as same when using multiple CPU 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM Dummy setting Usually the automatic refresh setting is executed between PLC CPU and Motion CPU for the instructions
263. e b data t bol L or decimal point ided at th d e above data type symbol L or decimal point provided at the en 7 Constant constant indicates the data type The constant without the data type is regarded Kil 00 HORRE etc H Hexadecimal as the applicable minimum type K may be omitted constant Devices Symbol O usable X unusable Binary operation up i Bit operation Standard function hri cmd Type conversion _ Number of p Bit device status o 63 in total instructions Bit device control a 1 Logical operation a O Comparison operation 6 Motion dedicated function Read write response Input response Directread control at instruction execution i read control at instruction execution of input PX output PY Output response Direct write control at instruction execution 1 10 1 OVERVIEW Table of the operation control transition instruction Usable step step YIN t ition s Section of Classification Symbol Function Format Basic steps rens on S pe eee e F FS conditional reference expression Substitution 7 NIE C pe OO a roe al oe eee ener Lr pee rne mae Sez 4 rae EBENE E ER ERE RE 8 pussso i esses OR gt Juge eea 4 Pf o rss en e EE i e Em sgn versin Gonpiementery hg
264. e Output module D640 Control change register 2 points x 32 axes REUS Common device Command signal 54 points is Common device Monitor 42points D800 Virtual servomotor axis monitor device Note 10 points x 32 axes Mechanical system setting axis only D1120 Syncronous encoder axis monitor device Note 10 points x 12 axes D1240 Cam axis monitor device Note 10 points x 32 axes D1560 User device 6632 points D8191 Note It can be used as an user device in the SV22 real mode only 1 35 1 OVERVIEW 1 Table of the each axis monitor devices SV13 SV22 D320 Axis 1 monitor device to Axis 17 monitor device D339 D340 Axis 2 monitor device to Axis 18 monitor device D359 D360 Axis 3 monitor device to Axis 19 monitor device D379 D380 Axis 4 monitor device to Axis 20 monitor device D399 D400 Axis 5 monitor device to Axis 21 monitor device D419 D420 Axis 6 monitor device to Axis 22 monitor device D439 D440 Axis 7 monitor device to Axis 23 monitor device D459 D460 Axis 8 monitor device to Axis 24 monitor device D479 D480 Axis 9 monitor device to Axis 25 monitor device D499 D500 Axis 10 monitor device to Axis 26 monitor device D519 D520 Axis 11 monitor device to Axis 27 monitor device D539 D540 Axis 12 monitor device to Axis 28 monitor device D559 D560 Axis 13 monitor device to Axis 29 monitor device D579 D580 Axis 14 monitor device to Axis 30 monitor device D599 D600
265. e instruction is stored Complete status System 0 No error Normal completion Except 0 Error code 5 MOTION DEDICATED PLC INSTRUCTION Controls 1 This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system Errors occurs when it was executed toward the CPU except the Motion CPU A part for the number of writing data of the control data specified with S1 of data since the device specified with S2 of the self CPU are stored to since the word device specified with D1 of the target CPU n1 in the Multiple CPU system 2 Figure specification of the bit device is possible for S2 and D1 However figure specification is 4 figures and a start bit device number is only the multiple of 16 It becomes INSTRCT CODE ERROR 4004 when other values are specified 3 If the target CPU is not instruction acceptable condition even if the S P DDWR instruction is executed it may not be processed In this case it is necessary to execute the S P DDWR instruction again S P SFCS S P SVST S P CHGA S P CHGV S P CHGT S P DDRD S P DDWR cannot be executed simultaneously toward the CPU executing S P DDWR instruction It can be confirmed by data in the shared CPU memory of the target CPU Motion CPU whether the instruction is acceptable or not When the Motion dedicated PLC instruction is started continuously it is must be design to execute next instruction after executing instruction complet
266. e data Word devices are used in increments of 1 point Data ranges are shown below ecd Decimal representation Hexadecimal representation K 32768 to K32767 H0000 to HFFFF b 32 bit integer type data The 32 bit integer type data is 32 bit integer value data Word devices are used in increments of 2 points specified device No specified device No 1 Data ranges are shown below Decimal representation Hexadecimal representation Data range K 2147483648L to K2147483647L H00000000L to HFFFFFFFFL c 64 bit floating point type data The 64 bit floating point type data is IEEE formatted 64 bit floating point value data Word devices are used in increments of 4 points specified device No specified device No 1 specified device No 2 specified device No 3 1 The internal bit locations are shown below 3 2 1 Specified device number 0 b51 to bO 52 bits Decimal field b62 to b52 11 bits Bias exponent field b63 1 bit Sign bit field 2 The represented value is shown below The bias value is H3FF Sign bit fie ias exponent field bias value 1 P9 9991 y 4 Qa decimal field 2 122 2016 teldHbias value 7 OPERATION CONTROL PROGRAMS 3 Data ranges are shown below Sa Decimal representation Hexadecimal representation H0000000000000000 K 1 79E 308 to K 2 23E 308 H0010000000000000 to H7FE1CCF385EBC89F H8000000000000000 H8010000000000000 to HF
267. e device on 4 The target CPU device range check is not executed with self CPU at the S P DDWR instruction execution but it checks by the target CPU side and it becomes abnormal completion at the device range over 5 S P DDWR instruction accepting and normal abnormal completion can be confirmed with the complete device D1 or status display device D2 at the completion a Complete device It is turned on by the END processing of scan which the instruction completed and turned off by the next END processing b Status display device at the completion It is turned on off according to the status of the instruction completion e Normal completion OFF e Abnormal completion It is turned on by the END processing of scan which the instruction completed and turned off by the next END processing 6 SM390 turns on when the target CPU specified with n1 complete to accept SM390 turns off when the target CPU specified with n1 cannot be write correctly by the reset status or error factor 5000 to 5999 5 MOTION DEDICATED PLC INSTRUCTION Operation of the self CPU at execution of S P DDWR instruction First S P DDWR instruction accept END Second S P DDWR instruction accept To self CPU high speed interrupt accept flag from CPUn Instruction accept destination buffer memory S P DDWR instruction First First S P DDWR instruction complete device State display device at th
268. e disable bit when the limit switch output is forbidden during operation 1 The following control is exercised Output enable disable bit Control description Without setting always enable Limit switch output is turned ON OFF based on the ON region setting ON ON enable With setting Value OFF Value OFF disable Limit switch output is turned OFF b Usable devices Device No setting range Input relay X0 to X1FFF Note 2 Output relay YO to Y1FFF Internal relay MO to M8191 Latch relay LO to L8191 BO to B1FFF FO to F2047 Note 1 The real input range PX is included Note 2 The real input range PY is included 13 LIMIT SWITCH OUTPUT FUNCTION 5 Forced output bit a Set the forced output bit when you want to forcibly provide the limit switch outputs during operation 1 The following control is exercised Forced AN bit Control description Without setting setting Limit switch outputs are turned ON OFF on the basis of the output enable disable bit and ON region ing ON Value OFF Value ON Limit switch outputs are turned ON b Usable devices 13 7 13 LIMIT SWITCH OUTPUT FUNCTION MEMO 14 ROM OPERATION FUNCTION 14 ROM OPERATION FUNCTION Refer to Section 1 3 4 for the correspondence version of the Motion CPU and the software This function is used to store beforehand the user programs and parameters in the internal FLASH ROM memory
269. e first 1 1 1 1 ir 1 1 1 ON 1 1 1 1 1 1 1 Abnormal completion 1 State display device at the second OFF S P DDWR instruction S P DDWR instruction OFF completion OFF Normal completion S P DDWR instruction OFF 1 i 1 I ON 1 Second S P DDWR instruction complete device OFF i i i i 1 completion IOFF Normal completion 1 i i First S P DDWR Second S P DDWR instruction completion instruction completion with response with response Errors The abnormal completion in the case shown below and the error code is stored in the control data 51 0 Complete status Complete status Error code H CPU Or it is outside the device range There are 33 or more instruction requests to the Motion CPU from the PLC CPU in S P DDRD S P DDWR Note Confirm a program and correct it to a correct PLC program sum table simultaneously and the Motion CPU cannot process them 4C09 CPU No of the instruction cause is injustice Note 0000H Normal 5 MOTION DEDICATED PLC INSTRUCTION The error flag SMO is turned on an operation error in the case shown below and an error code is stored in SDO 2410 The CPU No to be set by First I O No of the target CPU 16 is specified The self CPU by First I O No of the target CPU 16 2114 is specified 2417 The CPU excep
270. e of a device is not in agreement when the device of a remarks column is turned on directly In addition when the request from a data register and the request from the above device are performed simultaneously the request from the above device becomes effective Note 2 It can also be ordered the device of a remark column Note 3 M3080 does not turn off automatically Turn it off as an user side 12 Table of the special relay allocated devices Command signal SV13 SV22 Remark Refresh cycle Fetch cycle Signal direction Note 1 Note 2 M3136 Clock data set request M3137 Clock data read request Command Main cycle signal M3139 Servo parameter read request flag M3140 Unusable M3199 Note 1 The device of a remarks column turns ON by OFF to ON of the above device and the device of a remarks column turns M9104 OFF by ON to OFF of the above device The state of a device is not in agreement when the device of a remarks column is turned on directly Note 2 It can also be ordered the device of a remark column 1 34 1 OVERVIEW b Table of the data registers e Overall configuration DO Axis monitor device to 20 points x 32 axes pee Control change register 2 points x 32 axes D04 Common device Command signal 54 points Dine Common device Monitor 42points D800 User device 7392 points D8191 DO Axis monitor device 20 points x 32 axes to Real mode Each axis Virtual mod
271. e operation cycle is set according to the table below based on the number of axes for servo amplifier set in the System Settings Operating system Number of axes Operation cycle setting 1 to 8 axes 9 to 16 axes 17 to 32 axes 1 to 4 axes 5 to 12 axes 13 to 24 axes 25 to 32 axes 3 If the duration of motion operation has exceeded the operation cycle the operation cycle over flag M2054 turns ON Even when Automatic setting is selected the duration of motion operation may exceed the operation cycle depending on the control conditions The actual duration of motion operation unitis is stored in the 09188 and the current setting of operation cycle unit us is stored in the D9197 Monitor these special registers and adjust the set value of operation cycle so that the actual duration of motion operation will not exceed the set operation cycle A WDT or other error may occur in the Motion CPU 4 The MR HLIBN does not support an operation cycle of 0 8 ms If the MR HLIBN is set in the System Settings 1 7 ms is used as the actual operation cycle even when 0 8 ms is set 5 The MR J2S LIB supports an operation cycle of 0 8 ms 1 7 ms in version or later When using the MR J2S LIB of Version A4 or earlier set the operation cycle as 3 5 ms or more 6 The vector inverter does not support an operation cycle of 0 8 ms and 1 7 ms If the FR V500 is set in the System Setting 3 5 ms is us
272. e password data in the project are written When a password data is set in the project if a password is not set in the write designation Motion CPU the password contents are also written Password data in the project are not updated B Password contents registered in the write designation Motion CPU are written in ROM writing ROM Online change Password contents of write designation Motion CPU are not updated Backu It is saved in backup data including also the password contents registered in the call source Motion CPU The password data project is not updated Password contents in backup data are written in the write designation Motion CPU Password registration New password contents are written in the write designation Motion CPU change Password data in the project is also updated to new password contents A password is deleted from the write designation Motion CPU Password clearance A password is deleted also from the password data in the project Project diversion Project management The password data in diverting source project is not diverted File diversion Write Load The password data in the project is not saved in the project before password save Save a password after delete of password to delete the password data in the project Or create new project and divert user data from the project with password data to create the project without password data 15 5 15 SECURITY FUN
273. e target CPU 16 is specified Note 0000H Normal Program example Program which changes the positioning speed of the axis No 1 of the Motion CPU CPU No 4 from PLC CPU CPU No 1 to 1000 To self CPU Speed changing flag high speed of the axis No 1 interrupt accept CPU No 4 flag from U3E3 U3E3 G518 0 M100 G48 0 J 4 ISP CHGV H3E3 K1000 MO DO M100 MO M1 Normal complete program Abnormal complete program 5 33 5 MOTION DEDICATED PLC INSTRUCTION 5 6 Torque Limit Value Change Request Instruction from The PLC CPU to The Motion CPU S P CHGT PLC instruction S P CHGT Refer to Section 1 3 4 for the applicable version of the Motion CPU and the software Torque limit value change request instruction from the PLC CPU to the Motion CPU S P CHGT Usable devices Internal devices MELSECNET 10 Special ner Fil Bit Indirectly dits Index Constant ile onstan 1 digit specified Tec ee register Other 89 K H module Setting data specified device O Usable A Usable partly Note Setting data except S1 Index qualification possible Instruction Condition Start request SP CHGT SP CHGT Start request S CHGT s cHeT Setting data Setting data Description Data type First I O No of the target CPU 16 Value to
274. ecution S P CHGA instruction To self CPU high speed interrupt accept flag from CPUn Start accept flag encoder axis Current value change Current value change Instruction accept 1 scan completion at the Motion CPU side Instruction start OFF accept complete device D1 0 State display device D1 1 at the instruction start accept completion OFF 1 The current value status of the synchronous encoder axis can be confirmed with the current value changing in the shared CPU memory of target CPU 2 S P CHGA instruction accepting and normal abnormal completion can be confirmed with the complete device D1 or status display device D2 at the completion a Complete device It is turned on by the END processing of scan which the instruction completed and turned off by the next END processing b Status display device at the completion It is turned on off according to the status of the instruction completion e Normal completion OFF e Abnormal completion It is turned on by the END processing of scan which the instruction completed and turned off by the next END processing 1 Setting of the synchronous encoder axis to execute the current value change The synchronous encoder axis to execute the current value change set as S1 sets E synchronous encoder axis No in a character sequence 51 usabie range Q173CPU N 1 to 12 Q172CPU N 1108 The number of axes w
275. ed 4 The execution of an NMI task cannot be disabled 5 The DI status is established at power on or when a reset is made with the RESET L CLR switch Errors 1 An operation error will occur if This instruction is used with other than a normal task Program examples 1 Program which disables the execution of an event task 7 OPERATION CONTROL PROGRAMS FIFS 7 13 3 No operation NOP NOP Number of basic steps Usable data Usable Data Bit device Setting data 64 bit 64 bit Bit Comparison 16 bit 32 bit 16 bit 32 bit Of Calculation floating Coasting floating conditional conditional d i expression integer integer S integer integer type point P expression expression type type L type K H K H L type K Usable Setting data There are no setting data Functions 1 This is a no operation instruction and does not affect the preceding operations Errors 1 There are no operation errors for no operation NOP 7 OPERATION CONTROL PROGRAMS FIFS 7 13 4 Block transfer BMOV Refer to the Section 1 3 4 for the correspondence version of the Motion CPU and the software BMOV D S n Number of basic steps 6 Usable data Usable Data Bit device 64 bit 64 bit r Bit Comparison TE a bi bi Calculati 16 bit S2 bit floating Coasting jet Ze floating pide ux conditional conditional i i i i expression integer integer
276. ed 256 during execution excess program Table 19 4 Motion SFC program run errors 16200 to 16299 Error factor Error code Error Processing Corrective Action No specified The servo program Kn specified with the 16200 d eed Kn sp Create the specified servo program program Kn motion control step does not exist No specified The operation control program Fn FSn A Create the specified operation control 16201 program specified with the operation control step does program Fn FSn not exist N ified DEDE The program Gn specified with the transition 16202 program Create the specified transition program Gn does not exist No specified oa Correct the specified Motion SFC program The Motion SFC fied with th 16203 program OD ac oa e name or create the specified Motion SFC Motion SFC clear step does not exist Stop to execute the program No setting of applicable Motion SFC The program Gn specified with the transition rogram No T 46204 operation does not have a conditional expression prog T Be sure to set a conditional expression in For the subroutine called the last block of the transition program expression condition t al expression setting program the call source program also stops to 16205 Fn FSn program Internal code error in the operation control execute The Motion SFC program code is corrupted code error program Fn FSn Turn PLC ready flag
277. ed as the actual operation cycle even when 0 8 ms or 1 7 ms is set 1 87 1 OVERVIEW b Operation setting upon STOP RUN Set the condition in which the PLC ready flag M2000 turns ON Select one of the following 1 M2000 ON upon switching STOP RUN default Condition in which the M2000 turns from OFF to ON Change the RUN STOP switch from the STOP side to the RUN side With the RUN STOP switch set to the RUN side turn ON the power or cancel the reset Condition in which the M2000 turns from ON to OFF Change the RUN STOP switch from the RUN side to the STOP side 2 M2000 ON upon switching STOP RUN 1 set in setting register The M2000 turns ON when the switch is set to the RUN side and 1 is set in the setting register Condition in which the M2000 turns from OFF to ON With the RUN STOP switch set to the RUN side set 1 in the setting register for PLC ready flag D704 The Motion CPU detects a change from 0 to 1 in the lowest bit in the D704 Condition in which the M2000 turns from ON to OFF With the RUN STOP switch set to the RUN side set 0 in the setting register for PLC ready flag D704 The Motion CPU detects a change from 1 to 0 in the lowest bit in the D704 Change the RUN STOP switch from the RUN side to the STOP side c Forced stop input setting Specify the bit device used for executing a forced stop in which all servo amplifier axes are stopped immediately Either X PX or
278. ee time except for motion control is stored to the special register 2 Since the automatic refresh of shared CPU memory and normal task of Motion SFC program are executed in the main cycle make it reference for process time etc to program 3 There are following methods to shorten a main cycle a Lengthen an operation cycle setting b Reduce the number of event task programs to execute in the Motion SFC program c Reduce the number of normal task programs to execute simultaneously in the Motion SFC program d Reduce the number of automatic refresh points of shared CPU memory 4 When a main cycle is lengthened more than 1 6 s WDT error may occur the Motion CPU 5 Details of main cycle monitor register is shown below Current scan time Current scan time is stored in the unit 1 ms D9017 Scan time 1ms units Setting range 0 to 65535 ms Maximum scan time Maximum main cycle is stored in the unit 1 ms D9019 Maximum scan time A 1ms units Setting range 0 to 65535 ms 17 MONITOR FUNCTION OF THE MAIN CYCLE MEMO 18 SERVO PARAMETER READING FUNCTION 18 SERVO PARAMETER READING FUNCTION Refer to Section 1 3 4 for the correspondence version of the Motion CPU and the software 1 When the servo parameters are changed the Motion CPU will be automatically read the servo parameters and reflected them to the servo parameter storage area in the Motion CPU Therefore
279. eed 10000 1X0 6 MOTION SFC PROGRAMS 6 2 Motion SFC Chart Symbol List Parts as Motion SFC program components are shown below The operation sequence or transition control is expressed with connecting these parts by directed lines in the Motion SFC program eae Symbol Classification Name List Representation Function Code size byte Indicates an entry of program as a program name Program name Specify this program name at a subroutine call Only one program name for one program Indicates an end exit of program When a subroutine call was carried out returns to the END call source program Multiple program names or no symbols for one program 0 8 Motion control Kn st p CALL Kn Starts a servo program Kn KO to K4095 8 Fn 8 8 Program start end Once execution type operation control step Execute once the operation control program Fn FO to CALL Fn F4095 Repeats an operation control program FSn FSO to CALL FSn FS4095 until the next transition condition enables When the next of GSUB is WAIT performs subroutine call and transits control to the specified program Scan execution type operation control step Control returns to the call source program at END execution GSUB program name When the next of GSUB is except WAIT performs subroutine start and starts the specified program and Subrou
280. effect or electromagnetic obstacles to a minimum by installing a noise filter or by using wire shields etc Electromagnetic obstacles may affect the electronic devices used near the Motion controller or servo amplifier When using the CE Mark compliant equipment refer to the EMC Installation Guidelines data number IB NA 67339 for the Motion controllers and refer to the corresponding EMC guideline information for the servo amplifiers inverters and other equipment Use the units with the following conditions 7 Corrective actions for errors NCAUTION If an error occurs in the self diagnosis of the Motion controller or servo amplifier confirm the check details according to the instruction manual and restore the operation If a dangerous state is predicted in case of a power failure or product failure use a servomotor with electromagnetic brakes or install a brake mechanism externally Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally Shut off with the Shut off with servo ON signal OFF emergency stop alarm electromagnetic brake signal signal EMG Servomotor RA1 EMG o o Y o lt Electromagnetic brakes If an error occurs remove the cause secure the safety and then resume operation after alarm release The unit may suddenly resume operation after a power failure is restored so do not go near
281. elf CPU installation position setting to 1FFF Set self CPU another CPU CPU empty for slots 0 1 2 The setting range varies depending on the number of Multiple CPUs installed None When two CPUs are installed slot 0 is fixed as the self CPU Forced stop Note M 0 to 8191 None Set the bit device used for forced stop M 0 to 8191 B 0 to 1TFFF F Latch range 0 to 2047 D 0 to 8191 W 0 None Set the latch range of device memory Set the installation position of the self CPU in the CPU base Servo amplifier motor setting Q173CPU N Up to 2 systems 32 axes Q172CPU N Up to 1 system 8 axes Set the model name axis No and other details for the servo amplifiers and servomotors High speed read setting One Q172EX Q173PX module and one input module Set the high speed read data Refer to Q173CPU N Q172CPU N Motion controller SV13 SV22 Programming Manual Real Mode for the high speed read function Note Battery setting External battery unused External battery used External battery unused Set whether or not to use an external battery If the power supply is down for one month or longer data must be backed up with an external battery Refer to Q173CPU N Q172CPU N User s Manual for external battery The forced stop can also be executed by the forced stop terminal of the servo amplifier besides the forced stop input setting 1 OVERVIEW 1 5
282. elligent unction module of the Q series Motion module 60 Q63B Q65B Q68B Q612B t Extension cable ension base unit CPU base unit Q33B Q35B Q38B Q312B Q172LX Q172EX Q173PX i i Motion CPU module Short circuit connector for Power supply module Q173CPU N the teaching unit module Intelligent function Q170TUTM module of the series eee fo SSCNET cable Cable for the teaching unit Teaching unit Q173DVCBLOM Q170TUDOCBLOM A A31TU D30 A31TU DND Battery Dividing unit Short circuit connector for A6BAT MR BAT i the teaching unit A31TUD3TM SSCNET cable SSCNET cable for MR H BN for MR J2L B MR J2HBUSUIM A MR J2HBUSCIM it itis possible to select the best according to the system Note 1 When using the external battery be sure to set the Battery A6BAT MR BAT to the Dividing unit Q173DV Battery A6BAT MR BAT is optional Note 2 It is possible to use only Q173CPUN T It is packed together with Q173CPUN T Note 3 It varies by the connecting teaching unit Note 4 It is packed together with Q170TUDOCBLOM Note 5 When usi
283. emental 4 axes linear interpolation Absolute auxiliary point specified circular interpolation Incremental auxiliary point specified circular interpolation Absolute radius specified circular interpolation less than CW 180 Absolute radius specified circular interpolation CW 180 or more Absolute radius specified circular interpolation less than CCW 180 Absolute radius specified circular ion CCW 180 or more Incremental radius specified circular interpolation less than CW 180 Incremental radius specified circular interpolation CW 180 or more Incremental radius specified circular interpolation less than CCW 180 Incremental radius specified circular interpolation CCW 180 or more 9 MOTION CONTROL PROGRAMS Positioning data a Number of steps IEEE ESSERE ES aE reed ES eel ES Real es ae 2 2 2 2 1 amp Ee R Lon M n O it 10 Starting angle Amplitude Frequency Reference axis No Control un Speed limit value Acceleration time Deceleration time Rapid stop deceleration time Torque limit value Deceleration processing at stop input Allowable error range for circular interpolation S curve rati Repeat condition Program No Command speed FIN acceleration deceleration WAIT ON OFF Must be set A Set if required 1 Only reference axis speed specification
284. ence setting command M3213 20n Cam reference position setting M3214 20n command M3215 20n Servo OFF command Servo OFF command M3216 20n Gain changing command Gain changing command M3217 20n Unusable Unusable M3218 20n M3219 20n FIN signal FIN signal Note 1 n in the above device No shows the numerical value which correspond to axis No Q173CPU N Axis No 1 to No 32 n 0 to 31 Q172CPU N Axis No 1 to No 8 n 0 to 7 Note 2 Device area of 9 axes or more is unusable in the Q172CPU N Unusable 1 OVERVIEW 3 Table of the virtual servomotor axis statuses SV22 only M4000 M4320 to Axis 1 status to Axis 17 status M4019 M4339 M4020 M4340 to Axis 2 status to Axis 18 status M4039 M4359 M4040 M4360 to Axis 3 status to Axis 19 status M4059 M4379 M4060 M4380 to Axis 4 status to Axis 20 status M4079 M4399 M4080 M4400 to Axis 5 status to Axis 21 status M4099 M4419 M4100 M4420 to Axis 6 status to Axis 22 status M4119 M4439 M4120 M4440 to Axis 7 status to Axis 23 status M4139 M4459 M4140 M4460 to Axis 8 status to Axis 24 status M4159 M4479 M4160 M4480 to Axis 9 status to Axis 25 status M4179 M4499 M4180 M4500 to Axis 10 status to Axis 26 status M4199 M4519 M4200 M4520 to Axis 11 status to Axis 27 status M4219 M4539 M4220 M4540 to Axis 12 status to Axis 28 status M4239 M4559 M4240 M4560 to Axis 13 status to Axis 29 status M4259 M4579 M4260 M4580 to Axis 14 status to Axis 30 status
285. ending on the operating system software I O No s cannot be assigned automatically unlike a PLC CPU for which I O No are assigned automatically if such setting is omitted in the Motion CPU In the Motion CPU be sure to set the first I O No in System Settings for each module used 2 STARTING UP THE MULTIPLE CPU SYSTEM 2 STARTING UP THE MULTIPLE CPU SYSTEM This section describes a standard procedure to start up the Multiple CPU system 2 1 Startup Flow of the Multiple CPU System PLC CPU Motion CPU PLC CPU Motion CPU PLC CPU Multiple CPU system Multiple CPU system design Clarify control function executed by each CPU Device application and assignment Secure the refresh points continuously for automatic refresh of device data Module select Select modules to be used in the Multiple CPU system Module install Install the selected modules to the CPU base unit or extension base unit GX developer start Start the GX Developer Ver 6 or later Parameters etc create Create the parameter setting such as Multiple CPU setting and control CPU setting and the PLC programs Connect between the personal computer and PLC CPU Connect between the personal computer running GX Developer and PLC CPU No 1 by RS 232 USB cable Connect between the personal computer and Motion CPU Connect between the personal comp
286. ept usable ON Start accept disable b15 208H 520 address E16 The cam shaft within one revolution current value changing flag is stored by the 1 to 32 axis each bit As for a bit s actually being set Q173CPU N C1 to C32 Q172CPU N C1 to OFF Start accept usable ON Start accept disable b15 20CH 524 address C16 20DH 525 address C32 Note 1 Usable in SV22 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 3 Automatic refresh area This area is used at the automatic refresh of the Multiple CPU system This area cannot be written using S TO instruction read using FROM instruction of the PLC CPU and written using MULTW instruction read using MULTR instruction of the Motion CPU 4 User defined area This area is used for the communication among each CPU in the Multiple CPU system using FROM S TO instructions and the intelligent function module devices of the PLC CPU Among each CPU communicates using MULTR instruction or MULTW instruction of the operating control program in the Motion CPU Refer to the Section 7 13 6 to 7 13 7 for MULTR instruction or MULTW instruction After point set in the automatic refresh area is used If the automatic refresh function is not executed the area from 800H to FFFH can be used as a user defined area 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM MEMO 4 STRUCTURE OF
287. er integer type j expression ih expression expression type type L type K H Usable Setting data There are no setting data Functions 1 The execution of an event task is enabled 2 This instruction is usable with a normal task only Errors 1 An operation error will occur if This instruction is used with other than a normal task Program examples 1 Enables the execution of an event task 7 OPERATION CONTROL PROGRAMS FIFS 7 13 2 Event task disable Dl Foma Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison 16 bit 32 bit 16 bit 32 bit Calculation P data Bit device floating Coasting floating conditional conditional integer integer integer integer type expression int expression expression type L type K H e i type F type K Pp l J O Usable Setting data There are no setting data Functions 1 The execution of an event task is disabled 2 If an external interrupt or PLC interrupt occurs after execution of the DI instruction the corresponding event task is executed once at the execution of the EI instruction If two or more external interrupts or PLC interrupts occur during DI the corresponding event task is executed only once at the execution of the El instruction 3 During DI a fixed cycle event task is not execut
288. er Of program te eee e e en e e e rene 12 7 13 LIMIT SWITCH OUTPUT FUNCTION 13 1to 13 8 LOEO EIL Eiaa 13 1 13 2 Eimit Output Setting Data b eo ipe te tete te IO c reds 13 4 14 ROM OPERATION FUNCTION 14 1 to 14 12 14 1 About the ROM Operation Function ssssssssssssssseseseeeeeeee eene nnn nnn tenerent nnns 14 1 14 2 Specifications of LED Switch entren nennen entr enr nnn 14 3 14 3 ROM Operation Function Details sssssssssssssseseeeeeennee nennen nennen nnns 14 5 14 4 Operating Procedure of ROM writing essen nennen nennen nennen nnns 14 11 15 SECURITY FUNCTION 15 1to 15 6 15 1 Password Registration change ssssssssssseseeeeenenene nennen nnne nnne nre nnns 15 1 15 2 Password Clearance dust egeta t etta stude 15 3 15 9 PasswordiG heck eitis tette titi lieti tiet nlii erento 15 4 IEIMEICLIUUT DESSERT eases 15 5 15 5 ei Ju eI M 15 6 16 1 Specifications of The Communications via Network sssssssssssseeeeeeeneenee 16 2 16 2 Access Range of The Communications via Network sse 16 3 16 2 1 Network configuration via the MELSECNET 10 H or the 16 3 16 2 2 Network configuration via the CC Link ssssseeeneneneennennenmeenenenrenrnnnns 16 5 16 2 3 Network co
289. eration is completed after confirmation that PX4 became OFF When the forced stop is executed during the positioning operating the positioning operation is interrupted and the servomotor is stopped It is resumed from the interrupted positioning operation when the forced stop was released next Continuation execution of the subroutine re start is executed by this program example by the following processing a While motion control with the subroutine is executed it is memorized whether the positioning of which motion control step was completed in the user device b The subroutine re start is resumed from the motion control step of stopping the information memorized by the above a c A motion control step should locate absolute to cope with it when it is resumed after it stops on the way of the positioning d A positioning complete signal M2401 20n is used for the decision whether servomotor is stopped during the positioning APP 24 APPENDICES 2 Contents of processing the Motion SFC program Motion SFC program list Number of Automatic No Program name Task connective Contents of processing operation transitions This program starts automatically at the time of RUN of Q173CPU N and it is always executed Watch data is taken out and clock data read request M9028 is turned on 0 is set on the continuation point 100 user device as an 20 Main Normal Start initial value
290. erial absolute synchronous encoder 2 module MR HENC Q170ENC Up to 4 modules Teaching unit Note 1 a 5 A31TU D30 A31TU DNO External input signals Number of Inputs Upper stroke limit Ca3o Pe 9 Cable for the teaching RLS Lower stroke limit 8 axesimodul Q170TUDOCBLOM A STOP Stop signal Up to 1 module DOG CHANGE Proximity dog Speed position switching SSC I F Communication cable Q170CDCBLOM SSCNET cable Terminal Q170BDCBLOIM connector d1 d2 d3 d8 SSC I F Card Board SSCNETSYSTEM of 0 000 A30CD PCF ALJOBD PCF gt gt gt 4 4 Panel Personal Computer D o WinNT Win98 Win2000 WinXP Computer link SSC NL MR H UBN MR J2S DB MR J2M B MR J2 DB MR J2 03B5 model Servo amplifier Extension base unit Vector inverter FR V500 Up to 8 axes Q6L1B m a Extension E cable 20 5 20 amp Note 1 Be sure to use the Q172CPUN T UP to 7 extensions A31TU D3LI A31TU DNO corresponds to only Japanese It does not correspond to display for English 1 OVERVIEW 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
291. esignation 0 TIME USHORT 0 3 Program which SETS RSTs a bit device when the specified time has elapsed SET M100 TIME K60000 7 OPERATION CONTROL PROGRAMS 1 When the waiting time setting is indirectly specified with a word device the value imported first is used as the device value for exercising control The set time cannot be changed if the device value is changed during a wait state 2 The TIME instruction is equivalent to a conditional expression and therefore may be set on only the last line of a transition G program 3 When the transition program Gn of the same number having the TIME instruction setting is used in multiple Motion SFC programs avoid running them at the same time If they are run simultaneously the waiting time in the program run first will be illegal 4 Another transition program Gn can executed a time of instruction by multiple Motion SFC program simultaneously Multi active step less than 256 5 While time by TIME instruction waits the wait time can not be stopped 6 When using the TIME instruction a verification error may occur even when the Motion SFC program of SW6RN GSVLIP is equal to the Motion CPU if a verification of Motion SFC program is executed 7 OPERATION CONTROL PROGRAMS FIFS 7 14 Comment Statement Number of basic steps Usable data Usable Data Bit device Setting data 64 bit 64 bit Bit Comparison 16 bit 32 bit 16 b
292. ess 16 bit integer type 32 bit integer type 64 bit floating point type ON region Value _ Word device D W constant K setting OFF Value Word device D W constant K Watch data Operation ON Enable Output enable disable Bit device X Y M L F special relay cycle OFF Disable bit none default None Always enable No forced Bit device X Y M L B F special relay outputs are none default always made OFF status Forced output bit 1 Output device a Setthe bit device which outputs the ON OFF signal toward the preset watch data b As the output device the following devices can be used Device No setting range Input relay ete to X1FFF Output relay 2 YO to Y1FFF Internal relay 3 MO to M8191 Latch relay LO to L8191 Link relay BO to B1FFF Note 1 PX is write disabled and it cannot be used as the output device For X only the free No of the input card non loading can be used Note 2 The real output device range PY is also included Note 3 M2001 to M2032 cannot be used to the output device Be careful because it affect a positioning operation when the positioning dedicated devices are set 13 4 13 LIMIT SWITCH OUTPUT FUNCTION 2 Watch data a This data is used to perform the limit switch output function This data is comparison data to output the ON OFF signal The output device is ON OFF controlled acco
293. et h Motion SFC program executed in the fixed cycle 0 88ms 1 77ms 3 55ms 7 11ms 14 2ms by synchronizing to the Motion operation cycle can be set 3 High speed operation processing a The minimum operation cycle of the Motion CPU is made 0 88 ms so far the ratio of 4 times and it correspond with high frequency operation b High speed PLC control is possible by the Q series PLC CPU For LD instruction QO2HCPU Q06HCPU Q12HCPU Q25HCPU 0 034 us QO02CPU 0 079 us QOOCPU O 16 us Q01CPU O 10 us 4 Connection between the Motion controller and servo amplifier with high speed serial communication by SSCNET High speed serial communication by SSCNET connect between the Motion controller and servo amplifier and batch control the charge of servo parameter servo monitor and test operation etc It is also realised reduce the number of wires 5 The operating system software package for your application needs By installing the operating system software for applications in the internal flash memory of the Motion CPU the Motion controller suitable for the machine can be realized And it also can correspond with the function improvement of the software package a Conveyor assembly use SV13 Offer liner interpolation circular interpolation helical interpolation constant speed control speed control fixed pitch feed and etc by the dedicated servo instruction Ideal for use in conveyors and assembly machines
294. et in one block can be created This program is used when you want to proceed to the next step on completion of a servo program run and there are no special conditions to be set as interlocks Refer to Section 6 9 Branches Couplings for details A transition program example is shown below 1 block 0 D0 D1 D2 5 Substitution expression I four arithmetic operations WO0 F SIN 10F Substitution expression standard function CHGV K2 K10 Motion dedicated function 1 program SET M100 M0 X0 Bit device control SET RST M10 D100 gt K10 Bit device control RST DIN DO X0 Bit device control DIN DO gt K100 Standby until transition condition enables v Transition condition Comment 8 TRANSITION PROGRAMS What can be set as a transition condition in the last block are bit conditional expressions comparison conditional expressions and device set SET device reset RST which return logical data values true false In the case of device set SET device reset RST whether the bit or comparison conditional expression specified at S is true or false is a transition condition and when the transition condition enables device set reset is executed and execution shifts to the next step Transition condition description examples are given below Classification Description example Bit conditional expression IMO X10 M100 Comparison conditional expression DO gt K100 D100L K20L Device set SET SET YO M100
295. evice and its device No is outside the range Program examples 1 Program which performs the COS operation of DO and substitutes the result to 0F 0F COS DO 3 2 unie vf wo 7 OPERATION CONTROL PROGRAMS FIFS 7 6 3 Tangent TAN TAN S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculati data Bit device a8 bit 32 bit floating Coasting 16 bit 32 bit floating 908 Ion conditional conditional integer integer integer integer type expression int expression expression type L type K H i i type F type K dad aoad aoa e Usable Setting data Setting data Data type of result Angle data on which TAN tangent operation will 5 Floating point type be performed Functions 1 TAN tangent operation is performed on the data specified with S 2 The data specified with S is in an angle degree unit 3 If S is an integer type it is converted into a floating point type before operation is performed Errors 1 An operation error will occur if S isan indirectly specified device and its device No is outside the range or S is 90 180 n n is an integer Program examples 1 Program which performs the TAN operation of DO and substitutes the result to 0F 3 0 2 1 0 57735026918963 00 7 OPERAT
296. evices Setting data EEIESIIES on Note 1 The device No cannot be ot Note 2 Specify a multiple of 16 as the device number of bit data Note 3 PX PY cannot be set 4 Adjust an executive task the number of transfer word referring to the operation processing time so that this instruction may not obstruct the execution of the motion operation because processing time becomes long in argument to the number of words n to be written 5 The following analogue modules can be used as the control module of Motion CPU Q62DA Q64AD Q64DA Q68ADV Q68DAV Q68ADI Q68DAI 1 An operation error will occur if Number of words n to be written is outside the range of 1 to 256 Motion CPU cannot communicate with intelligent function module special function module at the instruction execution Abnormalities of the intelligent function module special function module were detected at the instruction execution I O No s specified with D1 differ from the intelligent function module special function module controlled by the self CPU The address specified with D2 is outside the buffer memory range First device No S which writing data are stored number of words n to be written is outside the device range S is a bit device and device number is not a multiple of 16 PX PY is set in S to S n 1 7 OPERATION CONTROL PROGRAMS O 993 SSS ww a Program examples 1 2 words from
297. executed toward the CPU except the Motion CPU The current value change of axis stopped axis No specified with S1 is changed into the current value specified 52 This instruction is always effective regardless of the state of real mode virtual mode mode switching when the operating system software of Motion CPU is SV22 S P SFCS S P SVST S P CHGA S P CHGV S P CHGT S P DDRD S P DDWR cannot be executed simultaneously toward the CPU executing S P CHGA instruction When the Motion dedicated PLC instruction is started continuously It is necessary to take an inter lock by the to self CPU high speed interrupt accept flag from CPUn When the servo program is executed also at the motion control step Kn in the Motion CPU it is necessary to take an inter lock by user program because there is no flag which can distinguish the axis starting in the PLC CPU Start accept flag M2001 to M2032 of the motion devices is used as the inter lock condition in the Motion CPU It is necessary to take an inter lock by the start accept flag of the shared CPU memory so that multiple instructions may not be executed toward the same axis of the same Motion CPU No The current change value is also possible when the servo program which execute the CHGA instruction toward an axis is executed in the S P SVST instruction 5 MOTION DEDICATED PLC INSTRUCTION Operation Setting range PLC program END END END 22 _END gt t
298. f Motion CPU are described 1 Program writing by the Communication menu Transfer a After transfer programs are stored in the program memory of Motion CPU stuffing to the front for every kind Motion CPU Personal computer Program memory Programming software Program No 0 Program No 0 Program No 2 Program No 2 Program transfer Program No 5 Program No 5 Program No 6 Program No 6 Program No 100 Program No 100 Free area 2 Program writing by the Online change a After online change a program to execute the online change is stored in the free area after the program stored previously Refer to 1 After that the program written in previously is made invalid and the new program is made valid Refer to 2 Motion CPU Personal computer Program memory Programming software Program No 0 Program No 0 Program No 2 Program No 2 Program No 5 2 Program No 6 Program No 5 Program No 6 Program No 100 Program No 100 Program No 5 Free area 12 7 12 USER FILES b If the online change is executed repeatedly the free space in program memory is lost and the online change may not be executed In this case an error message is displayed by SW6RN GSVLIP at the online change and Online change OFF is set Motion CPU Program memory Program No 0
299. f points that send range for each CPU is word Settings should be set as same when using multiple CPU Motion CPU CPU No 2 Automatic refresh setting 1 Refresh Setting Setting 1 7 _ CPU share memoyG Dev starting Pott Stat End Stt End eo0 f 080 0810 40 The applicable device of head device is DWH M Y B The unit of points that send range for each CPU is word Settings should be set as same when using multiple CPU The device of CPU No 4 is not refreshed by the CPU No 2 Settings should be set as same when using multiple CPU The device of CPU No 2 and No 4 are not refreshed by the CPU No 3 Motion CPU CPU No 4 Automatic refresh setting 1 r Refresh Setting Setting 1 tPUshaememopG Dev startin Pom Stat End Stt End 20 gei 3 BIDF a4o nen ME3S The applicable device of head device is Dw HM YB The unit of points that send range for each CPU is word Settings should be set as same when using multiple CPU The device of CPU No 2 is not refreshed by the CPU No 4 Although the example of a setting is the case of the automatic refresh setting 1 the automatic refresh setting 2 4 can be also set similarly 3 11 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM
300. fication 2 B indicates a bit device 9 MOTION CONTROL PROGRAMS Table 9 2 Servo Instruction List continued Positioning data _ 2M Dwell time Auxiliary point Central point Instruction symbol Command speed Processing Parameter block No Address travel value Torque limit value Positioning control luem i did ii ini Ludo pae iud Ielele af ff ee Pb ae Pf i 1 fof aes constanespoea consors afo fof PIE La fo E Position follow up control Constant speed control passing point absolute specification Constant speed control Constant speed control passing point helical absolute specification 9 MOTION CONTROL PROGRAMS Positioning data Number of steps Starting angle Amplitude Frequency Reference axis No Control unit Speed limit value Acceleration time Deceleration time Rapid stop deceleration time Torque limit value Deceleration processing at stop input Allowable error range for circular interpolation S curve ratio Repeat condition Program No Command speed FIN acceleration deceleration WAIT ON OFF ea AR Fa S EE EC fot fal serm _ ee ppt
301. fied Coni E The CPU except the Motion CPU by First O No of 9irm a the target CPU 16 is specified program and P Since 0 to 3DFH 3E4H is specified by First I O No of correct it to a the target CPU 16 is specified correct PLC There are 33 or more instruction requests to the Motion program CPU from the PLC CPU in S P SFCS S P SVST S P CHGA S P GINT sum table simultaneously and the Motion CPU cannot process them Note 0000H Normal Program example Program which generates the interrupt toward the Motion CPU No 4 X0 SP GINT H3E3 SM391 Normal complete program SM391 The program which generates interruption again 5 MOTION DEDICATED PLC INSTRUCTION MEMO 6 MOTION SFC PROGRAMS 6 MOTION SFC PROGRAMS Refer to Chapter 19 ERROR CODE LISTS for details of Motion SFC program error 6 1 Motion SFC Program Configuration The Motion SFC Program is constituted by the combination of start steps transitions end and others are shows below Operation Program ES BC v Positioning ready FO v Positioning ready check 20 Vv Positioning execution v Positioning complete G1 check ae Operation END end The above Motion SFC program to be started performs the following operations 1 The step FO is activated and the operation specified with the step FO is executed positioning ready A step in such an active s
302. fied axi Torque limit value The specified axis No is outside the range ROME VISUM eee No is within the range change request CHGT execution error The S data is outside the range of the data Correct the program so that the S data is Assignment type of D within the range of the data type of D execution error The device No which indirectly specifies D is Correct the program so that the device No illegal which indirectly specifies D is proper Operation execution error Correct the program so that the divisor is other The divisor is O Remainder 96 than 0 execution error Device set SET execution error Device reset RST i C t th that the device No execu eror The device No which indirectly specifies D is Mis S program 2e hii Device set SET illegal which indirectly specifies D is proper execution error V ens ola Correct the program to set a write enabled 0 is a device which is write disabled Device reset RST device at D execution error Device output DOUT execution Device input DIN execution error The device No which indirectly specifies D is Correct the program so that the device No Bit device output illegal which indirectly specifies D is proper OUT execution C2 Co Co
303. for selective branch parallel branch Note that in the Motion SFC chart this type is displayed in order of a parallel coupling a selective coupling as shown on the left In this case a pointer Pn cannot be set between the parallel coupling point PAEm and the selective coupling point IFEm After a parallel branch a selective branch can be performed The parallel coupling point can be the same as the coupling point of a selective coupling for parallel branch selective branch Note that in the Motion SFC chart this type is displayed in order of a selective coupling parallel coupling as shown on the left In this case a pointer Pn cannot be set between the selective coupling point IFEm and the parallel coupling point PAEm 6 MOTION SFC PROGRAMS representation Selective branch Selective branch Selective coupling Selective coupling Parallel branch Parallel branch Parallel coupling Parallel coupling CALL Kn IFBm IFT1 SFT Gn IFBm 1 IFT1 SFT Gn JMP IFEm 1 IFT2 SFT Gn JMP IFEm 1 IFEm 1 JMP IFEm IFT2 SFT CALL JMP IFEm IFEm SFT Gn CALL Kn PABm PAT1 SFT Gn PABm 1 PAT1 C
304. from CPU No 4 is performed complete flag CPU No 4 read completion normally by MULTR instruction Turn off at reset release of the CPU No 1 Turn on during reset of the CPU No 1 It also contains when 240 CPU No 1 resetting flag release 2 CPU No 1 resettin CPU is removed from the base unit 9 The other CPU is also resetting Turn off at reset release of the CPU No 2 CPU No 2 reset Turn on during reset of the CPU No 2 It also contains when a M9241 CPU No 2 resetting flag release CPU is removed from the base unit M9 CPU No 2 resetting The error of the MULTI CPU DOWN error code 7000 occurs in the other CPU Turn off at reset release of the CPU No 3 S Change status CPU No 3 reset Turn on during reset of the CPU No 3 It also contains when a 242 CPU No 3 resetting flag release CPU is removed from the base unit CPU No 3 resetting The error of the MULTI CPU DOWN error code 7000 occurs in the other CPU Turn off at reset release of the CPU No 4 CPU No 4 reset Turn on during reset of the CPU No 4 It also contains when a M9243 CPU No 4 resetting flag release CPU is removed from the base unit CPU No 4 resetting The error of the MULTI CPU DOWN error code 7000 occurs in the other CPU Note 1 It adds newly at the Motion controller Q series Note 2 The CPU No 1 is reset after the factor of the stop error is remove
305. function module controlled by the self CPU The address specified with S2 is outside the buffer memory range First device No D which stores the reading data number of words n to be read is outside the device range D is a bit device and the device number is not a multiple of 16 PX PY is set in D to D n 1 The indirectly specified device No is outside the range The indirectly specified device No is outside the range or an odd number The indirectly specified device No is outside the range The indirectly specified device No is outside the range or an odd number 19 8 The block processing in execution is stopped and the next block is executed Correct the program so that the number of words n to be written is within the range of 1 to 256 Replace the intelligent function module special function module if there is a fault Correct the program so that the first I O No s specified with D1 is intelligent function module special function module controlled by the self CPU Correct the program so that the address specified with D2 is within the buffer memory range Correct the program so that first device No S which writing data are stored number of words n to be written is within the device range When is a bit device set the device number to be multiple of 16 When S is a bit device do not set PX PY Correct the program so that the n
306. g ON Value OFF Value Watch data value b The limit switch outputs are controlled based on the each watch data during the PCPU ready status M9074 ON by the PLC ready flag M2000 from OFF to ON When the PCPU ready flag M9074 turns OFF by turning the PLC ready flag M2000 from ON to OFF all points turn OFF When ON Value and OFF Value are specified with word devices the word device contents are input to the internal area when the PLC ready flag M2000 turns from OFF to ON After that the word device contents are input per motion operation cycle and limit switch outputs are controlled c Multiple outputs Up to 32 points can be also set to one watch data In each setting the output device may be the same If multiple ON region settings have been made to the same output device the logical add of the output results in the regions is output ON ON s 31 Output device OFF v OFF OFF Value J Lx ON Value LZ OFF Value ak ON Value ON region setting No 2 ON region setting No 1 Watch data value 2 Output enable disable bit can be set and executed enable disable of the limit switch outputs point by point Limit switch output control is executed when the output enable disable bit is ON and the output is OFF when it is OFF If there is no setting the outputs are always enabled 3 Forced output bit can be set and turned the forcibly
307. g the personal computer equipped with Ethernet to MELSECNET 10 H or Ethernet board to the Ethernet to MELSECNET 10 H or Ethernet 3 The access range of above 1 and 2 can be accessed to 8 network points by setting the routing parameter to the control CPU of the network module and the CPU which connected the personal computer 16 COMMUNICATIONS VIA NETWORK lt Example gt Personal Personal Personal C24 Serial communication module computer computer computer computer MNET MELSECNET 10 H USB USB RS 232 MNET board Ether Ethernet RS 232 RS 232 Network No 1 Ether Qn H Q173 C24 MNET Qn H Q173 MNET Qn H Q173 MNET CPU CPU or CPU CPU or CPU CPU or or Network N Ether N Ether N Ether Ether No 2 Network No 3 Qn H Q173 MNET MNET Qn H Q173 MNET CPU CPU or or CPU CPU or N Ether Ether N Ether Network No 4 Network No 5 Qn H Q173 MNET MNET Qn H Q173 MNET Qn H Q173 MNET MNET CPU CPU or or CPU CPU or CPU CPU or or Network N Ether Ether N Ether N Ether Ether No 6 Qn H Q173 MNET MNET CPU CPU or or N Ether Ether OIO Network No 8 Network No 9 Qn H Q173 MNET Q173 MNET CPU CPU or or CPU CPU or Network N Ether
308. generated a CPU DOWN error all PLC CPU Q173CPU N Q172CPU N of CPU Nos 2 3 and 4 generate a MULTI CPU DOWN error error code 7000 and the Multiple CPU system stops Note 1 b Recover the system using the procedure below 1 Check the cause of the error that occurred in CPU No 1 using the PC diagnostic function of GX Developer 2 Remove the cause of the error 3 Reset the PLC CPU of CPU No 1 or restart the power Resetting the PLC CPU of CPU No 1 or restarting the power resets all CPUs in the Multiple CPU system and the system is recovered 2 When CPU No 2 3 or 4 generated a CPU DOWN error If the PLC CPU Q173CPU N or Q172CPU N of CPU No 2 3 or 4 generated a CPU DOWN error the entire system may or may not stop depending on the setting of Operation Mode in the Multiple CPU Settings tab By default value all CPUs will stop when any of the CPUs generates a CPU stop error If you do not wish to stop all CPUs following an error generated in the PLC CPU Q173CPU N or Q172CPU N of a specific CPU or CPUs click and uncheck the CPU or CPUs that will not stop all CPUs upon generating an error See arrow A x Base Setting Multiple CPU Setting System Basic Setting No of CPU Operating Mode No of CPU 4 z Error operation mode at the stop of CPU All station stop by stop error of CPUT number of CPU All station stop by stop error of CPU2 which includes CPU All station stop
309. ger integer j integer integer type expression int expression expression type L type KH L 4 type F type K L Gp Sa gos we 0 o3 om O Usable Setting data Setting data Data type of result Data which will be converted into unsigned 32 bit integer value Functions 1 The data specified with S is converted into an unsigned 32 bit integer value 2 The data range of S is 0 to 4294967295 3 When S is a 64 bit floating point type its fractional portion is rounded down before conversion is made 4 If S is a 32 bit integer type its value is returned unchanged with no conversion processing performed Errors 1 An operation error will occur if The S data is outside the range 0 to 4294967295 or S is an indirectly specified device and its device No is outside the range Program examples 1 Program which converts the data of DO into an unsigned 32 bit integer value and substitutes the result to 0L 0L ULONG DO 1 0 K65535L 00 HOOOOFFFF HFFFF Unsigned value is K65535 7 OPERATION CONTROL PROGRAMS FIFS 7 7 5 Signed 64 bit floating point value conversion FLOAT FLOAT S Number of basic steps Usable data Usable Data Wonddeice 1 Constant _ Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculati data Bit device a8 bit 32 bit floating Coasting 16 bit 32 bit floating 908 Ion conditional
310. ght before P2 and the axis passes through P2 during deceleration the axis will return to P2 4 There will be a delay of time equivalent to an operation cycle at the maximum in the response time from when the CHGV instruction is executed until the speed begins to change actually Return request was given here Starting point 7 OPERATION CONTROL PROGRAMS FIFS 7 12 2 Torque limit value change request CHGT CHGT S1 S2 Number of basic steps Usable data Usable Data Bit device Setting data 64 bit 64 bit Bit Comparison 16 bit 32 bit 16 bit 32 bit Calculation s i 4 R floating Coasting floating conditional conditional integer integer integer integer type expression expression expression type type L type K H K H L type K noe se psg Eee iE eser ee ee ee Usable Setting data Setting data Data type of result Axis No to which torque limit value change request will be given S1 S2 Specified torque limit value Functions 1 The torque limit value of the axis specified with S1 is changed to the torque limit value axis specified with S2 2 Inthe real mode any axis that has completed a servo startup can be changed in torque limit value any time independently of the status starting stopping servo ON or servo OFF 3 The axis No that may be set at S1 is within the following range 1
311. gratm 2 57 tn n aee e patei bani eterna APP 9 APPENDIX 2 1 Program example to execute the Multiple CPU dedicated instruction continuously APP 9 APPENDIX 2 2 The program example to execute plural Multiple CPU instruction by the instructions of A D Ce APP 11 APPENDIX 2 3 Motion control example by Motion SFC APP 13 APPENDIX 2 4 Continuation execution example at the subroutine re start by the Motion SFC program dtu cad M dM t UR acc a m tM APP 24 APPENDIX 2 5 Continuation execution example after the stop by the Motion SFC program APP 28 A 17 About Manuals The following manuals are related to this product Referring to this list please request the necessary manuals Related Manuals 1 Motion controller Model Code Q173CPU N Q172CPU N Motion controller User s Manual This manual explains specifications of the Motion CPU modules Q172LX Servo external signal interface module Q172EX Serial absolute synchronous encoder interface module Q173PX Manual pulse IB 0300040 generator interface module Teaching units Power supply modules Servo amplifiers SSCNET cables 1XB780 synchronous encoder cables and others Optional Q173CPU N Q172CPU N Motion controller SV13 SV22 Programming Manual REAL MODE 1B 0300043 This manual explains the servo parameters positioning instructions device list error list an
312. h S1 is changed into the current value specified S2 at the virtual mode This instruction is always effective regardless of the state of real mode virtual mode mode switching when the operating system software of Motion CPU is SV22 S P SFCS S P SVST S P CHGA S P CHGV S P CHGT S P DDRD S P DDWR cannot be executed simultaneously toward the CPU executing S P CHGA instruction When the Motion dedicated PLC instruction is started continuously It is necessary to take an inter lock by the to self CPU high speed interrupt accept flag from CPUn When the servo program is executed also at the motion control step Kn in the Motion CPU it is necessary to take an inter lock by user program because there is no flag which can distinguish the axis starting in the PLC CPU Synchronous encoder current value changing flag M2101 to M2112 of the motion devices is used as the inter lock condition in the Motion CPU It is necessary to take an inter lock by the current value changing flag of the shared CPU memory so that multiple instructions may not be executed toward the same synchronous encoder axis of the same Motion CPU No The current change value is also possible when the servo program which execute the CHGA instruction toward the synchronous encoder axis is executed in the S P SVST instruction 5 MOTION DEDICATED PLC INSTRUCTION Operation Setting range PLC program END END END 1 END gt t S P CHGA ex
313. h S2 of the buffer memory in the intelligent function module special function module controlled by the self CPU specified with 51 and are stored since the device specified with S2 S1 Intelligent function module special function module buff B Device memory pead the data uffer memory Seater qe NK H0000 H0000 2 First I O No of the module set by system setting is specified by D1 Q02H Q173 Q64AD Q64DA CPU CPU N First First device No device No device No No No 10H 20H Power supply module D1 sets 20H by the system setting when a TO instruction is executed in the D A conversion module Q64DA 7 91 7 OPERATION CONTROL PROGRAMS Errors 3 The word devices that may be set at D S1 S2 and n are shown below Note 1 p Note 1 Note 2 ara Word devices Bit devices etting data O O D O O Note 4 Note 4 S1 O 728 8E 50 RE foto LO lt lt eee Note 1 The device No cannot be specified indirectly Note 2 Specify a multiple of 16 as the device number of bit data Note 3 Special relays M9000 to M9255 and dedicated devices M2000 to M2399 cannot be set Note 4 PX PY cannot be set 4 Adjust an executive task the number of transfer word referring to the operation processing time so that this instruc
314. hange completion 4 Servo program lt K10 gt 4 CHGA Servomotor virtual sevomotor shaft Axis 2 50 current value change control Axis No 2 Current value change address 50 9 MOTION CONTROL PROGRAMS 1 Current value changing instructions When PLC ready flag M2000 or PCPU ready flag M9074 is OFF a minor error Note 100 occurs and a current value change is not made This change is made only during a stop If a current value change is made while the specified axis is starting a minor error S 101 start accept signal of the corresponding axis is ON occurs and the current value change is not made If the servo of the corresponding axis is not READY a major error Note 1004 occurs and the current value change is not made If the corresponding axis is in a servo error a major error 1005 occurs the current value change is not made For SV22 Set the current value change program of the virtual servomotor shaft within the virtual mode program No range set in program mode assignment Set the current value change program of the servomotor output shaft within the real mode program No range If a virtual servomotor shaft current value change is executed in the real mode a servo program setting error 903 occurs and the current value change is not made If a servomotor output shaft current value change is execute
315. he Motion SFC chart only program during stop Operation control step F FS l OQ Transition G Online change of mode Servo program K assignment setting is not possible Mechanical system program SV22 only pope xe Cam data SV22 only E X who 0 c o 2 Possible Not possible 1 Program writing is executed during the positioning control in the online change Be safely careful enough for work 2 Programs writing to the internal SRAM of Motion CPU at the mode operated by ROM in the online change If the online change is executed at the mode operated by ROM it returns to the contents of program written in the internal FLASH ROM by the next power ON or resetting 3 If the online change is executed simultaneously to one Motion CPU from the multiple personal computers a program writing may not be executed Please do not perform 4 If the online changes are executed by other personal computer during the following operation by SW6RN GSVOP injustice of a monitor value and operation failure may occur Please do not perform e Monitor mode of the Motion SFC program Test mode Debug mode of the Motion SFC program 5 If the online change of Motion SFC chart added newly is executed since the online change of Motion SFC parameter cannot be executed it operates as the normal task default value 6 When using the SV22 if the online change is executed by changing the program servo program editor scree
316. he Axis 1 flag of the Axis 2 accept flag from No 2 CPU No 2 CPU1 U3E11G516 0 U3E11G516 1 U3E1 G48 0 RST MO o SP SVST H3kE1 J1J2 K100 M10 self CPU high Start accept speed interrupt flag of the Axis 1 accept flag from CPU No 2 CPU No 1 U3E1 G516 0 M2 U3E1 G48 0 SP CHGA 1 To self CPU high speed interrupt accept flag from CPU No 1 M6 U3E1 G48 0 SP CHGT H3E1 K250 M7 D6 RST M6 5 MOTION DEDICATED PLC INSTRUCTION lt Program example 2 gt Program which executes directly multiple Motion dedicated PLC instructions because one contact point turns on M1001 To self CPU high speed interrupt Start accept accept flag from flag of the Axis 1 To self CPU hig speed interrupt Start accept _ accept flag from flag of the Axis 2 CPU1 CPU No 2 M23 U3E1 G48 0 U3E1 G516 1 M21 U3E1 G48 0 U3E1 G516 0 m 1 h To self CPU high speed interrupt Start accept flag of the Axis 4 accept flag from CPU No 2 CPU1 M25 U3E1 G48 0 Y3E1 G516 3 SP SVST H3E1 K106 M34 D24 To self CPU high speed interrupt de accept flag from CPU ices CPU1 M27 U3E1 G48 0 VSE NGS16 4 SP SVST H3E1 K107 M36 D26 5 MOTION DEDICATED PLC INSTRUCTION lt Program example 3 gt Program which executes the Motion dedicated function of the operation control step F
317. he CHGA instruction changes the current value in the following procedure a The start accept flag M2001 to M2008 M2001 to M2032 corresponding to the specified axis is turned on b The current value of the specified axis is changed to the specified address c Start accept flag is turned off at completion of the current value change 2 The current value of the specified axis is changed in the real mode 3 The current value of the specified virtual servo motor shaft is changed in the virtual mode 4 The used axis No can be set within the following range Q172CPU N Q173CPU N Axis 1 to 8 Axis 1 to 32 5 The address which made the current value change by CHGA instruction is valid on the power supply turning on 9 MOTION CONTROL PROGRAMS Program example A program which made the current value change control in the real mode is described as the following conditions 1 System configuration The current value change control of axis 2 is executed Q02H Q173 Q172 Qx10 CPU CPU EX Axis 4 Axis 5 Axis 6 Axis 7 Axis 2 The current value change control conditions a The current value change control conditions are shown below Item Setting Servo program No 10 Control axis No 2 Current value change address 50 3 Operation timing CHGA instruction START accept flag Current value c
318. he Motion dedicated PLC instruction 1 To self CPU high speed interrupt accept flag from CPUn Common precautions of the Motion dedicated PLC instruction as shown below a To self CPU high speed interrupt accept flag from CPUn is shown in the following table To self CPU high speed interrupt accept flag from CPUn is No operation even if the instruction is executed when it is cannot be accepted When the Motion dedicated PLC instruction is accepted in the Motion CPU to self CPU high speed interrupt accept flag from CPUn of the self CPU Motion CPU shared CPU memory cannot be accepted and processing toward the instruction for requirement When processing is completed and it becomes the condition that it has an instruction accepted to self CPU high speed interrupt accept flag from CPUn can be accepted 5 MOTION DEDICATED PLC INSTRUCTION Shared CPU memory address Example of the reading Description is decimal When target is the CPU No 2 address x lowest rank bit 30H 48 toward executing instruction ox U3E1 G48 0 from CPU No 1 The lowest rank bit 31H 49 toward executing instruction 31H 49 U3E1 G49 0 from CPU No 2 The lowest rank bit 32H 50 toward executing instruction 32H 50 U3E1 G50 0 from CPU No 3 The lowest rank bit 33H 51 toward executing instruction 33H 51 U3E1 G51 0 from CPU No 4 b To self CPU high speed interrupt accept flag from CPUn turn ON OFF at the executing instructio
319. he correct combinations listed in the instruction manual Other combinations may lead to faults If safety standards ex robot safety rules etc apply to the system using the Motion controller servo amplifier and servomotor make sure that the safety standards are satisfied Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system In systems where coasting of the servomotor will be a problem during the forced stop emergency stop servo OFF or power supply OFF use dynamic brakes Make sure that the system considers the coasting amount even when using dynamic brakes In systems where perpendicular shaft dropping may be a problem during the forced stop emergency stop servo OFF or power supply OFF use both dynamic brakes and electromagnetic brakes Z CAUTION The dynamic brakes must be used only on errors that cause the forced stop emergency stop or servo OFF These brakes must not be used for normal braking The brakes electromagnetic brakes assembled into the servomotor are for holding applications and must not be used for normal braking The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max speed Use wires and cables that have a wire diameter heat resistance and bending
320. he data specified with S 2 The data specified with S is in an angle degree unit 3 If S is an integer type it is converted into a floating point type before operation is performed Errors 1 An operation error will occur if S isan indirectly specified device and its device No is outside the range Program examples 1 Program which performs the SIN operation of DO and substitutes the result to 0F 0F SIN DO 3 1 0 2 0 707106 8118655 10 7 OPERATION CONTROL PROGRAMS FIFS 7 6 2 Cosine COS COS S Number of basic steps Usable data Usable Data Bit device Setting 64 bit 64 bit Bit Comparison 16 bit 32 bit 16 bit 32 bit OF Calculation floating Coasting floating conditional conditional integer integer integer integer type expression as timer type type L type K H K H L Usable data Setting data Setting data Data type of result Angle data on which COS cosine operation will 5 Floating point type be performed Functions 1 COS cosine operation is performed on the data specified with S 2 The data specified with S is in an angle degree unit 3 If S is an integer type it is converted into a floating point type before operation is performed Errors 1 An operation error will occur if S isan indirectly specified d
321. he data which it will be read is outside the range OOOH to FFFH of the shared CPU memory address The shared CPU memory first address S2 of the data which it will be read number of words n to be read is outside the range 000H to FFFH of the shared CPU memory address First device No D which stores the reading data number of words n to be read is outside the device range Except 3E0H 3E1H 3E2H 3E3H is set at 51 The self CPU is specified with S1 The CPU which reads is resetting The errors are detected in the CPU which read D is a bit device and device number is not a multiple of 16 PX PY is set in D to D n 1 7 OPERATION CONTROL PROGRAMS Program examples 1 It checks that a CPU No 1 is not resetting 2 words is read to since 0 from the shared CPU memory COOH of CPU No 1 and transits to next step after reading completion GO 9240 RST M9216 MULTR 0 H3E0 HCOO K2 Device memory 2 words Shared CPU memory transfer 0 00 1 CO1H ie x 621 7 OPERATION CONTROL PROGRAMS FIFS 7 13 8 Write device data to intelligent function module special function module TO Refer to the Section 1 3 4 for the correspondence version of the Motion CPU and the software TO D1 D2 S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculation data Bit device AS bit 32 pit floating Coasting e ad de
322. he left In this case a pointer Pn cannot be set between the selective coupling point IFEm and the selective branch point IFBm 1 The parallel coupling point and parallel branch point can be the same Note that in the Motion SFC chart this type is displayed in order of a parallel coupling a parallel branch as shown on the left Execution waits at the parallel coupling point and shifts to the parallel branch In this case a pointer Pn cannot be set between the parallel coupling point PAEm and the parallel branch point 1 6 MOTION SFC PROGRAMS 6 4 Motion SFC Program Name Set the Motion SFC program name to the Motion SFC program No 0 to No 255 individually Make this setting in the Motion SFC program management window on the Motion SFC program edit screen Set the Motion SFC program name within 16 characters Specify this Motion SFC program name for a subroutine call start step GSUB and clear step CLR Motion SFC programs correspond to No 0 to No 255 and saved in a one program for one file format The preset Motion SFC program name is used as the file name of the Motion SFC Program file for user file management Refer to Chapter 12 USER FILES for details 1 Itis can be set the Motion SFC program to any of No 0 to No 255 There are no specific programs which have special roles 2 cannot be used in the first character of the Motion SFC program name 3 lt gt c
323. hich can set are only 1 axis The axis No set in the system setting Refer to Section 1 5 is used as the axis No to start 5 23 5 MOTION DEDICATED PLC INSTRUCTION 2 Setting of the current value to change S2 usable range 2147483648 to 2147483647 Synchronous encoder current value changing flag System area The complete status of the synchronous encoder current value changing flag is stored in the address of the synchronous encoder current value changing flag in the shared CPU memory Shared CPU memory address Description is decimal address The synchronous encoder current value changing flag is stored by the 1 to 16 axis each bit As for a bit s actually being set Q173CPU N E1 to E12 Q172CPU N E1 to E8 208H 520 OFF Start accept usable ON Start accept disable 208H 520 address E16 Errors The abnormal completion in the case shown below and the error code is stored in the device specified with the complete status storing device D2 Complete status Note Error factor Corrective action Error code H 4COO The specified device cannot be used in the Motion CPU Or it is outside the device range The instruction for the Multiple CPU system which did not be correspond with operating system software of the Motion CPU was executed Confirm a program 4605 Axis No set by CHGA instruction is injustice and correct it to a There are 33 or more instruction requests to the correc
324. hich natural logarithm operation will be S Berform d Floating point type Functions 1 The base e natural logarithm of the data specified with S is found 2 Only a positive number may be specified with S Operation cannot be performed with a negative number 3 If S is an integer type it is converted into a floating point type before operation is performed Errors 1 An operation error will occur if S is 0 or a negative number or S is an indirectly specified device and its device No is outside the range Program examples 1 Program which finds the natural logarithm of DOF and substitutes the result to 0F 0F LN DOF 3 2 1 D2 D1 0 D3 DO 2 3025850929940 10 0 7 OPERATION CONTROL PROGRAMS FIFS 7 6 9 Exponential operation EXP EXP S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculati data Bit device a8 bit 32 bit floating Coasting 16 bit 32 bit floating 908 Ion conditional conditional integer integer integer integer type expression i int expression expression type type L type K H K H L 4 p type F type K _ ee ee e Usable Setting data Setting data Data type of result Data on which exponential operation will be Floating point type performed Functions 1 Exponential operation is performed on the base e data specified w
325. ice to Axis 27 monitor device D909 D1069 D910 D1070 to Axis 12 monitor device to Axis 28 monitor device D919 D1079 D920 D1080 to Axis 13 monitor device to Axis 29 monitor device D929 D1089 D930 D1090 to Axis 14 monitor device to Axis 30 monitor device D939 D1099 D940 D1100 to Axis 15 monitor device to Axis 31 monitor device D949 D1109 D950 D1110 to Axis 16 monitor device to Axis 32 monitor device D959 D1119 1 40 1 OVERVIEW Detailes of each axis D800 10n Feed current value D801 10n D802 10n D803 10n Major error code D804 10n Execute program No D805 10n M code D806 10n Current value after virtual sevomotor axis main D807 10n shaft s differential gear D808 10n Error search output axis No D809 10n Data set pointer for constant speed control Note 1 n in the above device No shows the numerical value which correspond to axis No Q173CPU N Axis No 1 to No 32 n 0 to 31 Q172CPU N Axis No 1 to No 8 n 0 to 7 Note 2 The unused axis areas in the mechanical system program can be used as an user device 1 41 1 OVERVIEW 4 Table of the synchronous encoder axis monitor devices SV22 only D1120 to Axis 1 monitor device D1129 D1130 to Axis 2 monitor device D1139 D1140 to Axis 3 monitor device D1149 D1150 to Axis 4 monitor device D1159 D1160 to Axis 5 monitor device D1169 D1170 to Axis 6 monitor device D1179 D1180 to Axis
326. ifier signals etc Incorrect installation may lead to signals not being VIN output when trouble occurs or the protective functions not 24VDC functioning Control output Do not connect or disconnect the connection cables between signal each unit the encoder cable or PLC expansion cable while the power is ON Securely tighten the cable connector fixing screws and fixing mechanisms Insufficient fixing may lead to the cables combing off during operation Do not bundle the power line or cables 5 Trial operation and adjustment Z CAUTION Confirm and adjust the program and each parameter before operation Unpredictable movements may occur depending on the machine Extreme adjustments and changes may lead to unstable operation so never make them When using the absolute position system function on starting up and when the Motion controller or absolute value motor has been replaced always perform a home position return 6 Usage methods Z CAUTION Immediately turn OFF the power if smoke abnormal sounds or odors are emitted from the Motion controller servo amplifier or servomotor Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized Do not make any modifications to the unit Keep the
327. ignal Note 1 2 20 points lt 32 axes Mechanical system setting axis only Synchronous encoder axis command signal Note 2 4 points lt 12 axes Cam axis command signal Note 1 2 1 point X 32 axes to User device Mechanical system setting axis only 3392 points Smoothing clutch complete signal Note 1 2 2 points lt 32 axes Unusable Note 1 16 points User device M8191 2592 points Note 1 It can be used as an user device in the SV22 real mode only Note 2 Do not set the M4000 to M5599 as a latch range in the virtual mode 1 16 1 OVERVIEW MEMO 1 OVERVIEW 1 Table of the axis statuses SV13 SV22 M2400 M2720 to Axis 1 status to Axis 17 status M2419 M2739 M2420 M2740 to Axis 2 status to Axis 18 status M2439 M2759 M2440 M2760 to Axis 3 status to Axis 19 status M2459 M2779 M2460 M2780 to Axis 4 status to Axis 20 status M2479 M2799 M2480 M2800 to Axis 5 status to Axis 21 status M2499 M2819 M2500 M2820 to Axis 6 status to Axis 22 status M2519 M2839 M2520 M2840 to Axis 7 status to Axis 23 status M2539 M2859 M2540 M2860 to Axis 8 status to Axis 24 status M2559 M2879 M2560 M2880 to Axis 9 status to Axis 25 status M2579 M2899 M2580 M2900 to Axis 10 status to Axis 26 status M2599 M2919 M2600 M2920 to Axis 11 status to Axis 27 status M2619 M2939 M2620 M2940 to Axis 12 status to Axis 28 status M2639 M2959 M2640 M2960 to Axis 13 status to Axis 29 status M2659 M2979 M2660 M2980 to
328. in the execution cycle of the corresponding task this operation is performed for the number of active steps to terminate processing once And the same operation is processed continuously in the next cycle In this case the transition destination step is executed in the next cycle when the transition condition enables Consecutive transition control indicates that transition destination steps are executed one after another in the same one execution cycle when their transition conditions have enabled single basic operation is performed consecutively In this case set the number of consecutive transitions Control exercised is common to the Motion SFC programs executed by normal tasks Set the number of consecutive transitions to the Motion SFC programs executed by event and NMI tasks for every program 11 2 11 MOTION SFC PARAMETER 11 2 2 Task operation 1 Normal task operation Operations The Motion SFC program is executed in the main cycle free time of the Motion CPU processing Program 1 Program 2 Program name Program name A EY EY F20 1 A F1 F tT F2 2 B F3 F X F END C i 7 wo i END SFCS1 SFCS2 PLC program cel LJ Main cycle Main cycle gt Normal task lt A gt 2 B Main cycle gt Normal task is ended with END No continuation operation When making it operate continuously it returns to
329. ing execution If not the Completion IFT2 2 of condition SFT Gn completion of transition condition transits to the right connected step When just before is subroutine call or starting step transits to the next step by the completion of transition condition without waiting for the operating of subroutine completion If not formation of transition condition transits to the right connected step IFBm JMP IFEm JMP IFEm IFEm 6 MOTION SFC PROGRAMS Symbol Classification Name List representation Function Code size byte When just before is the motion control step waits for the motion operating completion and then transits to the next step by formation of transition condition Gn IFBm GO to G4095 If not completion of transition condition IFT1 transits to the right connected step TT WAIT Gn When just before is the operation control step transits completion to the next step by the completion of transition MEE condition JMP IFEm condition after operating execution If not the IFT2 completion of transition condition transits to the right WAIT Gn connected step Same operation as Shift Completion of condition JMP IFEm When just before is subroutine call or starting step IFEm waits for the operating completion of subroutine and then transits to the next step by the completion of transition condition If not formation of transition c
330. instruction steps The number of steps is displayed when a a al 8 Servo program is created The instruction O item comprise the minimum steps and one A item increases the number of steps by 1 Items common to the servo instructions Items set in circular interpolation starting servo programs Items set for high speed oscillation Set when changing the parameter block default value when not set data set in the servo program to control The parameter block data are not changed Setting items other than the common circular and parameter block items Items to be set vary with the servo instruction Indicates the number of steps of each servo instruction 9 MOTION CONTROL PROGRAMS 5 c c 5 o 2 g o a Circular interpolation control Positioning control Radius specified 2 Servo instruction list Table 9 2 indicates the servo instructions available for servo programs and the positioning data set in servo instructions Table 9 2 Servo Instruction List Positioning data j o Instruction symbol Processing Address travel value Command speed Dwell time Torque limit value Parameter block No Auxiliary point Radius Central point Virtual enable Number of steps pu eue spo o 9 5 m emm s s S o T2 opo e s LET o ues peines s o o Incr
331. ion but it checks by the target CPU side and it becomes abnormal completion at the device range over 5 S P DDRD instruction accepting and normal abnormal completion can be confirmed with the complete device D1 or status display device D2 at the completion a Complete device It is turned on by the END processing of scan which the instruction completed and turned off by the next END processing b Status display device at the completion It is turned on off according to the status of the instruction completion e Normal completion OFF e Abnormal completion It is turned on by the END processing of scan which the instruction completed and turned off by the next END processing 6 SM390 turns on when the target CPU specified with n1 complete to accept SM390 turns off when the target CPU specified with n1 cannot be write correctly by the reset status or error factor 5000 to 5999 5 MOTION DEDICATED PLC INSTRUCTION Operation of the self CPU at execution of S P DDRD instruction First S P DDRD Second S P DDRD instruction accept instruction accept END END END END END EE RES ET 1 dcs To self CPU high speed interrupt ON ON i accept flag from CPUn i E Instruction accept destination OFF i T buffer memory S P DDRD instruction OFF First T T ION First S P DDRD instruction
332. ion SFC program No and correct a PLC program Check the Motion SFC program No and correct a PLC program or create the non created Motion SFC program Double start should be managed on the user 16003 Double start error instruction the same Motion SFC program side Provide the user s starting signal as a starts start interlock in the PLC program The active step of Motion PLC ready OFF S P GINT instruction was executed with PLC SFC program executed by Provide ON of PLC ready flag M2000 and 16004 ready flag M2000 or PCPU ready flag PCPU ready flag M9074 as S P GINT GINT PLC interrupt is not M9074 is OFF processed At a Motion SFC program start by automatic start setting or GSUB the specified Motion SFC program does not exist None Motion SFC program program does not start At a Motion SFC program start by automatic start setting or GSUB the same Motion SFC program is already starting The Motion SFC program which is rewriting the Motion SFC chart by online change was started the start source Motion Double start error also stop to execute The specified Motion S program does not start Online change Table 19 3 Motion SFC interpreter detection errors E m Description rror code Error Processing The code exists but is grammatically erroneous Though not within branch coupling a label jump code within selective branch coupling or a label jump code wi
333. ion SFC start instruction PLC ready flag M2000 the program is executed S P SFCS from the PLC or by a subroutine call start from the initial first step in accordance with the GSUB made from within the Motion SFC program e When started by the S P SFCS instruction At occurrence of a valid event after execution of the number of consecutive transitions of the corresponding program S P SFCS instruction the program is run from the initial first step in accordance with the number of consecutive transitions of the corresponding program Start control e When subroutine started At occurrence of a valid event after execution of GSUB the program is executed from the first step in accordance with the number of consecutive transitions of the corresponding program e When subroutine called The program is executed immediately from the first step After that the program is executed continuously by the number of consecutive transitions of the corresponding program at occurrence of a valid event The subroutine called program is controlled in accordance with the executed task and number of consecutive transitions of the call source program END control END As specified for END operation 11 11 11 MOTION SFC PARAMETER e Program run by NMI task When automatically started When not automatically started At occurrence of a valid event after starting of the The program is started
334. ion modules 16 points 10 slots on the base number of extension bases and slot No are set in the GOT parameter for bus connection with GOT Set the one extension base 16 points 10 slots for connection with GOT then set 10 slots as number of extension bases for connection with GOT in the system setting base setting lt Example gt When the 2nd stage of extension base is set as connection with GOT of extension base in the base setting etel se t Base Setting Muliple CPU Seting System Basic Setting Main Base 5 m set Extension Base dstSlage 2nd Stage 3rd Stage Ath Stage 5th Stage If the bus connection with GOT is executed without above settings in the base setting of system setting SP UNIT LAY ERROR error code 2124 will occur 1 OVERVIEW 1 5 3 Individual parameters 1 Basic system settings The following explains each item to be set in Basic System Settings a Operation cycle setting 1 Set the of motion operation cycle cycles at which a position command is computed and sent to the servo amplifier The setting range is 0 8ms 1 7ms 3 5ms 7 1ms 14 2ms Automatic setting The actual operation cycle corresponding to 0 8ms is 0 888 ms Similarly 1 7ms corresponds to 1 777 ms 3 5ms to 3 555 ms 7 1ms to 7 111 ms and 14 2ms to 14 222 ms respectively 2 The default value is Automatic setting When Automatic setting is selected th
335. ional conditional i i i i expression integer integer a timer integer integertype oint expression expression type type L type K H K H L type type F BETTER TE RE SAC l o ee 1 O Usable Setting data substituted Data type of D Functions 1 The data value specified with S is substituted to the specified word device at D 2 When S and D differ in data type the data at S is converted into the data type of D and the resultant data is substituted When D is a 16 or 32 bit integer type and S is a 64 bit floating point type the fraction part of S is discarded Errors 1 An operation error will occur if The data at S is outside the data type range of D or D or S is an indirectly specified device and its device No is outside the range Program examples 1 Program which substitutes the DO value to 0 0 DO 4 w 9 7 OPERATION CONTROL PROGRAMS 2 Program which substitutes K123456 789 to DOL DOL K123456 789 D1 DO 123456 D 123456 789 The 64 bit floating point type is converted into the 32 bit integer type and the result is substituted 3 Program which substitutes the result of adding K123 and 0 to WO WO K123 0 123 wo i 7 OPERATION CONTROL PROGRAMS FIFS 7 4 2 Addition 51 52 Number of basic steps Usable data Usable Data Bit device
336. irst device No from which the Refresh St automatic refresh function is executed Set the transmitting Seting E Number of specified points are continuously Send range for each CPU CPU device range for each CPU A tae xe used from the device No to be set Point Start End Start End No uU No 2 0 No 3 0 No 4 U The applical i head device is DW f MY B The unit of points that send range for each CPU is word Settings should be set as same when using multiple CPU OK Cancel b Setting number selection send range refresh range for each CPU 1 The refresh setting of four ranges can be set by setting selection For example ON OFF data may be refreshed using bit device setting while other data may be refreshed using word device setting 2 The number of points in the shared CPU memory set in units of 2 points 2 words is set in the range for each CPU 2 points if word device is specified for the CPU side device or 32 points if bit device is specified Data of the CPUs for which 0 is set as the number of points representing the send range of the CPU will not be refreshed Assume that 32 points BO to B1F of CPU No 1 and 32 points B20 to B3F of CPU No 2 are to be refreshed Since one point in the shared CPU memory corresponds to 16 bit device points the number of transmitting points becomes 2 for CPU No 1 and also 2 for CPU No 2 3 The maximum number of transmitting points combining all fo
337. is outside the device range The instruction for the Multiple CPU system which did not be correspond with operating system software of the Motion CPU was executed Confirm a program 4C05 Axis No set by CHGA instruction is injustice and correct it to a There are 33 or more instruction requests to the correct PLC Motion CPU from the PLC CPU in S P SFCS program S P SVST S P CHGA S P GINT sum table simultaneously and the Motion CPU cannot process them 4C09 CPU No of the instruction cause is injustice Note 0000H Normal 5 MOTION DEDICATED PLC INSTRUCTION The error flag SMO is turned on an operation error in the case shown below and an error code is stored in SDO 2410 The CPU No to be set by First I O No of the target CPU 16 is specified 2114 The self CPU by First I O No of the target CPU 16 is specified Confirm a program 2117 The CPU except the Motion CPU by First I O No of correct it to a the target CPU 16 is specified correct PLC The instruction is composed of devices except usable program 4004 devices 4100 Since 0 to 3DFH 3E4H by First I O No of the target CPU 16 is specified Note 0000H Normal Program example Program which changes the current value of the axis No 1 of the Motion CPU CPU No 4 from PLC CPU CPU No 1 to 10 To self CPU Cam axis within one revolution high speed current value changing flag of the axis interrupt accept No 1
338. is servo ON command 6105 M2415 M2435 Did a thing during servo 1 axis and 2 axes Restart continuation G21 1M9076 Did you turn on a forced IIstop continuation F25 DOUT PY10 H0000 PY10 to PY1F I 16 points OFF 0 is set on the continuation point 100 as an initial value The subroutine starts No 160 Restart continuation after all axis servo are turned on and servo on of 1 axis and 2 axes is confirmed when a forced stop is released Because the next step is a shift it becomes a subroutine start and the next step is executed at the same time with subroutine practice too No 160 Restart continuation is made to stop by the forced stop and real output PY is turned off Note 1 The program that a subroutine was Started is made to stop if necessary when a subroutine start program is added because it does not stop Note 2 Actual output is turned off if necessary Note 3 The occurrence detection of servo error and so on is added to the stop condition with forced stop if necessary APP 26 When a forced stop is released it is the structure which starts the program which does motion control from the initials again by sample program Therefore it is the system example that motion control is resumed when a forced stop release is executed after it stops forced for while
339. is set in the base 2 Remove a module of base for which None is set in the base settings settings 1 A module which the PLC CPU cannot recognize has been 1 Install a usable module in the PLC CPU 2 The intelligent function module has hardware error Explain installed the error symptom and get advice from our sales 2 There was no response from the intelligent function module representative 1 There must be non installation slots between the CPU modules in the Multiple CPU system When the non installation slots are reserved cancel the reservation 2 Remove the modules except the PLC CPU installed between the PLC CPU modules and shift over to the slots with the PLC CPU modules in the Multiple CPU system It occurs in the CPU CPU No which detected a error It occurs in all CPU No at the time of the Multiple CPU composition does not occur CPU module locations in a Multiple CPU system is either of the following 1 There are non installation slots between the CPU modules 2 The modules except the PLC CPU are installed between the PLC CPU modules 19 15 19 ERROR CODE LISTS Table 19 8 Multiple CPU errors which occurs in the Motion CPU continued Error information OcusCPU EH Operating Diagnostic Error messages Single Multiple sae ww com Note 1 CPU No is stored in slot No of the common information classification Classification code composition composi
340. it D1 1 Device which make turn on for one scan at start accept abnormal completion of instruction D1 0 also turns on at the abnormal completion 16 bit D2 Device to store the complete status binary Note 1 Motion CPU cannot used CPU No 1 in the Multiple CPU configuration Note 2 n shows the numerical value which correspond to axis No Q173CPU N Axis No 1 to No 32 n 1 to 32 Q172CPU N Axis No 1 to No 8 n 1 to 8 5 MOTION DEDICATED PLC INSTRUCTION Controls Operation 1 This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system Errors occurs when it was executed toward the CPU except the Motion CPU The speed change is executed of the axis specified with S1 during positioning or JOG operating S P SFCS S P SVST S P CHGA S P CHGV S P CHGT S P DDRD S P DDWR cannot be executed simultaneously toward the CPU executing S P CHGV instruction When the Motion dedicated PLC instruction is started continuously It is necessary to take an inter lock by the to self CPU high speed interrupt accept flag from CPUn When the speed change is executed also at the operation control step Fn FSn in the Motion CPU it is necessary to take an inter lock by user program because there is no flag which can distinguish the speed changing in the PLC CPU Speed changing flag M2061 to M2092 of the motion devices is used as the inter lock condition in the Motion CPU I
341. it 32 bit 16 bit 32 bit Calculation P data Bit device floating Coasting floating conditional conditional expression integer integer type point expression expression integer integer cint mer type K H K H L type F type K Hande di a gc o o ems H Usable Setting data Setting data Data type of result Data whose sign will be inverted Data type of S Functions 1 The sign inverted value of the data specified with S is found Errors 1 An operation error will occur if 5 is an indirectly specified device and its device No is outside the range Program examples 1 Program which substitutes the sign inverted value of 0 to DO DO 0 Do 7 24 7 OPERATION CONTROL PROGRAMS FIFS 7 6 Standard Functions 7 6 1 Sine SIN SIN S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device AB Plt 208 floating Coasting ap ele Se floating Calculation conditional conditional integer integer point timer integer integer type point expression expression expression type type L type F type K H K H L type K Lo dl dl o d o l o o lo dl o dl _ Usable Setting data Setting data Data type of result Angle data on which SIN sine operation will be 5 Floating point type performed Functions 1 SIN sine operation is performed on t
342. it 32 bit Of Calculation pa floating Coasting floating conditional conditional i expression integer integer t integer integer type point P expression expression type type L type K H K H L type K Usable Setting data There are no setting data Functions 1 A character string from after to a block end is a comment Errors 1 There are no operation errors for comment Program examples 1 Example which has commented a substitution program DO D1 Substitutes the DO value 16 bit integer data to D1 8 TRANSITION PROGRAMS 8 TRANSITION PROGRAMS 8 1 Transition Programs 1 Transition programs a Substitution operation expressions motion dedicated functions bit device control commands and transition conditions can be set in transition programs b Multiple blocks can be set in one transition program c There are no restrictions on the number of blocks that may be set in a single transition program Note that one program is within 64k bytes d The maximum number of characters in one block is 128 e Transition condition must be set in the last block of a transition program Transition program is repeated until the transition condition enables and when the transition condition has enabled it shifts to the next step Transition condition can be set only in the last block f As a special transition program a program which only no operation NOP is s
343. ith S 2 If S is an integer type it is converted into a floating point type before operation is performed Errors 1 An operation error will occur if S is an indirectly specified device and its device No is outside the range Program examples 1 Program which performs exponential operation of DOF and substitutes the result to 0F 0F EXP DOF 3 1 2 D1 2 0 D3 D1 DO 142413 39200892 lt _ 10 7 OPERATION CONTROL PROGRAMS FIFS 7 6 10 Absolute value ABS ABS S Number of basic steps Usable data Usable Data Bit device Setting 64 bit 64 bit Bit Comparison 16 bit 32 bit 16 bit 32 bit Calculation VE i R floating Coasting floating conditional conditional integer integer integer integer type expression expression data type type L type K H K H L type K Usable Setting data Setting data Data type of result Data on which absolute value conversion will be S Data type of S performed 1 The absolute value of the data specified with S is found Functions Errors 1 An operation error will occur if S is an indirectly specified device and its device No is outside the range Program examples 1 Program which finds the absolute value of DOF and substitutes the result to 0F 0F ABS DOF 3 2 D1 DO ae 32 7 OPERATION CONTRO
344. ive number S is a bit device and the device number is not When S or D is a bit device set the device a multiple of 16 number to be multiple of 16 D is a bit device and the device number is not When S or D is a bit device do not set a multiple of 16 PX PY PX PY is set in S to S n 1 PX PY is set in D to D n 1 The device No which indirectly specifies S is Correct the program so that the device No Time to wait TIME illegal which indirectly specifies S is proper execution error The S data is outside the range 0 to Correct the program so that the S data is 2147483647 within the range of 0 to 2147483647 D to D n 1 is outside the device range n is 0 or a negative number Change n so that the block transfer range is S is a bit device and the device number is not within the device range a multiple of 16 When S or D is a bit device set the device D is a bit device and the device number is not number to be multiple of 16 a multiple of 16 When S or D is a bit device do not set PX PY is set in 5 The block processing on PX PY PX PY is set in D to D n 1 executing is stopped and the next block is executed Corrective Action Error code Error Processing Event task enable may be executed in the Same data block transfer FMOV execution error Speed change request CHGV execution error C tth that th i
345. just before is the motion control step waits for the motion operating completion and then transits to the next step by the completion of transition condition Gn GO to G4095 When just before is the operation control step transits to the next step by formation of transition condition after operating execution Same operation as Shift When just before is subroutine call or starting step waits for the operating completion of subroutine and then transits to the next step by the completion of transition condition Prepares for starting of the next motion control step Transition and issues an instruction immediately when the WAITON WAITON bit device specified bit device turns ON Always pair this transition with the motion control step one for one Prepares for starting of the next motion control step and issues an instruction immediately when the WAITOFF WAITOFF bit device specified bit device turns OFF Always pair this transition with the motion control step one for one When just before is the motion control step transits to the next step by formation of transition condition Gn GO to G4095 without waiting for the motion operating IFT1 completion If not formation of transition condition transits to the right connected step Not SFT Gn completion f When just before is the operation control step transits of condition to the next step by the completion of transition Shift Y N condition after operat
346. l data or optional word data can be used as watch data Refer to Section 13 2 Limit Output Setting Data for details A maximum output device for 32 points can be set regardless of the number of axes 1 ON output to an output device is made while the watch data value is in the ON 13 output region set with ON Value and OFF Value in this function a ON Value OFF Value and watch data value are handled as signed data ON output region where an ON output is made to the output device is governed by the magnitude relationship between ON Value and OFF Value as indicated below Relationship between ON Value and ON output region OFF Value ON Value OFF Value ON Value lt watch data value lt OFF Value ON Value lt watch data value Watch data value OFF Value ON Value OFF Value Output OFF in whole region ON Value OFF Value 1 ON Value OFF Value ON Output device OFF v OFF OFF Value 7 ON region setting T ON Value Watch data value 4 ON Value s Watch data value lt OFF Value 2 ON Value gt OFF Value ON ON Output device lor ON Value ON region setting Watch data value Watch data value lt OFF Value ON Value s Watch data value 13 LIMIT SWITCH OUTPUT FUNCTION 3 ON Value OFF Value Output device OFF in whole region ON region settin
347. l relevant to each module modules and intelligent function module Operation method for MT Developer Help of each software Design method for positioning control SV13 SV22 program in the real mode Q173CPU N Q172CPU N Motion controller Design method for positioning control SV13 SV22 Programming Manual REAL MODE parameter SV22 Design method for mechanical system Q173CPU N Q172CPU N Motion controller SV22 Virtual mode program Programming Manual VIRTUAL MODE 1 OVERVIEW 1 2 Features The Motion CPU and Multiple CPU system have the following features 1 2 1 Features of Motion CPU 1 Q series PLC Multiple CPU system a The load of control processing for each CPU can be distributed by controlling the complicated servo control with the Motion CPU and the machine control or information control with the PLC CPU and flexible System configuration can be realized b The Motion CPU and PLC CPU are selected flexibly and the Multiple CPU system up to 4 CPU modules can be realized The Motion CPU module for the number of axis to be used can be selected Q173CPU N Up to 32 axes Q172CPU N Up to 8 axes The PLC CPU module for the program capacity to be used can be selected One or more PLC CPU is necessary with the Multiple CPU system QOOCPU 8k steps Q01CPU 14k steps QO2CPU QO2HCPU 28k steps QO6HCPU 60k steps Q12HCPU 124k steps Q25HCPU 252k steps c The device data of other CPU can be used
348. lacement 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 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 cau
349. lculation conditional conditional integer integer oint finer integer integer type point expression expression expression type type L Ne id type 9 lo 1 Lo l o Usable Setting data Setting data Data type of result Data which will be logically acknowledged Logical type true false Functions 1 Whether the logical type data specified with S is true or false is returned unchanged Logical acknowledgement Errors 1 An operation error will occur if S is an indirectly specified device and its device No is outside the range Program examples 1 Program which sets M100 when either of MO and XO is ON 1 MO False mu MO CO 100 gt xo 1 mue 7 OPERATION CONTROL PROGRAMS FIFS 7 10 2 Logical negation Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison 16 bit 32 bit 16 bit 32 bit Calculation i data Bit device floating Coasting floating i conditional conditional integer integer integer integer type expression int expression expression type L type K H 4 i type F type K o o Usable Setting data Setting data Data type of result Data which will be logically negated Logical type true false Functions 1 The data specified with S is logically negated Errors 1 A
350. leared by the Motion SFC error history request flag on keep at power on or reset Servo monitor devices 128 points Cleared at power on or reset only Note 1 SW6RN SV13QO SV22Q0 Ver 00M or before Note 2 SWeRN SV13QD1 SV22QLI Ver OON or later The motion registers cannot be set as indirectly specified devices of mechanical System programs 10 1 10 MOTION DEVICES a Motion SFC dedicated devices 8000 to 8063 The Motion SFC dedicated devices are shown below The device s refresh cycle is indicated when the signal direction is status or its fetch cycle when the signal direction is commana Signal direction Refresh Status Command cycle Device No Signal name Seventh error information in past Oldest error information Sixth error information in past Fifth error information in past Fourth error information in past Motion SFC error history At error Third error information in past 8 errors occurrence 64 points Second error information in past First error information in past Latest error information 10 2 10 MOTION DEVICES 1 Motion SFC error history devices The error information which occurred after power on of the CPU is stored as a history of up to eight past errors The latest error is stored in 8056 to 8063 All errors including the Motion SFC control errors and the conventional minor major servo ser
351. lings 6 9 1 Series transition Transits execution to the subsequent step or transition connected in series 1 To start a servo program or subroutine and shift execution to the next without waiting for operation completion Set Shift at a transition In this case the transition shift may be omitted When you omitted the transition an unconditional shift transition is performed K1 Starts the servo program K1 Gi Transits to next by the completion of condition set at transition G1 without waiting for operating completion of the servo program K1 K2 Starts the servo program K2 For a subroutine start self program and a subroutine program are processed in parallel 2 To start a servo program or subroutine and proceed to the next step on operation completion Set WAIT at a transition K1 Starts the servo program Transits to next when the start axis stops in the servo program K1 start Ces accept flag turns OFF and condition is completed set at transition G1 Starts servo program K2 1 The above start accept flag of the axis started in the next servo program K2 is not included in interlocks To use it as an interlock the user should set it in the transition condition G1 2 WAIT must be set to proceed to the next step on operation completion However when there are specifically no conditions to be set as interlocks set NOP No Operation in the transition
352. ll occur if 51 or S2 is an indirectly specified device and its device No is outside the range Program examples 1 Program which ORs 0 and 1 and substitutes the result to DO DO 01 1 o Perso eT PES DO pooo noonoo 7 OPERATION CONTROL PROGRAMS FIFS 7 5 4 Bit exclusive logical OR S1 NS2 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device 16 bit floating Coasting een el seme floating Calculation snditional conditional integer integer integer integer type expression point expression expression type type L type K H K H L type K BISERE 6 l o lol Ee ae ol ee a ee Usable Setting data Data type of S1 or S2 which is greater Integer type Functions 1 The bit by bit exclusive logical add of the data specified with S1 and the data specified with S2 is found 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before operation is performed At this time note that signed data is converted Errors 1 An operation error will occur if S1 or S2 is an indirectly specified device and its device No is outside the range Program examples 1 Program which EXCLUSIVE ORs 0 and 1 and substitutes the result to DO bO ccce o bO
353. ll program PX1 PX2 PX2 PX1 No Program name OFF OFF 120 JOG OFF ON 130 Manual pulse generator ON OFF 140 Home position return ON ON 150 Programming operation APP 17 APPENDICES d No 120 JOG JOG F120 I1 axis JOG operation speed 100000PLS s D640L K100000 2 axes JOG operation speed 100000PLS s D642L K100000 G120 1 axis forward rotation JOG start IISET RST SET M3202 PX3 M3203 RST M3202 PX3 1 axis reverse rotation JOG start IISET RST SET M3203 PX4 M3202 RST M3203 PX4 2 axis forward rotation JOG start IISET RST SET M3222 PX5 M3223 RST M3222 PX5 2 axes reverse rotation JOG start IISET RST SET M3223 PX6 M3222 RST M3223 PX6 Ils repeated to the JOG mode completion IPX1 IPX2 F122 1 2 axis forward reverse rotation JOG start command is reset RST M3202 RST M3203 RST M3222 RST M3223 END When each signal of PX3 to PX6 is turned on off which the correspondences JOG command device is SET RST It makes forward rotation JOG start of the same axis and reverse rotation JOG start from making turned on at the same time Signal name Correspond with JOG command device M3202 1 axis forward rotation JOG PX4 M3203 1 axis reverse rotation JOG PX5 M3222 2 axis forward rotation JOG PX6 M3223 2 axis reverse rotation JOG Note The ON OFF distinction of each signal
354. lowing procedure a The speed changing flag M2061 to M2092 correspond to the axis specified with S1 is turned ON b The speed of the axis specified with S1 is changed to the speed specified with 52 c The speed changing flag is turned OFF 2 The axis No that may be set at S1 is within the following range Q172CPU N Q173CPU N 11032 For interpolation control set any one of the interpolation axes When linear interpolation control is exercised a speed change varies as described below with the positioning speed designation method set in the servo program Positioning speed designation Operation method Speed change is made so that the combined speed Combined speed designation a becomes the speed specified with 52 2 Speed change is made so that the longest axis Longest axis designation speed becomes the speed specified with 52 Speed change is made so that the reference axis Reference axis speed designation speed becomes the speed specified with S2 7 OPERATION CONTROL PROGRAMS 3 Operation varies with the sign of the specified speed set at S2 Sign of specified speed Speed change E cue Temporary stop 4 The specified speed that may be set at S2 is within the following range Real mode o os O Speed change Oto x 10 0 to x 10 0 to x 10 0 to ES request 600000000 mm min 600000000 inch min 2147483647 degree min 10000000 LIE 1to x 10 1 to x10 1to x
355. m PLC CPU Executed when input on is set among interrupt module QI60 16 points Executed in fixed cycle 1 77ms 3 55ms 7 11ms 14 2ms Executed when input on is set among interrupt module A1Sl61 16 points Executed when 1 interrupt point is provided from PLC CPU Executed when input on is set among interrupt module A1Sl61 16 points Number of I O X Y points 8192 points 2048 points Number of real I O PX PY points Total 256 points 1 13 1 OVERVIEW Differences Between Q173CPU N Q172CPU N and A173UHCPU A172SHCPUN continued Q173CPU N Q172CPU N A173UHCPU A172SHCPUN Internal relays M Total M L S Total M L S Total M L 8192 points Latch relays L 8192 points 2048 points meme aee eese dans Dem onus 6c 2s Currnet value timers T 2048 points 256 points Motion SFC Currnet value counters C 1024 points 256 points Special registers D 256 points Motion registers 8192 points Coasting timer FT 1 point 888us The data exchange method by automatic refresh The direct data exchange method which Data exchange of PCPU and SCPU between the multiple CPU s made a device memory 2 port memory Number of pulses per 1 to 2147483647 PL S 1 to 65535 PL S revolutions Fixed Amount of pulses per In the case of the unit setup PLS In the case of the unit setup PLS parameters revolutions 1 to 2147483647 PL S 1 to 65535 PLS x 1
356. m is executed from the LS P SFCS from the PLC or by a subroutine call start initial first step in accordance with the number of GSUB made from the Motion SFC program e When started by the S P SFCS instruction In the main cycle after execution of the S P SFCS consecutive transitions of the normal task instruction the program is executed from the initial first step in accordance with the number of consecutive transitions of Start control the normal task e When subroutine started In the next main cycle after execution of GSUB the program is executed from the first step in accordance with the number of consecutive transitions of the normal task e When subroutine called The program is executed in the same cycle from the first step After that the program is executed continuously by the number of consecutive transitions of the normal task in the motion main cycle The settings of executed task and number of consecutive transitions of the subroutine called program are invalid It is controlled as the normal task Ends the self program Again the program is started by the Motion SFC start instruction S P SFCS from the PLC or by a subroutine call start GSUB made from the Motion SFC program END control END e Program run by event task When automatically started When not automatically started At occurrence of a valid event after starting of the The program is started by the Mot
357. me It updates using idle time during motion control The maximum main cycle time several milliseconds to several hundred milliseconds c The data of the self CPU operation data area can be read from the PLC CPU of the other CPU by the FROM instruction However since there is a delay in data update use the data that has been read as an object for monitoring only d Self CPU operation data area used by Motion dedicated PLC instruction 30H to 33H The complete status of the to self CPU high speed interrupt accept flag from CPUn is stored in the following address Table 3 2 Self CPU Operation Data Area used by the Motion Dedicated PLC Instruction Shared memory address To self CPU high speed interrupt accept flag from CPU 1 To self CPU high speed interrupt accept flag from CPU2 To self CPU high speed interrupt accept flag from CPU3 To self CPU high speed interrupt accept flag from CPU4 Description This area is used to check whether to self CPU high speed interrupt accept flag from CPUn can be accepted or not 0 To self CPU high speed interrupt accept flag from CPUn accept usable 1 To self CPU high speed interrupt accept flag from CPUn accept disable 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM Shared memory address 204H 516 205H 517 206H 518 207H 519 208H 520 20CH 524 20DH 525 2 System area 204H to 20DH This area is used by the ope
358. modules function Syncronous encoder operation function Limit switch output function Number of SSCNET Interfaces Included SSCNET interface 1CH to the parsonal computer IBM PC AT A31TU D PC9800 series IBM PC AT A30TU A31TU USB RS 232 SSCNET RS 422 SSCNET Proximity dog type 2 types Count type 3 types Data set type 2 types Dog cradle type Stopper type 2 types Limit switch conbined type Home position return retry function provided Home position shift function provided Possible to connect Possible to connect Possible to connect 12 modules 8 modules 4 modules Proximity dog type count type data set type 1 Possible to connect 1 module Output points 32points watch data motion control data word device ii 2 Up to 64 slots Number of motion slots 8 slots 2 slots Up to 7 extension bases of the Q series Number of Motion related modules Normal task Event task Execution External Excuted can be masked interrupt PLC interrupt NMI task Execute specification Motion SFC Q172LX 4 modules Q172EX 6 modules Q173PX 4 modules Note 2 Q172LX 1 module Q172EX 4 modules Q173PX 3 modules Note 2 A172SENC 4 modules A172SENC 1 module Executed in motion main cycle Executed in fixed cycle 0 88ms 1 77ms 3 55ms 7 11ms 14 2ms Executed when input on is set among interrupt module QI60 16 points Executed with interrupt instruction GINT fro
359. mpletion of online change 16100 to 16199 Corrective Action The Motion SFC program code is corrupted Turn PLC ready flag M2000 OFF and write the Motion SFC program again Or replace the external battery if it passed over a life e 19 ERROR CODE LISTS Table 19 3 Motion SFC interpreter detection errors 16100 to 16199 continued Error factor The self program was called started by T SPESSO d GSUB GSUB cannot call its own or main program Th i lled started b Correct the Motion SFC program 16111 GSUB setting error 2 ln program Stop to execute the The nesting of parallel branch is up to four Parallel branch Nesting of parallel branches within a parallel applicable Motion SFC levels nesting excess branch route exceeded four levels program No Subroutine the branch destination processing For the subroutine called and correct the program program the call source An attempt was made to execute a motion program also stops to control step K with an event or NMI task execute Corrective Action Error code Error Processing Motion control steps cannot be executed in the Motion SFC programs executed by the event and NMI tasks Executed task error Simultaneously Number of simultaneously active steps is The number of simultaneously active steps active step count 4 maximum 256 the Motion SFC exceed
360. n Mode assignment setting the contents of change are not reflected 7 If the cables between the peripheral devices and Motion CPU fall out or the power supply of the Motion CPU turns OFF or resets the program is corrupted Write the program again with the communication screen of SW6RN GSVOP 12 USER FILES 12 3 1 Operating method for The Online Change Select the Online change OFF ON of Motion SFC program with the program editor screen Convert menu Online change setting of SW6RN GSVLP There are following three methods for the online change of Motion SFC program When the program editor screen SFC diagram write is used Online change of the Motion SFC program When the operation control transition program editor screen Convert is used Online change of the operation control transition program editor screen When the servo program editor screen Store is used Online change of the servo program 1 When the program editor screen SFC diagram write is used Online change of the Motion SFC program during edit is executed by selecting the SFC diagram write key Online change is possible to the Motion SFC program during stop If the online change is made to the program during execution an alarm message indicates Execution stop state of the Motion SFC program can be checked with the program batch monitor If the start request is made to the program during online change the Motion SFC start e
361. n After operation completion of preceding step steps K2 to p G0 K2 K3 F1 G1 G2 G3 TS 255 F10 connected in parallel are executed when the completion of condition set at transition GO Thereafter routes are _ executed simultaneously up to Max number of parallel branches 255 parallel coupling point Shift or WAIT can be set to a transition preceding a parallel branch WAITON and WAITOFF cannot be set 2 Parallel coupling A parallel branch must be coupled by a parallel coupling A jump setting to another branch route can be made within parallel branch parallel coupling In this case a jump destination is a midway parallel coupling point coupling jump PAB1 Coupling jump After the servo program K3 has completed stopping execution waits until the completion of condition set at transition G3 and servo program K4 completes starting You cannot set jump to exit from within parallel branch parallel coupling G1 Parallel branch point K2 F10 ON M100 p G11 K3 F11 ee gt G3 G12 PAE1 K100 A oa On completion of waiting execution transits to the next lower part Parallel coupling point 6 MOTION SFC PROGRAMS The number of parallel branches need not match that of coupling
362. n 1 5 3 Individual parameters for details If there is no fault when PLC ready flag M2000 turns off to on the PCPU ready flag M9074 turns on When this PCPU ready flag M9074 turns on Motion SFC programs can be executed An automatic start Motion SFC program starts execution from the first When PLC ready flag M2000 turns off Motion SFC programs stops to execute and the PCPU ready flag M9074 turns off Since actual outputs PY has whole point turn off When the PLC ready flag M2000 turns off Motion SFC programs stop but actual outputs PY in the Motion SFC programs do not turn off 11 19 11 MOTION SFC PARAMETER 11 13 Operation at The Error Occurrence Outputs are held if Motion SFC programs stop due to error occurrence To turn off outputs at error occurrence executes the following Motion SFC program Processing for the Motion SFC Processing for the Motion program AO Fe ee SS See G1 eS i SFC program B Whether error occurred in correspondence Motion SFC program or not is judged by error detection flag M2039 and 8056 latest error Motion SFC program No F1 I Outputs which must be turned OFF are turned OFF Motion SFC error detection flag M2039 is turned OFF 11 20 12 USER FILES SSS SS SSS SSS m Ru 12 USER FILES A user file list and directory struc
363. n when the Multiple CPU dedicated instructions are executed to the same CPU from one PLC CPU Therefore when each instruction is executed only once at approval the executing condition it is necessary to take an interlock by internal relay M10 and so on besides To self CPU high speed interrupt accept flag from CPUn 2 Execution of the Motion dedicated PLC instruction a Motion dedicated PLC instruction can be executed with fixed cycle execute type PLC and interrupt PLC However as for a complete device the program turned on according to fixed cycle executed type PLC and program type scan or low speed executed interrupt PLC is different b One Motion CPU can be accepted max 32 instructions simultaneously from multiple other CPUs Except S P GINT instruction If 33 instructions or more are executed Motion CPU returns the complete status 4 CO8 error As Motion CPU can be accepted up to 32 instructions number of acceptable instructions changes according to number of CPUs included Motion CPU Calculation expression is shown below Number of maximum acceptable instructions per one Motion CPU 32 Number of all CPUs 2 Number of instructions c Local devices and file registers as program are written to device by END processing Do not use the devices below e Each instruction complete device e D1 of S P DDRD instruction The first device of the self CPU which stored the reading data 5 MOTION DEDICATED PLC I
364. n FSn and the motion control program Kn PLC CPU side To self CPU high speed interrupt accept flag from CPU1 M30 M31 NR D301 Note SP DDRD H3E1 D300 K4M0 K4M400 M31 M32 M31 To self CPU high peed interrupt Start t accept flag from a accept flag of the Axis 2 SFC CPU No 2 U3E1 G48 0 U3E1 G516 1 M34 M401 D A a SP SVST H3E1 J1 K104 Interlock condition on axis starting Note 4 points worth of the data from of the CPU No 2 are stored after M400 by S P DDRD instruction e Motion CPU side Start program F200 SET M1 Axis 1 positioning start K104 Real 1 INC 1 Axis 1 10000000 PLS Speed 1000000 PLS s F201 RST M1 Axis 1 positioning end Completion Access from the PLC CPU is processed before the communication processing of the Motion CPU Therefore if the Motion dedicated PLC instruction is frequently performed from the PLC CPU the scan time of the PLC CPU is not only prolonged but delay will arise in the communication processing of the Motion CPU Perform execution of the Motion dedicated PLC instruction from the PLC CPU by S P DDWR S P DDRD S P CHGV instruction etc only at the time of necessity 5 MOTION DEDICATED PLC INSTRUCTION 3 Complete status The error code is stored in the complete status at abnormal completion of the Multiple CPU dedicated instruction The error c
365. n G1 with cancel device condition specified with servo program KO will cancel to execute of servo program K1 KO and allow servo program K1 to start 9 5 2 Indirect designation using motion devices 1 The motion registers 0 to 8191 cannot be used to make indirect specification in the mechanical system programs The motion register values are used in the servo or mechanical system programs substitutes them to data registers D link registers W 2 The coasting timer FT cannot used to make indirect specification in the servo program and mechanical system program 10 MOTION DEVICES 10 MOTION DEVICES The motion registers 0 to 8191 and coasting timer FT are available as Motion CPU dedicated devices They can be used in operation control F FS programs or transition G programs Motion device Motion register 10 1 Motion Registers 0 to 8191 Number of points Specifications 8192 points 0 to 8191 Data size 16 bit point Latch Usable tasks Only a user device is latched All points are cleared by latch clear operation Normal event and NMI Access 1 Motion register list Common to all operating system Device No Application User devices 8000 points Read and write enabled in whole range Signal direction Cleared by latch clear Motion SFC dedicated devices 64 points Cleared at power on or reset only C
366. n SFC error history Seventh error information in past 8 errors 64 points Signal name Oldest error information Sixth error information in past Error Motion SFC program No Error type Fifth error information in past Error program No Error block No Fourth error information in past Motion SFC list Line No Axis No At error occur Error code rence Third error information in past Year Month Day Error occurrence Hour Minute Second Second error information in past time First error information in past Latest error information 19 ERROR CODE LISTS Table 19 2 Motion SFC program start errors 16000 to 16099 Error factor Error code Error Processing PLC ready OFF At a start by S P SFCS instruction PLC SFCS ready flag M2000 or PCPU ready flag M9074 is OFF At a start by S P SFCS instruction the range Motion SFC program 16001 i ified i i No error SFCS ies te specified in the Motion SFC prog The specified Motion SFC i d t start None Motion SFC At a Monon SFC program san by S P SFCS program does not sta 16002 instruction the specified Motion SFC program program SFCS does not exist At a Motion SFC program start by S P SFCS Corrective Action Provide ON of the PLC ready flag M2000 and PCPU ready flag M9074 as start interlocks Check the Mot
367. n a Multiple CPU system 2 CPUs of unmatched versions are installed in a Multiple CPU system This error is detected at the PLC CPU of function version B 3 Any CPU No among CPU No 2 to 4 was reset after power supply Multiple CPU system This error occurs at only the CPU No which reset was released In a Multiple CPU system a CPU fault occurred at the CPU where all station stop by stop error of CPU was not selected in the operation mode The error is detected at the PLC CPU of other than the CPU No where the CPU fault occurred The error which a Motion CPU was characteristic of occurred It is set when an error all to set with the system setting error the Motion CPU is detected Minor error major error servo error and various errors 7003 O 19 17 The reference CPU No set in the parameter differ from the setting Match the setting in the parameter with that of the reference CPU a Multiple CPU system No CPU No 1 Corrective action 1 Read the error detailed information at the peripheral device check and correct the parameter items corresponding to the numerical values parameter No 2 If the error still occurred after correcting of the parameter settings it may be an error for internal RAM of CPU or memory Explain the error symptom and get advice from our sales representative Match preset count of Multiple CPU setting CPU empty setting in I O assignment with the real
368. n a subroutine start program is added because it does not stop Note 2 Real output is turned off if necessary Note 3 The occurrence detection of servo error and so on is added to the stop status with forced stop if necessary When a forced stop is released it is the structure which starts the program which does motion control from the initials again by sample program Therefore it is the system example that motion control is resumed when a forced stop release is executed after it stops forced for while 110 Motion control F110 SET M2042 All axes servo ON command ON G105 M2415 M2435 Is 1 axis and 2 axis servo on off status ON Motion control G110 IPX2 IPX1 G111 IPX2 PX1 G112 PX2 IPX1 G113 PX2 PX1 JOG Manual pulse generator Home position return Programming operation 6115 Nait a subroutine NOP call completion o The subroutine call of the following program is executed corresponding to the status of PX1 PX2 Selective branch is made the program so that each subroutine may never start it in the plural at the same time And each subroutine makes the next step WAIT to become a subroutine call to make it stop when this program is suspended by the clear step of No 20 Main too Condition of Subroutine ca
369. n an forced stop is released all axes servo are turned on Turns off actual output PY at the time of the forced stop 1 When a stop input signal PX5 from the input unit is off the treatment of the following 2 is executed and 1 axis and 2 axes executed the following 3 during servo on in the case of the one except for it 2 1 axis and 2 axes stop command are turned off and an internal relay M100 for the stop is turned off 3 1 axis and 2 axes stop command are turned on and an internal relay M100 for the stop is turned on 1 The following motion control is executed 1 This program stands by until PX4 is turned on 2 1 axis and 2 axes are located in 0 0 in the linear interpolation control absolute 2 axes positioning 3 Positioning completion signal on of 1 axis and 2 axes are confirmed 4 In position on of 1 axis and 2 axes are confirmed 5 1 axis and 2 axes are located in 1000000 2000000 in the linear control absolute 2 axes positioning 6 Positioning completion signal on of 1 axis and 2 axes are confirmed 7 This program stands by until PX4 is turned off 2 When a positioning completion signal of the above 1 3 and 6 is off it waits to turn off and When a positioning was suspended on the way execute the motion control step 1 2 or 5 again 3 Until an internal relay M100 for the stop turns it on it does not move to the next step of the above 1 1 and 7 APP 29 APPEND
370. n below Category Type of error Does not operate from the All actual output PY points turn OFF System setting error um beginning does not run No effect on other CPUs WDT error Varies depending on the error All actual output PY points turn OFF Other CPUs also stop depending on Self diagnosis error Stops at a CPU DOWN error the parameter setting Operation corresponding to STOP M2000 OFF Depends Other CPU DOWN error All actual output PY points turn OFF on the Operation mode upon CPU stop error setting Operation continues when the Self diagnosis error continuous error occurred Molion SFC error SFC error Bebo um i rs Only the applicable program stops the Minor error Processing stops for each D i ME program may continue depending on the program or axis instead of the enable errors type of error Servo error Motion CPU stopping all the Actual output PY retains output i rocessing Servo program setting 9 No effect on other CPUs error 1 OVERVIEW 1 5 System Settings 1 5 1 System data settings The table below lists the system data items to be set CPU base Setting range 2 3 5 8 10 12 slots Initial value CPU base 2 slots Base setting Extension base None 2 3 5 8 10 12 slots None Set the number of slots in the CPU base or extension base Number of Multiple CPUs Automatic refresh 2 3 4 modules Up
371. n control step of again after internal relay M100 of the stop waits to turn it off when positioning completion is not turned on after the motion control is executed APPENDICES MEMO APP 32 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 warranty 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 is 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 o
372. n error is occurred Request Set only when there is a user request Special reray etc Operation cycle Set during each operation cycle of the Motion CPU 1 OVERVIEW Special relay list e name ds d t en se OFF Normal Turn on when there is one or more output modules control M9000 Fuse blown detection flag ON Fuse blown module of self CPU which fuse has been blown detected Remains on if normal status is restored Turn on if a momentary power interruption of less than OFF AC DC DOWN 20ms occurred during use of the AC power supply not detected module and reset by turning power off to on ON AC DC DOWN Tum on if a momentary power interruption of less than detected 10ms occurred during use of the DC power supply module and reset by turning power off to on Turned on when the voltage of the external battery reduces to less than specified value Turn off when the OFF Normal voltage of the external battery becomes normal ON Battery low Synchronizes with BAT LED S Occur an error Check the voltage of the external battery only when it is Set with external battery use by system setting Turn on when the voltage of the external battery reduces to less than specified value Remains on if normal status OFF Normal is restored ON Batterylow Synchronizes with BAT LED Check the voltage of the external battery only when it is Set with external battery use by system setting
373. n operation error will occur if S is an indirectly specified device and its device No is outside the range Program examples 1 Program which sets M100 when either of MO and is not ON 1 when MO and XO are both OFF 0 SET M100 MO MO False True False Ea M100 0 7 OPERATION CONTROL PROGRAMS FIFS 7 10 3 Logical AND S1 S2 Number of basic steps Usable data Usable Data Bit device Setting data 64 bit 64 bit Bit Comparison 16 bit 32 bit 16 bit 32 bit DF Calculation a floating Coasting floating conditional conditional i i expression j integer integer integer integer type point P expression expression type type L type K H K H L type K m ea sor ge s eee eee ee ee 67 Usable Setting data Setting data Data type of result c Data which will be ANDed Logical type true false Functions 1 The data specified with S1 and the data specified with S2 are ANDed Errors 1 An operation error will occur if S isan indirectly specified device and its device No is outside the range Program examples 1 Program which sets M100 when MO and XO are both 1 vo 1 M100 x True 1 7 OPERATION CONTROL PROGRAMS FIFS 7 10 4 Logical 51 52 Number of basic steps Usable data Usable Data Bit device Set
374. n the current value change servo program is set to within the virtual mode program No range or 905 when it is set to within the real mode program No range If a current value change is made during mode changing a servo program setting error Nete 907 real virtual changing or 908 virtual real changing occurs and the current value change is not made Note Refer to the Q173CPU N Q172CPU N Motion controller SV13 SV22 Programming Manual REAL MODE Q173CPU N Q172CPU N Motion controller SV22 Programming Manual VIRTUAL MODE for minor error major error and servo program setting error 9 MOTION CONTROL PROGRAMS 9 4 Cam Shaft Within One Revolution Current Value Change Control SV22 only The current value of the specified cam shaft within one revolution is changed in the virtual mode Items set on peripheral device Speed Parameter block Others change at stop input interpolation Dwell time Control unit Servo Positioning Number of Address travel Auxiliary point Central point S curve ratio instruction method Control axes Parameter block No Command speed Torque limit value Speed limit value Acceleration time Deceleration time Rapid stop deceleration time Torque limit value Deceleration processing FIN acceleration deceleration Item which must be set A Item which is set when required Controls Control using CHGA C instruction 1 Executing the C
375. ndirectly pecia index Sz System User File n direct JOO function Constant P digit specified register Other specified device module zo Kn UL GO Fu a ee a ee us ee ee o ES JE de O Usable A Usable partly Note Setting data n1 to D2 Index qualification possible Instruction Condition Start request SP DDRD _4 SP DDRD Start request S DDRD S DDRD Setting data Setting data Data type First I O No of the target CPU 16 n1 Value to specify actually is the following CPU No 1 3EOH CPU No 2 3E1H CPU No 3 3E2H CPU No 4 3E3H 51 First device of the self CPU in which control data is stored Note 1 S2 First device of the target CPU in which reading data is stored D1 First device of the self CPU which stores the reading data D2 Bit device which make turn on for one scan at completion of instruction Note 1 Motion CPU cannot used CPU No 1 in the Multiple CPU configuration Control data Setting Device Item Setting data Set by range The condition result at the completion of the instruction is stored Complete status System 0 No error Normal completion Except 0 Error code Number of reading S1 1 m Set the number of reading data 1 to 16 User ata
376. nennen nre nre nnns 1 69 1 4 Multiple CPU SySteiTi iine ERU HU a 1 71 JE wES VIS EN 1 71 1 4 2 Installation of PLC CPU and Motion 1 72 1 4 3 Precautions for using series I O modules and intelligent function modules 1 73 1 4 4 Modules subject to installation restrictions esseeeenenenenenn enn 1 74 1 4 5 Processing time of the Multiple CPU system ssseeeeeenen nennen enne 1 75 1 4 6 How to reset the Multiple CPU system nennen nennen nnns 1 76 1 4 7 Processing at a CPU DOWN error occurrence by a PLC CPU or Q173CPU N Q172CPU N 1 77 1 5 System Settirigs 5 eaae eoa ntes eo nitesvd petenda velie adu eeu te ead pd 1 80 1 5 1 System data setings 1 80 1 5 2 Common system amp enne nnne rnnt nnne 1 81 1 5 3 Individual 1 87 1 6 Assignment of No 4 eee edente tente three etre dene REN theater nete ten reete netta 1 92 1 6 1 I O No for I O modules and intelligent function modules sseee 1 92 1 6 2 I O No of PLC CPU and Q173CPU NYQ172CPU N sse 1 95 1 6 3 Setting I O No inae niiaAi eda ci Len Ee HA Le DEUDA ea IO e OLOR a ERU DA HO e do den 1 96 2
377. nfiguration via the RS422 485 sse nennen 16 6 16 2 4 Network configuration which MELSECNET 10 H Ethernet CC Link RS422 485 were mixed T NM NIME t UEM EDD M d uc ide UN E EE EIE 16 7 17 MONITOR FUNCTION OF THE MAIN CYCLE 17 1to 17 2 18 SERVO PARAMETER READING FUNCTION 18 1to 18 2 18 1 About The Servo Parameter Read Request Devices ssssssssssseeennns 18 1 18 2 Operating Procedure of The Servo Parameter Reading 18 2 1 ct o A 19 ERROR CODE LISTS 19 1 Reading Procedure for Error Codes 0 ecceecceeseeneeeneeeeeeeeeeaeeeaeeeaeeeaeeeaeeeaeseaeeeaeeeaeeeaeeeaeeeaeeeneaeenaeesas 19 1 19 2 Motion SFC Error Code 5 19 2 19 3 Motion SFC Parameter nennen nnne nennen nennen nennen nnns 19 11 19 4 Multiple CPU Error Codes 222 19 13 19 4 1 Self diagnosis error code gane tees renault a d a eg a er p edt 19 13 19 4 2 Release of self diagnosis error seen rennen nennen 19 18 APPENDIX 1 Processing Times ssssssssseeneenenneneenee nennen nnnm nen nennen rennen nnns APP 1 APPENDIX 1 1 Processing time of operation control Transition instruction APP 1 APPENDIX2 Sample Pro
378. ng of control CPU etc 1 OVERVIEW 1 6 2 I O No of PLC CPU and Q173CPU NJ Q172CPU N In the Multiple CPU system I O No is assigned to the PLC CPU Motion CPU to enable communication between the PLC CPU and Motion CPU using the following instructions The Multiple CPU dedicated instructions The Motion CPU dedicated instructions The Multiple CPU communication dedicated instructions The I O No of the PLC CPU Motion CPU are fixed based on the installed slots and cannot be changed The table below lists the I O No of the PLC CPU Motion CPU installed in the CPU base unit of the Multiple CPU system CPU installation position QCPU slot Slot 0 Slot 1 Slot 2 Head I O number 3E00H 3E10H 3E20H 3E30H The I O No of the PLC CPU Motion CPU are used in the following cases When writing data to the shared CPU memory of the self CPU using the S TO instruction When reading data from the shared CPU memory of the other CPU using the FROM instruction When reading data from the shared CPU memory of the other CPU using an intelligent function module device ULNGLI When reading device data directly from the Motion CPU from the PLC CPU using the S P DDRD instruction When writing device data directly to the Motion CPU from the PLC CPU using the S P DDWR instruction Refer to Chapter 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM for communication between the PLC CPU and the Motion C
379. ng of scan which the instruction completed and turned off by the next END processing Setting range 1 Setting of the starting axis The starting axis set as S1 sets J Axis No in a character sequence St usable range Q173CPU N 1 to 32 Q172CPU N Up to 8 axes can be set If multiple axes are set it sets without dividing in a space etc The axis No set in the system setting Refer to Section 1 5 is used as the axis No to start And the axis No to start does not need to be a order Example When multiple axes Axis1 Axis2 Axis10 Axis11 are set J1J2J10J11 2 Setting of the servo program No S2 usable range 0 to 4095 5 MOTION DEDICATED PLC INSTRUCTION SSS SSS SSS H Start accept flag System area The complete status of the start accept flag is stored in the address of the start accept flag in the shared CPU memory Shared CPU memory address Description is decimal address The start accept flag is stored by the 1 to 32 axis each bit As for a bit s actually being set Q173CPU N J1 to J32 Q172CPU N J1 to J8 OFF Start accept flag usable ON Start accept flag disable b15 204H 516 address 16 204H 516 205H 517 205H 517 address J32 Errors The abnormal completion in the case shown below and the error code is stored in the device specified with the complete status storing devi
380. ng the A31TU D30 A31TU DNO be sure to use NORTE UAE Q173CPUN T Note 6 A31TU D30 A31TU DNO corresponds to only Japanese It does not correspond to display for English Servo amplifier Servo amplifier MR H BN MR J20 B Q173DV 1 56 1 OVERVIEW b When using the Dividing cable Extension of the Q series module Power supply module QCPU I O module Intelligent unction module of the series Motion module Q172LX Q172EX Q173PX Q60B extension base unit Q63B Q65B Q68B Q612B CPU base unit Extension cable Q33B Q35B Q38B Q312B Motion module Q172LX Q172EX Q173PX QCDB es E E e Power supply module I O module Intelligent function module of the Q series Short circuit connector for the teaching unit Q170TUTM Motion CPU module Q173CPU N SSCNET cable SSCNET cable for MR H BN for MR J20 B Cable for the teaching unit Q170TUDOCBLOM A lk Short circuit connector for
381. nication Setting 1 Display ROM RAM communication dialog screen after clicking on Communication Transfer of the system setting menu screen Note Select Transfer at the ROM writing 2 Click on ROM of RAM ROM menu screen Write the programs and data in the RAM of Motion CPU to the ROM Note At RAM clicking on Communication dialog is left screen When selecting the RAM Read write and verify to the RAM of Motion CPU Write the all data to Motion CPU after clicking on RAM at the ROM writing Pa Communication GS 22P MT Developer Dption Help r Transfer Data Batch a IV Servo Setting Data Write System Setting Servo Setting Data Verify Axis Data Parameter Block Com Setting Limit Switch Setting RAM ROM M d SFC Program Swen SFC parameter SFC used unused setting SFC Program Delete Control Code SFC F FS G Text F FS G Unnecessary when SFC program is unused Servo Mechanical System Program Cam Data Device Memory Register Change Save When selecting the ROM ROM writing window ES 3 RAM ROM communication dialog is left screen Pa Communication GS 22P MT Developer When selecting the ROM RAM ROM Option Help ROM writing data V Servo Setting Data Flea System Setting Write 4
382. nitor device to Axis 24 monitor device D1319 D1479 D1320 D1480 to Axis 9 monitor device to Axis 25 monitor device D1329 D1489 D1330 D1490 to Axis 10 monitor device to Axis 26 monitor device D1339 D1499 D1340 D1500 to Axis 11 monitor device to Axis 27 monitor device D1349 D1509 D1350 D1510 to Axis 12 monitor device to Axis 28 monitor device D1359 D1519 D1360 D1520 to Axis 13 monitor device to Axis 29 monitor device D1369 D1529 D1370 D1530 to Axis 14 monitor device to Axis 30 monitor device D1379 D1539 D1380 D1540 to Axis 15 monitor device to Axis 31 monitor device D1389 D1549 D1390 D1550 to Axis 16 monitor device to Axis 32 monitor device D1399 D1559 1 44 1 OVERVIEW Detailes of each axis D1240 10n D1241 10n Execute cam No D1242 10n Execute stroke amount D1243 10n D1244 10n s Current value within 1 cam shaft revolution D1245 10n D1246 10n D1247 10n Unusable D1248 10n D1249 10n Note 1 n in the above device No shows the numerical value which correspond to axis No Q173CPU N Axis No 1 to No 32 n 0 to 31 Q172CPU N Axis No 1 to No 8 n 0 to 7 Note 2 The unused aixs areas in the mechanical system program can be used as an user device 1 45 1 OVERVIEW 6 Table of the common devices SV13 SV22 Signal Signal Device No Signal name Device No Signal name derecrtion derecrtion D704 PLC ready flag request D740 D705 Speed switching
383. nnot process them 4609 CPU No of the instruction cause is injustice program Note 0000H Normal 5 MOTION DEDICATED PLC INSTRUCTION The error flag SMO is turned on an operation error in the case shown below and an error code is stored in SDO 2410 The CPU No to be set by First I O No of the target CPU 16 is specified 2114 The self CPU by First I O No of the target CPU 16 is specified Confirm a program 2117 The CPU except the Motion CPU by First I O No of correct it to a the target CPU 16 is specified correct PLC 4004 The instruction is composed of devices except usable program devices 4100 Since 0 to 3DFH 3E4H by First I O No of the target CPU 16 is specified Program example Note 0000H Normal Program which changes the current value of the axis No 1 of the Motion CPU CPU No 4 from PLC CPU CPU No 1 to 10 To self CPU Start accept flag high speed of the axis No 1 interrupt accept CPU No 4 flag from U3E3 U3E3 G516 0 M100 G48 0 ISP CHGAJH3E3 J1 K10 MO DO MO M1 iP th M1 5 MOTION DEDICATED PLC INSTRUCTION e When an axis No En was specified with S1 Controls 1 This instruction is dedicated instruction toward the Motion CPU at the Multiple CPU system Errors occurs when it was executed toward the CPU except the Motion CPU The synchronous encoder axis current value specified wit
384. ns to be stored 1 Module No CPU No Base No Module No or CPU No is stored according to the error which occurred in the case of the Multiple CPU system Refer to each error code which is stored CPU No 1 1 CPU No 2 2 CPU No 3 3 CPU No 4 4 2 Parameter No The operation states of CPU as shown below are stored in D9015 B15 B12B11 B8 B7 B4 B3 T T T T T T T T T Operating state of Operating state of 1 Operating state of CPU 0 RUN 2 STOP S Main processing 2 STOP cause 0 RUN STOP switch Note Priority is earliest first 4 Error Scan time Main cycle is stored in the unit 1ms 7 Scan time 1ms units Setting range 0 to 65535 ms Maximum scan Maximum scan The maximum value of the main cycle is stored in the unit 1ms time time 1ms units Setting range 0 to 65535 ms Stores the year 2 lower digits and month in BCD Example July 1993 Clock data D9025 Clock data H9307 S U Request Year month Note It adds newly at the Motion controller Q series D9014 Error information Error information D9005 D9010 D9011 D9012 D9013 D9015 g 1 52 1 OVERVIEW Special register list continued re t en se D9026 Clock data Clock data Day hour Clock data D9027 Clock data Minute second D9028 Clock data Clock data Day of week Di ti Error No of D9060 Beers Error
385. nstruction for the Multiple CPU system which did Confirm a program not be correspond with operating system software of correct it to a the Motion CPU was executed correct PLC 4C07 Axis No set by CHGT instruction is injustice program 4 09 CPU No of the instruction cause is injustice Note 0000H Normal The error flag SMO is turned on an operation error in the case shown below and an error code is stored in SDO Note The CPU No to be set by First I O No of the target 2110 CPU 16 is specified The self CPU by First I O No of the target CPU 16 aa is specified Confirm a program 2117 The CPU except the Motion CPU by First I O No of and correct it to a the target CPU 16 is specified correct PLC The instruction is composed of devices except usable program 4004 devices 4100 Since 0 to 3DFH 3E4H by First I O No of the target CPU 16 is specified Note 0000H Normal 5 MOTION DEDICATED PLC INSTRUCTION Program example Program which changes the torque limit value of the axis No 1 of the Motion CPU CPU No 4 from PLC CPU CPU No 1 to 10 To self CPU high speed interrupt accept flag from CPU U3E3 M100 G48 0 ISP CHGT H3E3 Jf K10 MO DO MO M1 a M1 5 MOTION DEDICATED PLC INSTRUCTION 5 7 Write from The PLC CPU to The Motion CPU S P DDWR PLC instruction S P DDWR 7 W
386. nstruction manual When coupling with the synchronous encoder or servomotor shaft end do not apply impact such as by hitting with a hammer Doing so may lead to detector damage Do not apply a load larger than the tolerable load onto the synchronous encoder and servomotor shaft Doing so may lead to shaft breakage When not using the module for a long time disconnect the power line from the Motion controller or servo amplifier Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store When storing for a long time please contact with our sales representative Also execute a trial operation NCAUTION Correctly and securely wire the wires Reconfirm the connections for mistakes and the terminal screws for tightness after wiring Failing to do so may lead to run away of the servomotor After wiring install the protective covers such as the terminal covers to the original positions Do not install a phase advancing capacitor surge absorber or radio noise filter option FR BIF on the output side of the servo amplifier Q 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 Servo ampl
387. nteger Arcsine ASIN execution error Arccosine ACOS execution error Square root SQRT S is a negative number execution error BCD BIN conversion BIN execution error The S data is outside the unsigned 16 bit Correct the program so that the S data is integer value range within the unsigned 16 bit integer value range The S data is outside the unsigned 32 bit the program so that the S data is integer value range he signed 32 bit integer value range Correct the program so that S is not 90 180 n n is an integer Correct the program so that S is within the S is outside the range of 1 0 to 1 0 range of 1 0 to 1 0 Correct the program so that S is a positive number Correct the program so that each digit of S is Any digit of S has a value other than 0 to 9 0 to 9 BIN 5BCD conversion BCD execution error Correct the program so that the S value is within the range The S value is outside the range where BIN data can be converted into BCD data Correct the program so that S is a positive number Natural logarithm LN execution error S is 0 or a negative number R R Rz A A Q ow Q Q Q Q Q eo Q a gt N wo N 19 6 19 ERROR CODE LISTS Table 19
388. o gt 7 65 7 12 Motion Dedicated Functions CHGV CHGT ssssseeseeeeenenennen nennen rennen enne nnns 7 66 7 12 1 Speed change request CHGV sssssssssssssssssssseseeen eene nnne tenente nnne nennen 7 66 7 12 2 Torque limit value change request nennen nennen nnne 7 72 7749 Other lnstr ctlons i teet iie ice eee ete ar 7 74 7 13 1 Event task enable El oo ccccceceeccceccceeeceeeeeeeeeeeeeeaeeeeeneesaneeseaeeseaeecsaneesaneeseaeeseaeesseeeseeeseeeeseneeseieees 7 74 A932 Eventtask disable DI act en e lante gata 7 75 7 13 3 No Operation NOD pi ME RUE EH UEBER MB 7 76 13 4 Block transfer BMOW M matte ane aie a qutdem eden 7 77 7 13 5 Same data block transfer FMOV ssssssssssssseseeeeneenne nennen nnne 7 80 7 13 6 Write device data to shared CPU memory of the self CPU 7 82 7 13 7 Read device data from shared CPU memory of the other CPU 7 85 7 13 8 Write device data to intelligent function module special function module TO 7 88 7 13 9 Read device data from intelligent function module special function module FROM 7 91 7 13 10 Time to walt TIME cis edet RE OPUS Ri RAIDER AGER AD 7
389. o S n 1 is outside the device range D to D n 1 is outside the device range n is 0 or a negative number PX PY is set in S to S n 1 PX PY is set in D to D n 1 S is a bit device and the device number is not a multiple of 16 or D is a bit device and the device number is not a multiple of 16 when n specified is a constant 7 78 7 OPERATION CONTROL PROGRAMS Program examples 1 Program which batch transfers a contents for 5 words from DO to all data for 5 words from 10 BMOV 10 DO K5 10 DO 11 Batch transfer D1 12 m 13 D3 14 D4 2 Program which batch transfers a contents for 2048 words from 0 to the data area of cam No 2 resolution 2048 BMOV N2 0 K2048 Cam data of cam No 2 Oth stroke ratio First stroke ratio Second stroke ratio 2047th stroke ratio Cam stroke ratio is set within 0 to 7FFFH 3 Program which batch transfers a contents for 4 words from to all data for 4 words from 20 BMOV 20 X0 K4 b15 bO XF 20 0 0 1 0 0 1 1 1 0 0 0 0 1 1 1 1 010 1 0 04 1 1 0 0 0 0 11 1 1 b15 bO X1F X10 21 1 0 0 00041 0 0 0 00 1 1 1 Batch transfer o o o o o 1 1 o o o o o 1 1 1 22 00 0 0 0 0000 0 0 0 00 0 0 1 11 b15 XSF X30 23 11 1 1 0 0 0 1 11 1 0 0 0 0 0 0 0 0 7 OPERATION CONTROL PROGRAMS
390. o set too many comments to avoid code area overflow Refer to Section 1 2 2 2 b Motion SFC Performance Specifications for the code area sizes 2 You cannot use in comment statements 6 MOTION SFC PROGRAMS MEMO 28 7 OPERATION CONTROL PROGRAMS 7 OPERATION CONTROL PROGRAMS Refer to Section 19 2 Motion SFC Error Code List for error codes of the operation error Refer to the Q173CPU N Q172CPU N Motion controller SV13 SV22 Programming Manual REAL MODE and Q173CPU N Q172CPU N Motion controller SV22 Programming Manual VIRTUAL MODE for minor errors of the operation error 7 1 Operation Control Programs 1 Operation control programs a Substitution operation expressions motion dedicated functions and bit device control commands can be set in operation control program Multiple blocks in one operation control program can be set gt o There no restrictions the number of blocks that be set one operation control program However one program is within 64k bytes d The maximum number of characters in one block is 128 e Transition conditions cannot be set Transition conditions can be set only in transition programs f The bit conditional expression that logical data value true or false is returned in an operation control program a comparison conditional expression can be set up only as a source S of device set SET or device reset RST
391. ode which is stored is shown below The error code marked is dedicated with the Motion CPU Complete status Corrective Error factor Error code H action 0 Normal completion 4C00 The specified device cannot be used in the Motion CPU Or it is outside the device range 4COA The instruction for the Multiple CPU system which did not be correspond with operating system software of the Motion CPU was executed 4C02 The Motion SFC program No to start is outside the range 0 to 255 The servo program No to execute is outside the range 0 to 4095 When using the S P SFCS S P SVST S P CHGA instruction There are 33 or more instruction requests to the Motion CPU from the PLC CPU in S P SFCS S P SVST S P CHGA S P GINT sum table Confirm a simultaneously and the Motion CPU cannot process them program and When using the S P DDRD S P DDWR instruction correct it to a There are 33 or more instruction requests to the Motion CPU from the PLC correct PLC CPU in S P DDRD S P DDWR sum table simultaneously and the Motion CPU cannot process them 4 09 CPU No of the instruction cause is injustice ACOA Data error The instruction which cannot be decoded in the Motion CPU was specified H W error of the target CPU program Number over of execute instructions of the target CPU There are 33 or more instruction requests to the Motion CPU from the PLC CPU in S P SFCS S P SVST S P CHGA S P SHGV S P C
392. of transmitting points is multiplied by 16 3 4 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 2 Set the CPU side device as follows Settings 1 to 4 may use different devices If the device ranges do not overlap the same device may be used for settings 1 to 4 Setting 1 Link relay Refresh Setting Setting Send range for each CPU CPU side device CPU share memory Dev stating Stat End Stat End 2 080 0801 TE 2 0800 a 0803 The applicable device of head device is D W M Y B The unit of points that send range for each CPU is word Settings should be set as same when using multiple CPU Setting 2 Link register m Refresh Setting Setting 2 Send range for each CPU CPU side device CPU share memory G End 0802 n 0821 The applicable device of head device is Dw HM Y B The unit of points that send range for each CPU is word Settings should be set as same when using multiple CPU Setting 3 Link relay Refresh Setting Setting 3 Send range for each CPU CPU side device CPU share memory G Dev starting B100 Pom Stat End Stat End gel B13F a 0804 0807 T7F 0822 0825 BBE The applicable device of head device is DW MY B Settings 1 to 4 m
393. of the shared CPU memory address First device No D which stores the reading data number of words n to be read is outside the device range Except 3EOH 3E1H 3E2H 3E3H is set at S1 The self CPU is specified with S1 The CPU which reads is resetting The errors are detected in the CPU which read D is a bit device and the device number is not a multiple of 16 PX PY is set in D to D n 1 19 7 Error Processing The block processing in execution is stopped and the next block is executed Correct the program so that the number of words n to be written is within the range of 1 to 256 Correct the program so that the shared CPU memory address D of self CPU of the writing destination is within the range of shared CPU memory address Correct the program so that the shared CPU memory address D of self CPU of the writing destination number of words n to be written is within the range of shared CPU memory address Correct the program so that first device No S which writing data are stored number of words n to be written is within the device range Execute MULTW instruction again after the complete bit device of MULTW instruction is turned on Correct the program to set a write enabled device at D1 When S is a bit device set the device number to be multiple of 16 When S is a bit device do not set PX PY Correct the program so that the number
394. ogether in the slots provided to the right of one or more PLC CPUs PLC CPU cannot be installed to the right of a Motion CPU 1 When the high performance model PLC CPU is used Number of 2 CPUs Installation positions of PLC CPUs Motion CPUs gt Q 2 2 8 g o o o c o Ss o 2 5 ao gt CPU 0 1 2 2 2 amp Ie 5 Se om 5 n n O n O O 9 E 2 Oo Q Seales 6 gt a s s a z U c o a N CPU 0 1 2 Power supply PLC CPU PLC CPU PLC CPU gt o 2 S a a O0 JE Motion CPU PLC CPU Motion CPU Motion CPU U c o EA N Power supply PLC CPU 2 When the basic model PLC CPU is used Multiple CPU system up to modules PLC CPU 1 Motion CPU X 1 Personal computer CPU 1 1 OVERVIEW 1 4 3 Precautions for using Q series I O modules and intelligent function modules 1 Modules controllable by the Motion CPU modules QXLI S1 Q6CIADEI Q60AD O0O QGLIDALI 60 0 interrupt module QI60 and motion modules Q172LX Q172bX Q173PX can be controlled by the Motion CPU 2 Compatibility with the Multiple CPU system a All I O modules QXO S1 QYO QHO Q60ADO Q6LIAD L1 QeCIDACI Q6OIDA D support the Multiple CPU system b The interrupt module
395. ollowing methods otherwise position displacement could occur 1 After writing the servo data to the Motion controller using programming software switch on the power again then perform a home position return operation 2 Using the backup function of the programming software load the data backed up before replacement After maintenance and inspections are completed confirm that the position detection of the absolute position detector function is correct Do not drop or impact the battery installed to the module Doing so may damage the battery causing battery liquid to leak in the battery Do not use the dropped or impacted battery but dispose of it Do not short circuit charge overheat incinerate or disassemble the batteries The electrolytic capacitor will generate gas during a fault so do not place your face near the Motion controller or servo amplifier The electrolytic capacitor and fan will deteriorate Periodically replace these to prevent secondary damage from faults Replacements can be made by our sales representative Lock the control panel and prevent access to those who are not certified to handle or install electric equipment Q 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 NCAUTION This
396. olute synchronous encoder MR HENC Q170ENC Note 2 SSCNET High speed serial communication between Motion controller and servo amplifier General name for System using the servomotor and servo amplifier for absolute position Cooling fan unit Q170FAN Dividing unit Q173DV Battery unit Q170BAT JO gt on o c D 22 8 5 5 5 Q t I o o o m o gt 5 z o FRANE a 3 ao 3 0 E AE 0 m o zo 5 3 o c o 5 o Battery unit 1 OVERVIEW Generic term Abbreviation ACIOBD PCF A10BD PCF A30BD PCF SSC I F board SSC I F communication cable Abbreviation for Cable for SSC I F board card Teaching Unit A31TU D3D A31TU DNO Teaching unit or A31TU D30 A31TU DNO Abbreviation for MELSECNET H module Ethernet module CC Link module RU TE communication module Intelligent function module Vector inverter Vector inverter FR V500 V500 Vector inverter FREQROL V500 series Note 1 Q172EX can be used in SV22 Note 2 SSCNET Servo System Controller NETwork Note 3 Teaching unit can be used in SV13 For information about the each module design method for program and parameter refer to the following manuals relevant to each module Reference Manual Motion CPU module Motion unit Q173CPU N Q172CPU N User s Manual PLC CPU peripheral devices for PLC program design I O i Manua
397. on S P SFCS Motion SFC start request instruction from the PLC CPU to the Motion CPU S P SFCS Usable devices Internal devices d MELSECNET 10 Special Bit Indirectly Index System User File A direct JO O function Constant digit specified register Other register K H specified device module ZO Dco Setting data Note O Usable A Usable partly Note Setting data n1 to D2 Index qualification possible Instruction Condition Start request SP SFCS sPsrcs Start request S SFCS S SFCS Setting data Setting data Data type First I O No of the target CPU 16 n1 Value to specify actually is the following CPU No 2 3E1H CPU No 3 3E2H CPU No 4 3E3H 16 bit n2 Motion SFC program No to start binary Complete devices Note 1 16 bit binary D1 0 Device which make turn on for one scan at start accept completion of instruction D1 1 Device which make turn on for one scan at start accept abnormal completion of instruction D1 0 also turns on at the abnormal completion 16 bit D2 Device to store the complete status binary Note 1 Motion CPU cannot used CPU No 1 in the Multiple CPU configuration 1 This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system Errors occurs when it was executed toward the CPU exce
398. on or damage Do not mistake the polarity as this may lead to destruction or damage Q Do not touch the heat radiating fins of controller or servo amplifier regenerative resistor and servomotor etc while the power is ON and for a short time after the power is turned OFF In this timing these parts become very hot and may lead to burns Always turn the power OFF before touching the servomotor shaft or coupled machines as these parts may lead to injuries Do not go near the machine during test operations or during operations such as teaching Doing so may lead to injuries 4 Various precautions Strictly observe the following precautions Mistaken handling of the unit may lead to faults injuries or electric shocks 1 System structure NCAUTION Always install a leakage breaker on the Motion controller and servo amplifier power source If installation of an electromagnetic contactor for power shut off during an error etc is specified in the instruction manual for the servo amplifier etc always install the electromagnetic contactor Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off Use the Motion controller servo amplifier servomotor and regenerative resistor with the correct combinations listed in the instruction manual Other combinations may lead to fire or faults Use the Motion controller base unit and motion module with t
399. on processing at stop input interpolation S curve ratio Repeat condition Program No Command speed WAIT ON OFF FIN acceleration deceleration o c S o o g o S a c Allowable error range for circular 2to 10 3to 11 O Must be set A Set if required 1 Only reference axis speed specification 2 B indicates a bit device 9 MOTION CONTROL PROGRAMS Table 9 2 Servo Instruction List continued Positioning data E 2 Dwell time Auxiliary point Central point Instruction symbol Processing Parameter block No Address travel value Command spee Torque limit value Positioning control Virtual enable oo robo Rem e 57 Number of steps Repeat range start setting NNI Repeat range end setting ES Simultaneous start same control used in speed switching control constant speed control m o c o z Q c Simultaneous Home position return start position High speed oscillation oscillation Servomotor Virtual Servomotor Shaft Current Value Change Synchronous Encoder Shaft Current Value Change Control Cam Shaft Within One Revolution Current Value Change Control Current Value 9 MOTION CONTROL PROGRAMS Positioning data Ill Number of steps sf sl fa 2 2 2 1 1 2 1 1 1 1 1 2 1 1 2 1 LL LD A fila i
400. onal expressions of Shift Y N or WAIT Y N transition programs 6 MOTION SFC PROGRAMS 3 Instructions for the Motion SFC charts Any Motion SFC chart that will be meaningless to or conflict with the definition of Y N transitions will result in an error at the time of editing or Motion SFC chart conversion Their patterns and instructions will be given below a When Shift Y N or WAIT Y N is connected as a selective branch or parallel branch Error Shift Y N used as selective branch WAIT Y N used as selective branch x L x Shift Y N and WAIT Y N used as Shift or WAIT Y N used with other parallel branch step transition as parallel branch or selective branch Ls x _1 b When a coupling precedes Shift Y N or WAIT Y N Provide coupling branch continuation in between Direct coupling with Shift Y N or WAIT Provide coupling branch continuation in Y N is not allowed between Co Co gt 6 MOTION SFC PROGRAMS c The following patterns may be set End END from Shift Y N or WAIT Y N Jump from Shift Y N or WAIT Y N o Leu END Continuation from Shift Y N or WAIT Y N to Shift Y N or WAIT Y N selective branch selective branch END When there are two or more connection lines from Y N side of Shift Y N or WAIT
401. ondition transits to the right connected step b Pn Jumps to the specified pointer Pn PO to P16383 of the Jump Jump JMP Pn self program 14 Indicates a jump destination pointer label This pointer can be set at a step transition branch Pointer Pointer Pn point or coupling point 8 PO to P16383 can be set in one program The same No may also be used in other programs 6 MOTION SFC PROGRAMS 6 3 Branch and Coupling Chart List Branch and coupling patterns which specify step and transition sequences in the Motion SFC charts are shown below Name List Series transition Corresponding symbol size List representation corresponding to the Motion SFC chart symbols shown in Section 6 2 Steps and transitions connected in series are processed in order from top to bottom Steps and transitions need not be lined up alternately When a transition is omitted unconditional shift processing is performed Selective branch Number of branches 2 x 10 Parallel branch Number of branches x 22 number of coupling points 2 12 Parallel coupling 8 Jump transition Corresponding symbol size Normal jump Coupling jump CALL Kn IFBm IFT1 SFT Gn CALL Fn JMP IFEm IFT2 SFT Gn CALL Fn JMP IFEm IFEm CALL Fn CALL Kn P
402. ons on the depth of subroutine call start nesting For a subroutine start the start source Motion SFC program continues processing if the start destination Motion SFC program stops due to an error For a subroutine call the call source Motion SFC program stops running as soon as the call destination Motion SFC program stops due to an error 6 MOTION SFC PROGRAMS 6 5 4 Clear step Operations Errors Instructions 2 Stops the Motion SFC program of the specified CLR Clear step Program program name Stops the specified Motion SFC program running The clear specified Motion SFC program will not start automatically after stopped if it has been set to start automatically 3 The specified program may be its self program 4 If the specified program is being subroutine called the subroutine program called is also stopped Shown below MAIN SUB If the program has been subroutine called as shown on the left Vac dut a xd When the call source program MAIN is cleared Even if the subroutine SUB is running both the call source SUB program MAIN and subroutine SUB stop running ER When the subroutine SUB is running the subroutine SUB WAIT END stops running and execution to the call source program MAIN END 5 When the specified program has been subroutine started the subroutine program started c
403. ontinues processing Shown below Even if the subroutine SUB is running the started program SUB MAIN stops running but the started subroutine SUB MAIN If the program has been subroutine started as shown on the left v When the started program MAIN is cleared continues processing Shift END When the subroutine SUB is cleared If the subroutine SUB is running only the subroutine SUB stops running END 6 When the servo program started from the specified program is starting the servo program continues processing When the Motion SFC program specified with the clear step does not exist the Motion SFC program error 16203 will occur When the Motion SFC program specified with the clear step is not starting an error does not occur specifically and this step is ignored If the Motion SFC program running is stopped by the clear step the output is held 6 14 6 MOTION SFC PROGRAMS 6 6 Transitions You can describe conditional and operation expressions at transitions The operation expression described here is repeated until the transition condition enables as at the scan execution type operation step Refer to Chapter 8 TRANSITION PROGRAMS for the conditional operation expressions that can be described in transition conditions 1 Combinations with motion control steps a Motion control step Shift 7a Operations
404. op command to end the positioning 4 Anegative speed change made again will be ignored 7 68 7 OPERATION CONTROL PROGRAMS d While the axis is reversion in the speed control mode 1 Make a speed change to a positive speed to change the travel direction again 2 Turn ON the stop command to make a stop 3 A speed change is made in the opposite direction if a negative speed change is made again Errors 1 An operation error will occur and a speed change will not be made if The specified axis No of S1 is outside the range S2 is an indirectly specified device and its device No is outside the range 2 Aminor error will occur and a speed change will not be made if The axis specified with S1 is home position return Minor error 301 The axis specified with S1 is decelerating Minor error 303 3 A minor error will occur and the axis to be controlled at the speed limit value if The absolute value of the speed specified with S2 is greater than the speed limit value Minor error 305 If the absolute value of a negative new speed is higher than the speed specified with the servo program during constant speed control return control is exercised at the speed specified in the program speed clamp control for a speed change during constant speed control At this time an error will not occur 7 OPERATION CONTROL PROGRAMS Program examples 1 Program which changes the positioning speed of axis 2
405. operation control programs Descriptive gt lt 5 n o 2 E o ies o e o oj tb 3 Motion registers 8192 points Coasting timers FT 1 point 8885 1 OVERVIEW 1 2 3 Operation control transition control specifications Expression 1 Table of the operation control transition control specifications Specifications Remark Returns a numeric result Calculation expression Bit conditional expression Expressions for calculating indirectly specified data using constants and word devices Returns a true or false result Expression for judging ON or OFF of bit device D100 1 SIN D100 etc MO MO 1 M1 M2 IM3 M4 etc Conditional C i expression Expressions for comparing indirectly specified data and calculation D100 100 expressions using constants and word devices D10 lt D102 D10 etc expression The input X output Y are written with the actual input PX actual output PY Device Symbol Accessibility Usable tasks Description Normal Event NMI example Input module X X100 It does the layput of the I O numbers of PX PY by a set up of as system In the operation control program transition program automatically represented as PX PY according to the System setting information non loaded Input range module PX x loaded range Output module non loaded Output range PY1EO Internal relay M20
406. ormal event NMI Access Read only enabled Timer specifications 888ys timer Current value FT is incremented by 1 per 888ys 10 6 11 MOTION SFC PARAMETER 11 MOTION SFC PARAMETER Two different Motion SFC parameters are available task parameters designed to control the tasks normal task event task NMI task and program parameters to be set per Motion SFC program Their details are shown below 11 1 Task Definitions When to execute the Motion SFC program processing can be set only once in the program parameter per program Roughly classified there are the following three different tasks Task type Contents Normal task Executes in motion main cycle free time 1 Executes in fixed cycle 0 88ms 1 77ms 3 55ms 7 11ms 14 2ms 2 Executes when the input set to the event task factor among external Event task f interrupts 16 points of QI60 turns on 3 Executes by an interrupt from the PLC CPU Executes when the input set to the NMI task factor among external interrupts 16 points of QI60 turns on 11 1 11 MOTION SFC PARAMETER 11 2 Number of Consecutive Transitions and Task Operation 11 2 1 Number of consecutive transitions With execution of active step judgment of next transition condition transition processing performed when condition enables transition of active step defined as a single basic operation of the Motion SFC program execution control
407. ors 17010 to 17019 Name Description Error code Error Processing Corrective Action Executed task Among the normal event and NMI tasks more setting is illegal than one or none of them has been set Em Turn PLC ready flag M2000 OFF make The initial value normal correction and write a correct value to the E ted task task is used for control d AR OK Two or more fixed cycles of the event task have CPU setting is illegal b t se 19 11 19 ERROR CODE LISTS MEMO 19 12 19 ERROR CODE LISTS 19 4 Multiple CPU Error Codes 19 4 1 Self diagnosis error code This section explains the self diagnosis error code A self diagnosis error code is stored in D9008 And it can be confirmed with device monitor of the PC diagnosis SWG6RN GSVLIP of GX Developer Each digit is defined as the error code as follows Tens digit Details code Hundreds digit Thousands digit Big classification Factor Millions digit Super classification Except the PLC CPU Big classification Internal hardware Handling Parameter Program Watch timer The correspondence which becomes double Indicates Multiple CPU Outside diagnosis The characteristic error of Motion CPU is 10000 the error code which occurs except the PLC CPU 19 13 19 ERROR CODE LISTS Table 19 8 Multiple CPU errors which occurs in the Motion
408. oute Tt lol TT TT TT pee Item which must be set A Item which is set when required Controls Control using CHGA E instruction 1 Executing the CHGA E instruction changes the current value of the synchronous encoder shaft in the following procedure a The synchronous encoder shaft current value changing flag M2101 to M2112 corresponding to the specified synchronous encoder shaft is turned on b The current value of the specified synchronous encoder shaft is changed to the specified address c The synchronous encoder shaft current value changing flag is turned off at completion of the current value change 2 The used axis No can be set within the following range Q172CPU N Q173CPU N Axis 1 to 8 Axis 1 to 12 3 The address which made the current value change by CHGA E instruction is valid after also the power supply turned off 9 MOTION CONTROL PROGRAMS Program example A program which made the current value change control of the synchronous encoder shaft is described as the following conditions 1 System configuration The current value change control of the synchronous encoder shaft P1 is executed BEA axis AMP AMP AMP AMP AMP AMP AMP Axis 1 Axis 2 Axis Axis 4 Axis m Axis a Axis Axis 2 The current value change control conditions a The current value change control conditions are shown below Setting Servo program No 10
409. own as an example 2 lt Example 1 gt SM400 T K10 K10 PLS To self CPU high speed interrupt accept flag from CPU 1 Mo U3E1 G48 0 EPDORD H3E1 050 Do D100 m10 PIN To self CPU high speed interrupt accept flag from CPU 1 1 U3E1NG48 1 0 RST Mt d N To self CPU high speed interrupt accept flag from M2 U3E1 G48 0 M10 M11 Read the data from DO to D100 and normality complete processing M11 Read the data from DO to D100 and abnormality complete processing M20 M21 Read the data from D200 to D300 and normality complete processing M21 Read the data from D200 to D300 and abnormality complete processing M30 M31 Read the data from D400 to D500 and normality complete processing M31 Read the data from D400 to D500 abnormality complete processing APP 11 APPENDICES lt Example 2 gt SM400 SM400 M10 1 M20 F M30 M X0 To self CPU high speed interrupt accept flag from CPU 1 MO U3E1 G48 0 Vt BP DDRD H3E1 D50 DO D100 m10 D100 a E H 9 SJE O N To self CPU high speed interrupt accept flag from CPU 1 M1 U3E1 G48 0 i D100 RST B SET d z To self CPU high speed interrupt accept flag from CPU 1 M2 U3E1 G48 0 m D100 M2 M10 M11 Read the data from
410. pe is any of 3 to 6 Error code stored in D9190 when error type is 7 16000 and later Error code Error code stored in D9193 when error type is 8 Refer to Chapter 19 ERROR CODE LISTS 1 when error type is 9 or 10 Error code stored in D9184 when error type is 11 Error code stored in D9196 when error type is 12 Year month Day The clock data D9025 D9026 D9027 are set hour BCD code year in its lower 2 digits Minute second 10 3 10 MOTION DEVICES 2 Motion SFC error detection flag M2039 Refresh cycle Scan time The Motion SFC error detection flag M2039 turns on when any of the errors detected by the Motion CPU occurs At error occurrence data are set to the error devices in the following procedure a Set the error code to each axis or error devices b Turns on the error detection signal of each axis or error c Set the error information to the above Motion SFC error history devices 8000 to 8063 d Turns on the Motion SFC error detection flag M2039 In the user program reset the Motion SFC error detection flag M2039 after reading the error history at the Motion SFC error detection flag M2039 After that Motion SFC error detection flag M2039 turns on again at occurrence of a new error 1 Resetting the Motion SFC error detection flag M2039 will not reset clear to zero the Motion SFC error history devices 8000 to 8063 Af
411. point specified flag D741 request D706 All axes servo ON command request Command D742 Axis 23 D707 Real mode virtual mode switching device D743 Axis 24 request SV22 JOG operation simultaneous start D708 D744 Axis 25 command request Manual pulse generators 1 D709 unusable os pulse input magnification P ote 1 D710 D746 setting register JOG operation simultaneous start o D713 axis setting register DIS D748 D714 Manual pul D749 anual pulse generator axis 1 No 0715 setting register D751 Axis 32 32 Manual pulse generator 1 smoothing magnification setting register setting register D753 Manual pulse generator 2 smoothing magnification setting register D718 Manual pulse generator axis 3 No D719 setting register D754 Manual pulse generator 3 smoothing magnification setting register D720 D755 Manual pulse generator 1 enable flag request s1 D721 D756 Manual pulse generator 2 enable flag request D722 D757 Manual pulse generator 3 enable flag request Manual pulse generator axis 2 No D723 device O78 S o D724 D759 PCPU ready complete flag status Monitor D725 0 OFF 1 ON device D726 D760 D727 to Unusable Manual pulse generators 1 D789 D729 Axis 10 i D790 pulse input magnification Real mode axis information register SV22 D730 Axis 11 setting register 4911 2 0791 Monitor D731 device D732 Servo amplifier type D
412. points to to Unusable D800 Virtual servomotor axis monitor Common device to device Command signal 10 points x 32 axes 64 points Mechanical system setting axis only Special relay allocated device D1120 Synchronous encoder axis monitor Command signal to device 64 points 10 points x 12 axes Axis command signal D1240 Cam axis monitor device 20 points X 32 axes to 10 points 32 axes Unusable M4000 Virtual servomotor axis status 20 points X 32 axes Mechanical system setting axis only t t t t M4640 Synchronous encoder axis status o 4 points X 12 axes M4688 Unusable M4800 Virtual servomotor axis command to t signal 20 points X 32 axes Mechanical system setting axis only User device M5440 Synchronous encoder axis 6632 points t command signal 4 points X 12 axes M5488 Cam axis command signal t 1 points lt 32 axes Mechanical system setting axis only to 2 points X 32 axes moe Unusable to M5600 User device 2592 points M8191 D8191 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 1 PLC CPU 1 module Motion CPU 1 module The outline operation and the automatic refresh setting are as follows CPU No 1 PLC CPU CPU No 2 Motion CPU Internal relays Internal relays Mo Real command device for MO the Motion CPU 768 points F ecd M2000
413. program Gn 6 MOTION SFC PROGRAMS 6 9 2 Selective branch selective coupling 1 Selective branch Executes only the route which condition was judged to have enabled first among the conditions of multiple transitions connected in parallel Transitions must be all Shifts or WAITs Example WAIT After start axis in the servo K1 Starts the servo program K1 program K1 has stopped start accept flag turns OFF the conditions of transitions G1 to m B o A c C NDS G255 are judged and execution transits to route which condition is completed Max number of selective branches 255 1 Transition condition judgment is not always executed from left to right 2 Using Shift and WAIT together will cause a parallel branch 2 Selective coupling Recoupling of routes into a single route after their processing completions following a selective branch will be a selective coupling However you can also make a setting where no coupling will be made as shown below a ee ee e mM Jump transition normal jump END Program END IFE2 6 MOTION SFC PROGRAMS 6 9 3 Parallel branch parallel coupling 1 Parallel branch Multiple routes connected in parallel are executed simultaneously Each parallel branch destination may be started by either a step or a transitio
414. pt the Motion CPU 5 MOTION DEDICATED PLC INSTRUCTION 2 Request to start the Motion SFC program of the program No specified with n2 The Motion SFC program can start any task setting of the normal task event task and NMI task 3 This instruction is always effective regardless of the state of real mode virtual mode mode switching when the operating system software of Motion CPU is 5 22 4 S P SFCS S P SVST S P CHGA S P CHGV S P CHGT S P DDRD S P DDWR cannot be executed simultaneously toward the CPU executing S P SFCS instruction When the Motion dedicated PLC instruction is started continuously it is necessary to execute the next instruction after the complete device of executing instruction turns on Operation of the self CPU at execution of S P SFCS instruction PLC program END END END END gt t S P SFCS execution ON d S P SFCS instruction OFF To self CPU high speed interrupt accept flag from CPUn Motion SFC program Instruction start OFF accept complete device D1 0 State display device D1 1 at the instruction start accept completion OFF i agen nstruction accept al 1 scan completion at the Motion CPU side 5 MOTION DEDICATED PLC INSTRUCTION Errors The abnormal completion in the case shown below and the error code is stored in the device specified with the complete status storing device D2 Complete status Note Corrective Er
415. put Speed position control VPSTART The axis cannot return ee The speed change request is regarded as a Position follow trol PFSTART eee ee normal speed change request Speed switching control VSTART Minor error 305 will occur and the axis a operation A speed change cannot be made Minor High d llati OSC error 310 will occur Hone position ZERO A speed cannot be made Minor error 301 will occur Note Minor error 301 A speed change was made during home position return Minor error 305 The setting speed is outside the range of 0 to speed limit value Minor error 310 A speed change was made during high speed oscillation Controls a Ifa speed change is made to a negative speed control is executed with the control mode during the start as indicated in the above table b The returning command speed is the absolute value of a new speed c When the axis is waiting at the return position 1 Signal states n Axis No m Axis No 1 Start accept M2000 n ON unchanged from before execution of CHGV instruction Positioning start completion M2400 20m ON unchanged from before execution of CHGV instruction Positioning completion M2401 20m OFF In position M2402 20m ON Command in position M2403 20m OFF Speed change 0 accepting flag M2240 m ON 2 Make a speed change to a positive speed for a restart 3 Turn on the st
416. r The indirectly specified device No is outside Indirectly specified link relay B n read error Annunciator F n read error The block processing in Correct the program so that the indirectly execution is stopped and specified device No is proper Indirectly specified 16 bit batch input relay X n read error the next block is executed Indirectly specified 32 bit batch input relay X n read error The indirectly specified device No is outside Indirectly specified the range or is not a multiple of 16 16 bit batch output relay Y n read error Indirectly specified 32 bit batch output relay Y n read error Indirectly specified 16 bit batch internal latch relay The indirectly specified device No is outside M n L n read the range or is not a multiple of 16 error Indirectly specified 32 bit batch internal latch relay M n L n read error a a a a A A A A AB AB AB A N N gt gt e A o Q o e o o 19 9 19 ERROR CODE LISTS Table 19 5 Operation control transition execution errors 16300 to 16599 continued Error code EN Error Processing Indirectly specified 16 bit batch internal latch relay B n read error Indirectly specified 32 bit batch internal latch relay B n read error Indirectly specified 16 bit
417. r Servo parameter read Setting range read request axis No axis No Q173CPU N 1 to 32 Axis1 to 32 Q172CPU N 1 to 8 Axis1 to 8 18 2 Operating Procedure of The Servo Parameter Reading Function An operation procedure which the servo parameter read by the reading function of the servo parameter is reflected the SW6RN GSVLIP is shown below Operating procedure Make the gain adjustment and etc using the set up software or parameter module and change the servo parameter Turn the servo parameter read request flag M9104 OFF to ON by setting the servo amplifier axis No changed the servo parameter to the servo parameter read request axis No D9104 and reflect the changed parameter to the servo parameter in the Motion CPU Reflect and save the parameter of the Motion CPU by the SW6RN GSVOP END 18 2 19 ERROR CODE LISTS 19 ERROR CODE LISTS When an error occurs while the Motion CPU is running the error information is stored in the error history register 8000 to 8063 special relay M and special register D 19 1 Reading Procedure for Error Codes When an error occurs while the Motion SFC program is operating the error code and error message can be read by the SW6RN GSVLP The procedure for reading error codes by the SW6RN GSVLIP is shown below 1 Start the SW6RN GSVLIP 2 Connect the Q173CPU NyQ172CPU N to the peripheral devices 3 Select
418. r flag y Remark Signal 9 Note 4 direction Command signal Note 1 Status signal Note 2 3 Status signal Command M3080 signal Motion SFC error history clear Motion SFC error history clear M2035 Note 5 M2035 Note 5 request flag request flag M2036 M2036 Unusable Unusable M2037 M2037 At debug Status M2038 Motion SFC debugging flag M2038 Motion SFC debugging flag mode signal Status signal transition Command signal Note 1 M2039 Motion SFC error detection flag M2039 Motion SFC error detection flag M2040 T Switching point specified ag M2040 switcing point specified ag System setting error flag System setting error flag M2042 All axes servo ON command M2042 All axes servo ON command Real mode virtual mode M2043 M2043 ae switching request Real mode virtual mode M2044 M2044 Pere Unusable switching status Real mode virtual mode M2045 M2045 switching error detection flag M2046 M2046 Out of sync warning Operation M2047 Motion slot fault detection flag M2047 Motion slot fault detection flag cycle JOG operation simultaneous start JOG operation simultaneous start M2048 M2048 signa command command Note 1 Operation Status M2049 All axes servo ON accept flag M2049 All axes servo ON accept flag cycle signal Manual pulse generator 1 enable Manual pulse generator 1 enable M2051 flag M2051 flag Status signal Operation cycle Operation cycle
419. r read request axis No D9104 and turns the servo parameter read request flag M9104 OFF to ON After executing the read function of the servo parameter from servo amplifier when the servo parameter read request is executed toward the same axis again turn the servo parameter read request flag M9104 ON to OFF and turn the servo parameter read request flag M9104 OFF to ON again 18 1 18 SERVO PARAMETER READING FUNCTION 7 When the servo parameter read request flag M9104 turns OFF to ON if the servo parameter read request axis is not used or the power is off the reading of the servo parameter from servo amplifier is not executed 8 When the servo parameter read request axis No D9104 is outside of the setting range it becomes No operation even if the servo parameter read request flag M9104 turns OFF to ON 9 The list of the servo parameter read request device is shown below OFF to Servo The servo parameter of the servo parameter read request parameter axis set as D9104 is reflected in the Motion CPU from the read servo amplifier at the time of off to on Servo parameter read request flag Servo parameter Servo parameter reading Turned on while reading the servo parameter from the servo amplifier to the Motion CPU After reading is turned off reading flag Except the servo automatically parameter reading Set the axis No of servo amplifier to read the servo parameter Servo paramete
420. ram No 10 toward axis No 1 and No 2 of the Motion CPU No 4 from the PLC CPU No 1 To self CPU Start accept flag Start accept flag high speed of the axis No 1 of the axis No 2 interrupt accept CPU No 4 CPU No 4 flag from CPU USES U3E3 U3E3 G516 0 _ G516 1 mioo 648 0 md m H 0 sP svsr H3E3 12 vo MO M1 1 ie Normal complete program M 1 uM Abnormal complete program 5 MOTION DEDICATED PLC INSTRUCTION 5 4 Current Value Change Instruction from The PLC CPU to The Motion CPU S P CHGA PLC instruction S P CHGA Refer to Section 1 3 4 for the applicable version of the Motion CPU and the software Current value change instruction from the PLC CPU to the Motion CPU S P CHGA Usable devices Internal devices MELSECNET 10 Special Bit Indirectly System User File direct JO O function Constant digit specified register Other register module K H Bit Word specified device Bit Word 7H GL i5 310 2 ta Note Setting da pep Joe neq d eee ies cde eios dame Ls eri qo oq a a ee O Usable A Usable partly Note Setting data except S1 Index qualification possible Instruction Condition Start request sPcHGA Start request S CHGA 5 CHGA
421. rating systems OS of the PLC CPU Motion CPU OS uses this area when executing dedicated Multiple CPU communication instructions System area used by Motion dedicated PLC instruction 204H to 20DH The complete status is stored in the following Table 3 3 Table of System Area used by the Motion Dedicated PLC Instruction Start accept flag Axis1 to 16 Start accept flag Axis17 to 32 Speed changing flag Axis1 to 16 Speed changing flag Axis17 to 32 Synchronous encoder current value changing flag Axis1 to 12 Cam shaft within one revolution current value changing flag Axis1 to 16 Cam shaft within one revolution current value changing flag Axis17 to 32 Description The start accept flag is stored by the 1 to 32 axis each bit As for a bit s actually being set Q173CPU N J1 to J32 Q172CPU N J1 to J8 OFF Start accept flag usable ON Start accept flag disable b15 b1 bO 204H 516 address J2 J1 J17 205H 517 address The speed changing flag is stored by the 1 to 32 axis each bit As for a bit s actually being set Q173CPU N J1 to J32 Q172CPU N J1 to J8 OFF Start accept usable ON Start accept disable b15 206H 518 address b1 bO J2 J1 J17 207H 519 address The synchronous encoder current value change flag is stored by the 1 to 16 axis each bit As for a bit s actually being set Q173CPU N E1 to E12 Q172CPU N E1 to E8 OFF Start acc
422. ration when the forced stop was released next Continuation execution of the stop and stop after is executed by this program example by the following processing a While PX5 turns it on it is made to turn on a stop command M3200 20n and an internal relay M100 for the stop b While PX5 turns it off it is made to turn off a stop command M3200 20n and an internal relay M100 for the stop c A motion control step does absolute position to cope with it when it is resumed after it stops on the way of the positioning d A positioning completion signal M2401 20n is used for the decision whether it is stopped during the positioning on the way e The motion control step is resumed after it waits to turn it off when it was stepped during positioning f The internal relay M100 for the stop turn off is substituted for the WAIT transition condition that you must stop APP 28 APPENDICES 2 Contents of processing SFC program Program Automatic No Task name i Program Normal Not start operation SFC program list Contents of processing This program starts automatically at the time of RUN of Q173CPU N and it is always executed Watch data is taken out and clock data read request M9028 is turned on The initials condition of the internal relay M100 for the stop is turned on The subroutine starts No 170 Stop The subroutine starts No 150 Programming operation Whe
423. rding to the ON region setting b As the watch data motion control data or optional word device data can be P Motion control data Axis No setting range Item Unit Data type Q173CPU N Q172CPU N Feed current vaue current value Position command 32 bit Real current value integer type Deviation counter value BS 16 bit Motor current Command output voltage ACF 0 196 0 01V integer type 1 to 32 1to8 Motor Motor seed 1r min Cam shaft within one revolution current value Feed current value Virtual 32 bit After differential current value Virtual integer type After differential encoder current value 1 to 12 1t08 Encoder current value 2 Word device data 3 When the optional device data is set the following data type is set as the data type to be compared Data type Device No setting range 16 bit integer type 32 bit integer type Set the device No as an even No 64 bit floating point type 13 5 13 LIMIT SWITCH OUTPUT FUNCTION 3 ON region setting a The data range which makes the output device turn ON OFF toward the watch data b The following devices can be used as the ON Value and OFF Value of the data range The data type of device constant to be set is the same as the type of watch data Device No setting range DO to D8191 Link register WO to W1FFF Motion register 0 to 8191 Hn Kn 4 Output enable disable bit a Setthe status of output enabl
424. re to use the small size fonts 3 Operating system OS type version a Confirmation method in the operating system OS MITSUBISHI MOTION CONTROLLER MODEL DATE 1 OC MITSUBISHI ELECTRIC CORPORATION ALL 2 Software version TOMIS RESERVER 3 OS software version 4 Serial number 5 Number of FD Example When using the Q173CPU N SV13 and version A 1 SW6RN SV13QB 2 BCD B14W276 3 A b Confirmation method in the SW6RN GSVOP The operating system OS type version of the connected CPU is displayed on the installation screen of the SW6RN GSVOP OS software TYPE Motion SFC compatible OS olo 0 AorB RUM esc OS version Y Ger QT2CPUIN Indicates Motion SFC compatibility v Indicates teaching unit usable 1 66 1 OVERVIEW 4 Restrictions of the function and PLC CPU by the Motion CPU and software version The function and PLC CPU which can be used has restrictions by version of the Motion CPU module operating system software and programming software The combination of each version and a function is shown below Note 2 Operating system MEME dd Programming CEU module Version Section of software version software version reference Chapter 14 ROM operation ROM operation For additional parameter Home position return parameter etc Online change Auto refresh function improvement of the CPU Section
425. rent value changing flag Axis1 to 16 Note 1 Cam axis within one revolution current value changing flag Axis17 to 32 Note 1 Description The start accept flag is stored by the 1 to 32 axis each bit As for a bit s actually being set Q173CPU N J1 to J32 Q172CPU N J1 to J8 OFF Start accept flag usable ON Start accept flag disable b15 J16 204H 516 address 205H 517 address J32 The speed changing flag is stored by the 1 to 32 axis each bit As for a bit s actually being set Q173CPU N J1 to J32 Q172CPU N J1 to J8 OFF Start accept usable ON Start accept disable b15 J16 206H 518 address 207H 519 address J32 The synchronous encoder current value change flag is stored by the 1 to 16 axis each bit As for a bit s actually being set Q173CPU N E1 to E12 Q172CPU N E1 to E8 OFF Start accept usable ON Start accept disable b15 208H 520 address 16 The cam axis within one revolution current value changing flag is stored by the 1 to 32 axis each bit As for a bit s actually being set Q173CPU N C1 to C32 Q172CPU N C1 to OFF Start accept usable ON Start accept disable b15 b1 bO C17 Note 1 It can be used in SV22 20CH 524 address 20DH 525 address 5 MOTION DEDICATED PLC INSTRUCTION 5 2 Motion SFC Start Request from The PLC CPU to The Motion CPU S P SFCS PLC instructi
426. rite instruction from the PLC CPU to the Motion CPU S P DDWR Usable devices S Int devi MELSECNET 10 Special 2 Bit Indirectly pecia index System User File i direct JO O function Constant digit specified SP register KH o specified device i zo UO GO n1 51 52 D1 a a gt O Usable A Usable partly Note Setting data n1 to D2 Index qualification possible Instruction Start request SP DDWR 4 SP DDWR n1 80 52 01 02 Start request S DDWR L 4S DDWR n1 51 S2 01 D2 Setting data Setting data Description Data type First I O No of the target CPU 16 n1 Value to specify actually is the following 1 li i CPU No 1 CPU No 2 3E1H CPU No 3 3E2H CPU No 4 3E3H First device of the self CPU which control data is stored jebi i First device of the self CPU in which writing data is stored binary First device of the target Motion CPU which stores the writing data Bit device which make turn on for one scan at completion of instruction Note 1 Motion CPU cannot used CPU No 1 in the Multiple CPU configuration Control data Setting Device Item Setting data Set by range The condition result at the completion of th
427. rned on when PX5 is on 20 JOG Normal Not start and the reverse command is turned on when PX6 is on 4 The above 2 3 are repeated during PX2 PX1 is off when except for it the JOG forward and reverse command of 1 axis and 2 axes are turned off and the program is ended 1 pulse input magnification of the 1 axis and 2 axes is set up 1 axis is controlled with P1 and set up to control 2 axes with P2 and Manual pulse generator enable flag of P1 P2 is turned Manual pulse 1 Normal Not start generator When except for PX2 OFF PX1 ON Manual pulse generator mode Manual pulse generator enable flag of P1 P2 is turned off and a program is ended APP 14 All axes servo on The call of the subroutine of the following program is executed by the condition of PX1 PX2 1 PX2 OFF PX1 OFF No 120 JOG 2 PX2 OFF PX1 ON No 130 Manual pulse generator Motion control 20 1 1 30 APPENDICES Motion SFC program list Continued Number of No Program name Task i Contents of processing K140 The home position return of 1 axis is started when PX3 is on K141 The home position return of 2 axes is started Home position Normal Not start when 4 is on return PX2 ON PX1 The program is ended when they become to except for off Home position return mode When PX3 detects OFF to ON after positioning of 1 axis standing by for 1000 ms and positioning of 2 axes is
428. rom the PLC CPU to the Motion CPU using the Motion dedicated PLC instructions listed in the table below Refer to Chapter 5 MOTION DEDICATED PLC INSTRUCTIONS for the details of each instruction Control may not be instructed from the Motion CPU to another Motion CPU Instruction name Description S P SFCS Start request of the Motion SFC program Program No may be specified S P SVST Start request of the specified servo program S P CHGA Current value change request of the specified axis S P CHGV Speed change request of the specified axis S P CHGT Torque control value change request of the specified axis S P GINT Execute request of an event task to the other CPU Motion CPU By using the S P SFCS instruction of the Motion dedicated instruction the Motion SFC of the Motion CPU from the PLC CPU can be started lt Example gt PLC CPU Motion CPU Start request Motion SFC S P SFCS instructior One PLC CPU can execute a total of up to 32 Motion dedicated instructions and dedicated instructions excluding the S P GINT simultaneously When Motion dedicated instructions and dedicated instructions excluding the S P GINT are executed simultaneously the instructions will be processed in the order received If the command which has not completed processing becomes 33 or more an OPERATION ERROR error code 4107 will be occurred 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE
429. ror factor Error code H action 4C00 The specified device cannot be used in the Motion CPU Or it is outside the device range The instruction for the Multiple CPU system which did not be correspond with operating system software of the Motion Confirm a CPU was executed program and The Motion SFC program No to start is outside the range 0 to 255 There are 33 or more instruction requests to the Motion CPU from the PLC CPU in S P SFCS S P SVST S P CHGA S P GINT sum table simultaneously and the Motion CPU cannot process them 4C09 CPU No of the instruction cause is injustice Note 0000H Normal correct it toa correct PLC program The error flag SMO is turned on an operation error in the case shown below and an error code is stored in SDO action The CPU No to be set by First I O No of the target CPU 16 is specified specified Confirm a 2417 The CPU except the Motion CPU by First I O No of the program and S CPU 16 is specified correct it to a 400020 Specified instruction is wrong instruction is wrong correct PLC devices Since 0 to 3DFH 3E4H is specified by First I O No of the target CPU 16 is specified Note 0000H Normal Program example This program starts the Motion SFC program No 10 of the Motion CPU No 4 SP SFCS H3E3 K10 MO DO MO M1 m Normal complete program E Abnormal complete program 5 MOTION DEDI
430. ror symptom and get advice from our sales representative There is an output module with a blown fuse Check ERR LED of the output modules and replace the module whose LED is lit The Motion dedicated module the intelligent function module the There was no response from the motion module or intelligent CPU module or the base unit has hardware error function module during initial communications Explain the error symptom and get advice from our sales representative An error is detected on the Q bus A special function module the CPU module or the base unit has Fault of the CPU or extension base unit was detected hardware error Explain the error symptom and get advice from our sales representative Bus fault was detected at power on or reset A momentary power interruption of the power supply occurred The power supply went off Check the power supply 1 Replace the battery Fi velas ef ie CED hes dropped below stipulated teves d If P and x C HERE RAM or for the back up power 2 The lead connector of CPU battery has not been installed y PP function install a lead connector Battery voltage has dropped below stipulated level Replace the battery A CPU module is installed in a slot except CPU slot 0 to 2 slot A CPU module is installed to a CPU slot or 0 to 2 slot 1 A module is installed in slot 65 or subsequent slot 1 Remove a module of slot 65 or subsequent slot 2 A module is installed in a base for which None
431. routine call start step Refer to Section 6 5 3 Subroutine call start step 6 MOTION SFC PROGRAMS 6 7 Jump Pointer Jump Pointer Operations Setting a jump will cause a jump to the specified pointer Pn of the self program You can set pointers at steps transitions branch points and coupling points You can set pointers Pn at PO to P16383 in one program Instructions You cannot make a jump setting which will exit from within parallel branch parallel coupling Connect directly Bad example 1 given below You cannot make a jump setting from outside parallel branch parallel coupling to within parallel branch parallel coupling Bad example 2 given below You cannot make a setting where a label and a jump will continue Bad example 3 given below e at example 3 CIFIC E Pn J Ex 6 8 END Operations Ends a program In this case of an event task or NMI task operation changes with end operation setting of the program parameter Refer to Section 11 5 Program Parameters for details Making a subroutine call will return to the call source Motion SFC program Instructions END may be set a multiple number of times in one program END cannot be set between a parallel branch and a parallel coupling The output is held after the Motion SFC program is ended by END 6 MOTION SFC PROGRAMS 6 9 Branches Coup
432. rror error code16007 online change will occur and the program does not start SFC Diagram Write Key Program Editor GS 22P 7 0 imm 8j nix jJ Fief EdiE Opt Q Com C ModelG Window W Update B 1 9 Conv X W Diagram Write E Baici onverston A z sel ig ET Walaa Online Change Setins R ks ks ess t Ed ES RI 12 4 12 USER FILES 2 When the operation control transition program editor screen Convert is used Online change of the operation control transition program during edit is executed by selecting the Convert key Online change is possible to the operation control transition program during execution A program that the online change was made is executed from the next scan eee D Conver key 1 y100 x0 m100 a Ej ni OK 1 Word device description Device description Device No n designated range 2 bit integer floating point Q172 Q173 integer 17 n even n even Operations for which made the online change to the operation control transition program during execution in the following conditions are shown below Be careful to execute the online change in the following conditions Online change of the FSn After
433. ry input side Main shaft side Auxiliary input side Main shaft side Auxiliary input side Main shaft side Auxiliary input side o o Main shaft side Auxiliary input side Main shaft side Auxiliary input side Main shaft side Auxiliary input side Main shaft side Auxiliary input side Main shaft side Auxiliary input side w o Main shaft side Auxiliary input side Main shaft side Auxiliary input side Main shaft side Auxiliary input side Main shaft side Auxiliary input side Main shaft side Auxiliary input side o o Main shaft side Auxiliary input side Main shaft side Auxiliary input side Main shaft side Auxiliary input side Main shaft side Auxiliary input side Main shaft side Auxiliary input side Main shaft side Auxiliary input side Note 1 The range of axis No 1 to 8 is valid in the Q172CPU N Operation cycle Table of the smoothing clutch complete signals Status signal Note 2 Device area of 9 axes or more is unusable in the Q172CPU N Note 3 The unused aixs areas in the mechanical system program can be used as an user device 1 29 1 OVERVIEW Start accept flag 32 points Start accept flag 32 points 9 Table of the common devices SV13 SV22 SV13 SV22 M2000 PLC ready flag M2000 PLC ready flag Ns Refresh cycle Operation cycle Personal computer link Personal computer link Operation M2034 an M2034 Ap cycle communication error flag communication erro
434. s servo data Refer to the Programming Manual of each and Motion SFC program operating system software for details of program Motion CPU Write to the Motion CPU Write the system settings servo data and Motion SFC program PLC CPU CPU No 1 reset PLC CPU Set the RESET L CLR switch to RESET position Set RUN STOP switch for all CPUs to PLC CPU RUN position Motion CPU Set the RUN STOP switch for each CPU CPU No 1 to 4 to RUN position Release PLC CPU CPU No 1 reset Change back the RESET L CLR switch to OFF position and release the reset PLC CPU Check of state for all CPUs Check whether all CPUs in the Multiple CPU system become RUN state error by reset release of the PLC CPU CPU No 1 Check and correct the error details PLC CPU If an error has occurred check and Motion CPU correct the error details using the PC diagnostic function of GX developer and error list monitor of SW6RN GSV OP Each CPU debug Execute the individual debug of PLC CPU Motion CPU CPU No 1 to 4 and debug as the Multiple CPU system Actual operation Check in the automatic operation Note Installation of the operating system software is required to the Motion CPU module before start of the Multiple CPU system Refer to Chapter 5 of the Q173CPU N Q172CPU N User s Manual for installation of the Motion CP
435. s at a parallel coupling point In the example of the diagram in Section 6 9 3 2 the number of parallel branches is 3 and that of couplings is 2 When a WAIT transition is set right after a parallel coupling the stop completions of the axes are not included in the waiting conditions if the parallel coupling is preceded by motion control steps To perform a parallel coupling on stop completions set WAIT transitions before a parallel coupling X K2 K3 K4 K5 Parallel coupling G1 If this is WAIT stop completions of axes started at K2 to K5 are not included in transition conditions O K2 K3 K4 K5 When you want to perform a coupling n 4 on stop completions of axes started in G3 G4 G5 K2 to K5 set WAIT transition in each G2 route to make parallel coupling Parallel coupling LG 6 MOTION SFC PROGRAMS 6 10 Y N Transitions When routes are branch at a transition condition enables and disable Shift Y N transition or WAIT Y N transition will be useful Not When a transition condition set at Gn leti Shift Y N enables execution shifts to the lower transition Gn NI step When that condition disables Completion Y execution shifts to the right connected of condition step Not Differences between Shift Y N and completion WAIT Y N of condition WAIT
436. s dedicated instruction toward the Motion CPU in the Multiple CPU system Errors occurs when it was executed toward the CPU except the Motion CPU The cam axis within one revolution current value specified with S1 is changed into the current value specified S2 at the virtual mode This instruction is always effective regardless of the state of real mode virtual mode mode switching when the operating system software of Motion CPU is SV22 S P SFCS S P SVST S P CHGA S P CHGV S P CHGT S P DDRD S P DDWR cannot be executed simultaneously toward the CPU executing S P CHGA instruction When the Motion dedicated PLC instruction is started continuously It is necessary to take an inter lock by the to self CPU high speed interrupt accept flag from CPUn When the servo program is executed also at the motion control step Kn in the Motion CPU it is necessary to take an inter lock by user program because there is no flag which can distinguish the axis starting in the PLC CPU It is necessary to take an inter lock by the cam axis within one revolution current value changing flag of the shared CPU memory so that multiple instructions may not be executed toward the same cam axis of the same Motion CPU No The current change value is also possible when the servo program which execute the CHGA instruction toward the cam axis is executed in the S P SVST instruction PLC program END END END gt t S P
437. s executed When the forced stop input turn off servo amplifier is made to forced stop and motion control is suspended and actual output PY turn off Motion control is executed according to the condition of PX and PX2 in each following mode PX2 OFF PX1 OFF JOG mode PX2 OFF PX1 ON Manual pulse generator mode PX2 PX1 OFF Home position return mode Motion control PX2 0n PX1 On Programming operation mode The following JOG operation is executed when each signal of PX3 to PX6 is turned on PX3 1 axis JOG forward rotation JOG mode PX4 1 axis JOG reverse rotation PX5 2 axes JOG forward rotation PX6 2 axes JOG reverse rotation Manual pulse generator mode manual pulse generator P1 Manual pulse generator operation of 2 axes is executed with the manual pulse generator P1 The following home position return is executed Home position return mode When PX3 is on the home position return of 1 axis is executed When PX 4 is on the home position return of 2 axes is executed The following program operation is executed When PX3 detects OFF to ON axis No 1 locates and 1000 ms standing by after the location of axis No 2 is executed p When PX4 turn on axis No 1 2 locates of the linear control and in Programming operation mode E f position check is executed after the location of axis No 2 is executed the program stands by until No 1 2 locates of the linear control is executed at a
438. s of Q series Multiple CPU system for each PLC CPU Motion CPU module must also be set to support the Multiple CPU system in the system settings 9 Make sure to use the Motion CPU as the control CPU of motion modules dedicated for Motion CPU e g Q172LX Q172EX 2 Q173PX They will not operate correctly if PLC CPU is set and installed as the control CPU by mistake Motion CPU is treated as a 32 point intelligent module by PLC CPU of other CPU It cannot be accessed from other CPU 10 When a Multiple CPU system is configured make sure to configure the modules so that the total current consumption of individual modules on the CPU base does not exceed the 5 VDC output capacity of power supply module 1 OVERVIEW 11 Motion modules 01721 Q172EX Q173PX is to do selection whether to be necessary referring to the DESIGN of the Q173CPU N Q172CPU N User s Manual for the system design 12 Installation position of the Q172EX S2 S3 is only CPU base unit Note 1 Teaching unit can be used in SV13 It cannot be used in SV22 Note 2 Q172EX can be used in SV22 It cannot be used in SV13 1 70 1 OVERVIEW 1 4 Multiple CPU System 1 4 1 Overview 1 Multiple CPU System Multiple up to 4 modules PLC CPUs and Motion CPUs are installed to the CPU base unit and each CPU controls the I O modules and intelligent function modules of the CPU base unit extension base unit slot by slot in the Multiple C
439. s whether 0 is less than DO or not 0 lt DO lt True lt po 5 7 OPERATION CONTROL PROGRAMS FIFS 7 11 4 Less than or equal to lt S1 lt S2 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device 16 bit floating Coasting een el seme floating Calculation snditional conditional integer integer integer integer type 4 expression point expression expression type type L type K H K H L type K 6 _ o lololol greg a aaa ee Usable Setting data Setting data Data type of result S1 TR 52 Data which will be compared Logical type true false Functions 1 The result is true if the data specified with S1 is less than or equal to the data specified with S2 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before comparison is performed Errors 1 An operation error will occur if 51 or S2 is an indirectly specified device and its device No is outside the range Program examples 1 Program which compares whether 0 is less than or equal to DO or not 0 lt DO r lt True 4 po 2 7 OPERATION CONTROL PROGRAMS FIFS 7 11 5 More than gt 51 gt 52 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Compari
440. sable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculati data Bit device a8 bit 32 bit floating Coasting 16 bit 32 bit floating 908 Ion conditional conditional integer integer integer integer type expression i int expression expression type type L type K H K H L 4 p type F type K 9 rg m i e Usable Setting data Setting data Data type of result COS value data on which COS 1 arccosine S Floating point type operation will be performed Functions 1 COS al arccosine operation is performed on the COS value data specified with S to find an angle 2 The COS value specified with S must be within the range 1 0 to 1 0 3 The operation result is in an angle degree unit 4 If S is an integer type it is converted into a floating point type before operation is performed Errors 1 An operation error will occur if S is outside the range 1 0 to 1 0 or S is an indirectly specified device and its device No is outside the range Program examples 1 Program which performs the COS 1 arccosine operation of DOF and substitutes the result to 0F 0F ACOS DOF 3 2 D2 D1 DO 1 0 D3 22 eS rj 7 OPERATION CONTROL PROGRAMS FIFS 7 6 6 Arctangent ATAN ATAN S Number of basic steps Usable data Usable Data Bit device 64 bit 64 bit Bit
441. sed 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 IB NA 0300042 D MOTION CONTROLLER Qseries SV13 SV22 Motion SFC Programming Manual Q173CPU N Q172CPU N s MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN MODEL Q173 P SV13 22 SFC E MODEL 1XB781 When exported from Japan this manual does not require application to the IB NA 0300042 D 1 004 MEE Ministry of Economy Trade and Industry for service transaction permission IB NA 0300042 D 1004 MEE Specifications subject to change without notice
442. ser programs and parameters stored in the internal FLASH ROM to the internal SRAM at power supply on or reset of Multiple CPU system Even if the user programs and parameters are changed by SW6RN GSVOP during ROM Mode operated by RAM Mode operated by ROM operating mode it returns to the contents of internal FLASH ROM at next power supply on or System reset Also even if the auto tuning data are reflected on the servo parameter of Motion CPU by operating the servo amplifier with auto tuning setting it returns to the contents of internal FLASH ROM at next power supply on or reset release 14 5 14 ROM OPERATION FUNCTION Even if a DIP switch setting is changed on the way after the power supply on Operation mode is not changed Be sure to turn on or reset the power supply of Multiple CPU system to change a DIP switch setting 2 Applicable data into ROM The data contents batch written to the internal FLASH ROM by ROM writing are shown below Backup data except the followings current position of servomotor in absolute position system home position and latch device etc cannot be written to the internal FLASH ROM a Content of applicable data into ROM SV13 SV22 System setting data System setting data Each parameter for servo control Each parameter for servo control Servo program Servo program Motion SFC parameter Motion SFC parameter Motion SFC program Motion SFC program Mechanical system program
443. servomotors that are damaged or that have missing parts Do not block the intake outtake ports of the Motion controller servo amplifier and servomotor with cooling fan Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the Motion controller servo amplifier or servomotor 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 NCAUTION 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 5 0 C to 40 C With no freezing According to each instruction manual temperature 32 F to 104 F 8096 RH or less Ambient humidity According to each instruction manual With no dew condensation Storage 20 C to 65 C According to each instruction manual temperature 4 F to 149 F Indoors where not subject to direct sunlight Atmosphere No corrosive gases flammable gases oil mist or dust must exist Altitude 1000m 3280 84ft or less above sea level Vibration According to each i
444. setting data Each parameter for servo control Servo program Motion SFC parameter 2 ROM writing Motion SFC program Registration code Nete t Mode operated by ROM Motion CPU module Internal SRAM memory System setting data Each parameter for servo control Servo program 1 Read at starting Motion SFC parameter Motion SFC program Internal FLASH ROM memory System setting data Each parameter for servo control Servo program Motion SFC parameter Motion SFC program Note 1 Registration code is used to judge whether the programs and parameters written in the Registration code ete internal FLASH ROM are normal or not 14 2 14 ROM OPERATION FUNCTION 14 2 Specifications of LED Switch 1 Name of parts Side face Front face With Front cover open Q17DCPU N L i FER X MODE N MODE qz 3 M RUN BOOT 4 Boor 5 gt ONSW 1 3 9 4 FRONT 1 eel mU Rh C D zum RESET LCLR Put your finger here to open the cover Application 1 MODE LED Mode judging Lit green Normal mode udgi ose Lit orange Installation mode mode written in
445. sign inversion 2L 2L 2 axes positioning address sign inversion 4L 4L 2 Positioning speed 2 K151 Real 1 INC 2 Axis 1 OPLS Axis 2 2PLS Speed 4PLS s G156 Did you turn on PX4 IPX4 v When PX4 is on the linear interpolation control of the 1 axis and 2 axis is executed at a double speed in the action the opposition direction after the linear interpolation control of the 1 axis and 2 axis in position check And stands by to PX4 is OFF APP 20 C EB Positioning address the indirect designation of the speed Positioning address the indirect designation of the speed APPENDICES 3 System setting data of the Motion CPU System setting is shown below System Setting 65 22 Developer BBE File Edit View Option Communication Update Help GS soles ol Smene ute Gsv22P CPU 0173 Project C Program test a Module setting Manual pulse generator interface module Q173PX Slot 3 Pi generator Synchronous encoder NC P2 Manual pulse generator Synchronous encoder b Basic setting 1 Multiple CPU setting Setting items Operating mode All CPU stop by stop error of CPU No 1 2 APP 21 APPENDICES 2 Automatic refresh setting 1 CPU CPU share memory G Dev starting Se Point Stat End 5 Eni es 8 rene ee No2 5
446. son data Bit device 16 bit floating Coasting een el seme floating Calculation snditional conditional integer integer integer integer type 4 expression point expression expression type type L type K H K H L type K 6 _ o lololol greg a aaa ee Usable Setting data Setting data Data type of result 51 T Data which will be compared Logical type true false Functions 1 The result is true if the data specified with S1 is greater than the data specified with S2 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before comparison is performed Errors 1 An operation error will occur if S1 or S2 is an indirectly specified device and its device No is outside the range Program examples 1 Program which compares whether 0 is greater than DO or not 0 gt DO 0 gt True 4 po 2 7 OPERATION CONTROL PROGRAMS FIFS 7 11 6 More than or equal to gt 51 gt 82 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device 16 bit floating Coasting een el seme floating Calculation snditional conditional integer integer integer integer type 4 expression point expression expression type type L type K H K H L type K 6 _ o
447. ssword check a Enter old password in the password column and push Execute key b A password protection set in the Motion CPU will be released temporarily by success of password check and the user data program can be corrected A password is memorized until SWe6RN GSVLEIP ends Since a password is released automatically at the user data correction a password check screen is not displayed A password memorized by success of password check is valid even if the project change is executed while SW6RN GSVDP is running A password check screen is not displayed 15 4 15 SECURITY FUNCTION 15 4 Password Save There are two following methods to save a password in the project data Registration change or clearance password A password read with user data by Transfer Read A password saved in the project data can be registered with user data when the user data are written in the Motion CPU that does not set password by Transfer gt Write The updated password data is saved in the project data by the following operations Password Save key of communication setting screen displayed by Communication gt Transfer Password Save key of password registration change clearance screen When the password registration change clearance screen ends if there is non saved password data select Yes of save check screen 1 A password and registration conditions for each operation are called and th
448. stalled in slot 65 or subsequent slot an error SP UNIT LAY ERROR will occur Make sure all modules are installed in slots 1 to 64 Even when the total number of slots provided by the CPU base unit and extension base units exceeds 65 such as when six 12 slot base units are used an error does not occur as long as the modules are installed within slots 1 to 64 1 OVERVIEW 1 4 5 Processing time of the Multiple CPU system 1 Processing of the Multiple CPU system Each CPU module of the Multiple CPU system accesses to the modules controlled by self CPU with which the CPU base unit or extension base unit is installed and the other CPU through the bus base unit patterns and extension cables However a multiple CPU module cannot use the bus simultaneously When a multiple CPUs have accessed the bus simultaneously the CPUs which performed buss access later remain in waiting state until the CPU currently using the bus completes its processing In a Multiple CPU system the above waiting time duration while a CPU remains in waiting state causes an I O delay or prolonged scan time 2 When the waiting time becomes the longest In the Multiple CPU system the wait time of self CPU becomes the longest in the following conditions When is using a total of four PLC CPUs Motion CPUs are used in the Multiple CPU system When the extension base units are used When the intelligent function modules handling large volumes of data are installed in
449. start again after it stops on the way Ipositioning completion M2401 M2421 es G154 Did you turn on 1 axis and 2 axes lin position signal M2402 M2422 F150 0L 1000000 1 axis positioning laddress set 2L 2000000 2 axes positioning laddress set 4L 500000 Positioning speed set K151 Real 1 ABS 2 Axis 1 OPLS Axis 2 2PLS Speed 4PLS s G200 Did 1 axis and 2 axes execute The motion control step executed absolute positioning to application with it when to start again after it stops on the way G202 1M100 Did you turn off a stop P10 Ipositioning completion M2401 M2421 G156 Did you turn on PX4 and turn loff a stop IPX4 IM100 This program substitutes The internal relay M100 for the stop turns off into the AND status in WAIT transition which wants it to stop 6202 1M100 Did you turn off a stop P20 APP 31 This program is judged whether it was stopped by using the location complete signal during the location on the way This program is made to execute the motion control step of again after internal relay M100 of the stop waits to turn it off when positioning completion is not turned on after the motion control is executed This program is judged whether it was stopped by using the location complete signal during the location on the way It is made to execute the motio
450. step G195 Did you turn on 1 axis and 2 axes positioning completion M2401 M2421 stop complete For the continuation from P20 100 30 Continuation point 30 F191 For the continuation from P30 G156 Did you turn on PX4 IPX4 F193 100 0 Continuation point 0 0 is set on 100 Continuation point and it jumps in PO APP 27 APPENDICES APPENDIX 2 5 Continuation execution example after the stop by the Motion SFC program 1 The explanation of the operation The program example that the Motion SFC program is stopped by external input signal ON for the forced stop from the input module and it is executed continuously by external signal OFF for the stop is shown below The servo is turned on by the forced stop release and the positioning control of the 2 axes liner interpolation is executed when PX4 is ON in this program One cycle operation is completed after confirmation that PX4 became OFF When PX5 turns ON during the positioning operating the positioning operation is stopped by the stop instruction and it is resumed from the interrupted positioning operation at turning PX5 on The transition to the next step is not executed during PX5 is ON in the WAIT transition When the forced stop is executed during the positioning operating the positioning operation is interrupted and the servomotor is stopped It is resumed from the interrupted positioning ope
451. syncronous encoder axis command signals SV22 only M5440 Error reset M5441 Unusable M5442 Unusable M5443 Unusable M5444 Error reset Unusable Unusable Unusable Error reset Axis 3 Unusable Unusable Unusable Error reset Axis 4 Unusable Unusable Unusable Error reset Unusable Unusable Unusable Error reset Axis 6 Unusable Unusable Unusable Error reset Axis 7 Unusable Unusable Unusable Axis 5 Error reset Axis 8 Unusable Unusable Unusable Error reset Axis 9 Unusable Unusable Unusable Error reset Axis 10 Unusable Unusable Unusable Error reset Axis 11 Unusable Unusable Unusable Error reset Axis 12 Unusable Unusable Unusable Note 1 The range of axis No 1 to 8 is valid in the Q172CPU N Note 2 Device area of 9 axes or more is unusable in the Q172CPU N 1 27 1 OVERVIEW 7 Table of the cam axis command signals SV22 only Note 1 The range of axis No 1 to 8 is valid in the Q172CPU N Note 2 Device area of 9 axes or more is unusable in the Q172CPU N Note 3 The unused aixs areas in the cam axis command signal can be used as an user device 1 28 1 OVERVIEW Device No M5520 M5521 M5522 M5523 M5524 M5525 M5526 M5527 M5528 M5529 M5530 M5531 M5532 M5533 M5534 M5535 M5536 M5537 M5538 M5539 M5540 M5541 M5542 M5543 M5544 M5545 M5546 M5547 M5548 M5549 M5550 M5551 M5552 M5553 M5554 M5555 M5556 M5557 M5558 M5559 M5560
452. t CPU 16 2114 is specified 2117 The CPU except the Motion CPU by First I O No of the target CPU 16 is specified 4002 Specified instruction is wrong Confirm program and correct it to a The instruction is composed of devices except usable Correct PLC devices program 4100 Since 0 to 3DFH 3E4H is specified by First I O No of the target CPU 16 is specified Number of the writing data is except 1 to 16 Number of writing data exceeds range of the storage device of the written data Note 0000H Normal Program example lt Example 1 gt lt Example 2 gt Program which stores 10 points worth of the data from DO of the CPU Program stores 10 points worth of the data from DO of the CPU No 2 since D100 of self CPU CPU No 1 when is turned on since D100 of self CPU CPU No 1 during turn on SM400 SM400 K10 D51 M10 HET D50 Do 1 050 0100 MO M1 l Normal complete processing m MO Abnormal complete processing RST MO M10 M11 Normal complete processing M11 Abnormal complete processing 5 45 5 MOTION DEDICATED PLC INSTRUCTION 5 9 Interrupt Instruction to The Other CPU S P GINT PLC instruction S P GINT Interrupt instruction to the other CPU S P GINT Usable devices e S gt Internal devices Bit Indirectl MELSECNET 1
453. t PLC Motion CPU from the PLC CPU in S P SFCS program S P SVST S P CHGA S P GINT sum table simultaneously and the Motion CPU cannot process them 4609 CPU No of the instruction cause is injustice Note 0000H Normal 5 MOTION DEDICATED PLC INSTRUCTION The error flag SMO is turned on an operation error in the case shown below and an error code is stored in SDO 2410 The CPU No to be set by First I O No of the target CPU 16 is specified 2114 The self CPU by First I O No of the target CPU 16 is specified Confirm a program 2117 The CPU except the Motion CPU by First I O No of correct it to a the target CPU 16 is specified correct PLC The instruction is composed of devices except usable program 4004 devices 4100 Since 0 to 3DFH 3E4H by First I O No of the target CPU 16 is specified Note 0000H Normal Program example Program which changes the current value of the axis No 1 of the Motion CPU CPU No 4 from PLC CPU CPU No 1 to 10 To self CPU Current value changing high speed flag of the axis No 1 interrupt accept CPU No 4 flag from CPU U3E3 U3E3 G516 0 G48 0 y SP CHGA H3ES E1 K10 MO DO Ts Normal complete program Abnormal complete program 5 MOTION DEDICATED PLC INSTRUCTION When an axis No Cn was specified with S1 Controls 1 2 3 4 5 7 Operation This instruction i
454. t is necessary to take an inter lock by the speed changing flag of the shared CPU memory so that multiple instructions may not be executed toward the same axis of the same Motion CPU No PLC program END END END 1 END gt t S P CHGV execution ON S P CHGV instruction To self CPU high speed interrupt accept flag from CPUn Speed changing flag Speed change processing Instruction accept 1 scan completion at the Motion CPU side Speed change Instruction start OFF accept complete device D1 0 State display device D1 1 at the instruction start accept completion OFF 5 MOTION DEDICATED PLC INSTRUCTION Setting range 1 Setting of axis to execute the speed change The axis to execute the speed change set as S1 sets J axis No in a character sequence 51 usabie range 1 to 32 Q172CPU N The number of axes which can set are only 1 axis The axis No set in the system setting Refer to Section 1 5 is used as the axis No to start 2 Setting of the speed to change S2 usable range 2147483648 to 2147483647 Speed changing flag System area The complete status of the start accept flag is stored in the address of the start accept flag in the shared CPU memory Shared CPU memory address Description is decimal address The start accept flag is stored by the 1 to 32 axis each bit As for a bit s actually being set Q173CPU N
455. t is used to its optimum CONTENTS Satety Precautions od dede daa tips eit e fe eerta ure eret rtu edenda A 1 Rev blons ciiin emblema 11 Contents nte sat at atat Re Be aa as 12 About Manuals en cater I n DU 18 OVOrVIgW eet A echt teet tts 1 1 T Z Featul65 eet 1 3 1 2 1 Features of Motion C Pl bote bt bete bae tete ba pte tb eti bed pides 1 3 1 2 2 Basic specifications of Q173CPU N Q172CPUX N sese 1 6 1 2 3 Operation control transition control specifications sss 1 9 1 2 4 Differences between Q173CPU N Q172CPU N and A173UHCPU A172SHCPUN 1 13 1 2 5 Positioning dedicated devices special relays special registers 1 15 1 3 Hardware Cornflguration e iva cin een aep nen age atten a AR A T dp 1 55 1 3 1 Motion system configuration nennen nennen nnne nre 1 55 1 3 2 Q173CPU N System overall configurato escini EEE ARE EEEE Ei ARAN 1 61 1 3 3 Q172CPU N System overall configuration sessseeeeeeeeeenen ene nen nnns 1 63 1 3 4 Software packages aiite et tt dec Ide e EL ec cu oc eo c ea Oda eL ec ca duce 1 65 1 3 5 Restrictions on motion systems ssssssssssseeeeeeeeneeeneen nennen nennen
456. t the Motion CPU by First I O No of the target CPU 16 is specified 4002 Specified instruction is wrong Confirm program and correct it to a The instruction is composed of devices except usable Correct PLC devices program 4100 Since 0 to 3DFH 3E4H is specified by First I O No of the target CPU 16 is specified Number of the writing data is except 1 to 16 Number of writing data exceeds range of the storage device of the written data Note 0000H Normal Program example lt Example 1 gt lt Example 2 gt Program which stores 10 points worth of the data from DO of the self Program which stores 10 points worth of the data from DO of the CPU CPU No 1 since D100 of CPU No 2 when is turned on self CPU CPU No 1 since D100 of CPU No 2 during turn on SM400 SM400 K10 K10 D51 X0 M10 R3ET D50 Do D100 1 5 Do 5100 mi0 M10 M11 Normal complete processing SET MO M10 Abnormal complete processing RST M10 M11 Normal complete processing M11 Abnormal complete processing 5 MOTION DEDICATED PLC INSTRUCTION 5 8 Read from The Devices of The Motion CPU S P DDRD PLC instruction S P DDRD Read instruction from the devices of the Motion CPU S P DDRD Usable devices e Internal devices MELSECNET 10 Special Ca Bit I
457. tate is called an active step 2 Whether the condition specified with the transition GO has enabled or not whether the positioning program can be started or not is checked The active step FO is deactivated at the completion of condition and the next step KO is START Entry of program Step operation control step The specified operation control program is executed at active status Transition shift Condition to transit to the next step Step motion control step The specified servo program is executed at active status END Program end activated servo program is started 3 The operating completion of the step KO positioning completion of the servo program KO is checked and control transits to the next step at operating completion completion of condition 4 With the transition of the active step as described in above 1 to 3 control is executed and ends at END Refer to Section 11 2 2 Task operation for details of the execution timing of the Motion SFC program such as above The number of steps which can be active steps simultaneously is up to 256 with those of all Motion SFC programs combined Excess of 256 will result in the Motion SFC Program error 16120 Each symbol of the Motion SFC program is as follows F FS Operation control K Positioning control G Judgment SET YO X0 X10 D100 W0 W100 Y0 M100 ABS 1 Axis1 D100 Sp
458. te a password Communication Password gt Delete Password Delete key of the communication setting screen displayed by Communication Transfer Password clearance GS 22P MT Developer x Enter the old password which you want to delete Execute Save if you want to save the password cancellation state in the project 1 Procedure for password clearance a The password data set in the Motion CPU are displayed b Enter old password in the password column and push Execute key c A password set in the Motion CPU will be deleted by success of password check A blank is displayed in the registration column 1 When a password is deleted the password data in the project is also deleted Be sure to save a password 2 When an operation is stopped while a clearance of password by reset or power OFF of Motion CPU the data may not be deleted In this case delete a password again to restore the user data 15 3 15 SECURITY FUNCTION 15 3 Password Check When the user data program set in a password is corrected the password check screen is displayed automatically Password check GS 22P MT Developer x The password is set in the following data of the connected CPU Enter correct password SFC Program Servo Program Mechanical System Program Batch Settings Close Type Type of user data Password Enter old password 1 Procedure for pa
459. teger integer integer integer type expression i int expression expression type type L type K H K H L p type F type K _ 9 5 ip ee Usable Setting data Setting data Data type of result Data which will be converted into unsigned 16 bit ae S 16 bit integer type integer value Functions 1 The data specified with S is converted into an unsigned 16 bit integer value 2 The data range of S is 0 to 65535 3 When S is a 64 bit floating point type its fractional portion is rounded down before conversion is made 4 If S is a 16 bit integer type its value is returned unchanged with no conversion processing performed Errors 1 An operation error will occur if The S data is outside the range 0 to 65535 or S is an indirectly specified device and its device No is outside the range Program examples 1 Program which converts the data of DOL into an unsigned 16 bit integer value and substitutes the result to 40 0 USHORT DOL D1 DO 0 K 5536 4 _ HEA60 HO000EA60 Unsigned value is K60000 7 OPERATION CONTROL PROGRAMS FIFS 7 7 3 Signed 32 bit integer value conversion LONG LONG S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculati Bit device Je pit Re i floating Coasting 18 bit floating acuaton
460. ter power on they always controls the error history continuously 2 Set the clock data and clock data read request M9028 in the user program 10 MOTION DEVICES b Servo monitor devices 8064 to 8191 Information about servo amplifier type motor current and motor speed for each axis is stored the servo monitor devices The details of the storage data are shown below Axis Device No Signal name No 1 8064 to 8067 2 8068 to 8071 Note 1 Eig Signal Signal description Refresh cycle Signal direction 8072 to 8075 4 8076 to 8079 Unused 4 MR J2S B 5 8080 to 8083 MR H BN 5 MR J2 M When the servo amplifier 0 Servo amplifier type 6 8084 to 8087 MR J B 6 MR J2 03B5 power on eae MR J2 B 65 FR V500 i cates denies 8092 to 8095 5000 to 5000 0 1 o 8096 to 8099 50000 to 50000 X 0 1 r min Note 1 The value that the lowest servo monitor device No was added 0 1 on each axis is shown The servo monitor devices 8064 to 8191 is effective with SW6RN SV13QL SV22QLI Ver OOD or later 10 5 10 MOTION DEVICES 10 2 Coasting Timer FT Motion device Coasting timer FT Number of points Specification 1 point FT Data size 32 bit point 2147483648 to 2147483647 Latch No latch Cleared to zero at power on or reset a count rise is continued from now on Usable tasks N
461. th S2 is found 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before operation is performed At this time note that signed data is converted Errors 1 An operation error will occur if S1 or S2 is an indirectly specified device and its device No is outside the range Program examples 1 Program which ANDs 0 and 1 and substitutes the result to DO DO 0 amp 1 o o i 1 7 OPERATION CONTROL PROGRAMS FIFS 7 5 3 Bit logical OR S1 1 S2 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device 16 bit floating Coasting Seat floating Calculation snditional conditional integer integer integer integer type expression point expression expression type type L type K H K H L type K BISERE 6 l o lol Ee ae ol ee a ee Usable Setting data Data type of S1 or S2 which is greater Integer type Functions 1 The bit by bit logical add of the data specified with S1 and the data specified with S2 is found 2 When S1 and S2 differ in data type the data of the smaller data type is converted into that of the greater type before operation is performed At this time note that signed data is converted Errors 1 An operation error wi
462. the machine Design the machine so that personal safety can be ensured even if the machine restarts suddenly 8 Maintenance inspection and part replacement Z CAUTION Perform the daily and periodic inspections according to the instruction manual Perform maintenance and inspection after backing up the program and parameters for the Motion controller and servo amplifier Do not place fingers or hands in the clearance when opening or closing any opening Periodically replace consumable parts such as batteries according to the instruction manual Do not touch the lead sections such as ICs or the connector contacts Before touching the module always touch grounded metal etc to discharge static electricity from human body Failure to do so may cause the module to fail or malfunction Do not directly touch the module s conductive parts and electronic components Touching them could cause an operation failure or give damage to the module Do not place the Motion controller or servo amplifier on metal that may cause a power leakage or wood plastic or vinyl that may cause static electricity buildup Do not perform a megger test insulation 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 f
463. the teaching unit A31TUD3TM Teaching unit A31TU D3L1 A31TU DNL Q173HB ACBLOM Q173J2BACBLOM Servo amplifier Servo amplifier MR H BN 20 possible to select the best according to the system Note 1 It is possible to use only Q173CPUN T It is packed together with Q173CPUN T Note 2 It varies by the connecting teaching unit Note 3 It is packed together with Q170TUDOCBLOM Note 4 When using the A31TU D30 A31TU DNJ be sure to use the Q173CPUN T Note 5 A31TU D30 A31TU DNO corresponds to only Japanese It does not correspond to display for English 1 57 1 OVERVIEW 000000 J Power supply module QCPU I O module Intelligent function module of the Q series Equipment configuration in Q172CPU N system a When using the external battery Extension of the Q series module Motion module Q172LX Q172EX Q173PX C DIEI EP CPU base unit Q33B Q35B Q38B Q312B Motion module Q172LX Q172EX Q173PX Q60B extension base unit Q63B Q65B Q68B Q612B Extension cable QCLB Note 5 Nof 2 ch Short
464. the Motion controller servo amplifier and servomotor Set the parameter values to those that are compatible with the Motion controller servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect When a teaching unit is used the cable for the teaching unit is necessary between the Motion CPU Q173CPUN T Q172CPUN T and teaching unit And connect the short circuit connector for teaching unit after removing the teaching unit or when not using it 1 62 1 OVERVIEW 1 3 3 Q172CPU N System overall configuration Motion CPU control module lt 4 o o o ce E 9 E e 5 8958 n coc CPU base ouf 58S 25 unit PLCCPU zg 99 GES Q30B Motion CPU HGE DOE Soe 0160 QXO0 060 0 7 7 ayon 600 Or E Ew N m x 3 N 3 x Q61P A Qn H 0172 Q172LX l O module of the Q Series or Special function module Analogue input output Input output Up to 256 points 100 200VAC E Battery unit Q170BAT Interrupt signals 16 points Personal Computer IBM PC AT Manual pulse generator x 3 module MR HDP01 Up to 1 module USB RS 232 Serial absolute synchronous encoder cable wx 24 MR JHSCBLLIM H Q170ENCCBLLM E S
465. the extension base unit s When a total of four CPUs are used and the four CPUs have simultaneously accessed a module installed in an extension base unit When there are many automatic refresh points between a PLC CPU and a Motion CPU 3 When shortening the processing time of the Multiple CPU system The processing time of the Multiple CPU system can be shortened in the following methods Install all modules with many access points such as MELSECNET 10 H and CC Link refreshes together in the CPU base unit Control all modules with many access points such as MELSECNET 10 H and CC Link refreshes using only one PLC CPU so that they are not accessed by two or more CPUs simultaneously Reduce the number of refresh points of MELSECNET 10 H CC Link etc Reduce the number of automatic refresh points of the PLC CPUs Motion CPUs 1 OVERVIEW 1 4 6 How to reset the Multiple CPU system With the Multiple CPU system resetting the PLC CPU of CPU No 1 resets the entire system When the PLC CPU of CPU No 1 is reset the CPUs I O modules and intelligent function modules of all CPUs will be reset To recover any of the CPUs in the Multiple CPU system that generated a CPU stop error reset the PLC CPU of CPU No 1 or restart the power i e turning the power ON OFF and then ON If the PLC CPUs or Motion CPUs of CPU Nos 2 through 4 generated a CPU stop error they can not be recovered by resetting the corresponding CPU 0
466. thin parallel Motion SFC program branch coupling exists Selective branch destinations are all headed by other than SFT or WAIT transitions WAITON WAITOFF is not followed by a motion control step However this is permitted to a pointer Pn or jump Pn A parallel branch is followed by an END step without a parallel coupling An impossible code is used The internal code is corrupted Stop to execute the applicable Motion SFC program No program the call program also stops to execute 46104 Motion SFC code error In 16105 Jump code error 1 destin 46106 Jump code error 2 In ade label information error in jump destination information erna ernal code list code error in jump tion information code label No error in jump el 16107 Jump code error 3 i des el 16108 Jump code error 4 de 46109 Jump destination The specified pointer does not exist at the error jump destination ination information rnal code label address error in jump ination information S 19 3 The specified Motion SFC When it started by GSUB For the subroutine called execution interlocks Check the Motion SFC program No and correct a program or create the non created Motion SFC program Double start should be managed on the user side Provide the user s starting signal as an interlocks in the transition condition SFC FC Start after the co
467. tine Program name call start step transits to the next lower part The start source and destination programs are executed simultaneously and the call destination program ends at END execution Stops and ends the specified program running After an end it is started from the initial start step by restarting the program When the specified program is during subroutine call CR the subroutine program is also stopped to execute M Clear step ae CLR program name When the specified program is after subroutine start the subroutine program is not stopped to execute When clearing to the subroutine by which the subroutine call was executed the specified subroutine is stopped to execute returns to the call source program and transits to the next 6 MOTION SFC PROGRAMS Symbol Classification Name List representation Function Code size byte When just before is the motion control step transits to the next step by formation of transition condition Gn GO to G4095 without waiting for the motion operating completion Shift When just before is the operation control step transits Pre read to the next step by the completion of transition transition condition after operating execution When just before is subroutine call starting step transits to the next step by formation of transition condition without waiting for the operating completion of subroutine When
468. ting data 64 bit 64 bit Bit Comparison 16 bit 32 bit 16 bit 32 bit Calculation a i R floating Coasting floating conditional conditional integer integer integer integer type y expression expression type type L type K H K H L type K e sor ge eie ee ee SEE Usable Setting data Setting data Data type of result c Data which will be ORed Logical type true false Functions 1 The data specified with 51 and the data specified with 52 are ORed Errors 1 An operation error will occur if S1 or S2 is an indirectly specified device and its device No is outside the range Program examples 1 Program which sets M100 when either of MO and XO is 1 SET M100 MO vo 3 M100 True 3 7 OPERATION CONTROL PROGRAMS FIFS 7 11 Comparison Operations 7 11 1 Equal to 51 52 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculati data Bit device 16 bit Seu floating Coasting Eu sent floating an conditional conditional i i i i expression integer integer a timer integer integer type point p expression expression type type L type K H K H L type K type F ST KT ER UN SS PERSON DT EI E aa SE ET 6 _ o qj o l o l o l o ae ouo O Usable Setting
469. ting 16 bit Sabit floating id conditional conditional integer integer integer integer type expression P timer point expression expression type type L type K H K H L type type F DEZ NE UNSERE D D SN ee ee Usable Setting data Setting data Data type of result Data type of S S Data whose bits will be inverted Integer type 1 The bit inverted value of the data specified with S is found Functions Errors 1 An operation error will occur if S isan indirectly specified device and its device No is outside the range Program examples 1 Program which finds the bit inverted value of 0 and substitutes the value to DO DO 0 po OTT en so PONTE 7 OPERATION CONTROL PROGRAMS FIFS 7 5 2 Bit logical AND amp 51 8 52 Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device 16 bit floating Coasting een el seme floating Calculation snditional conditional integer integer S integer integer type int expression expression expression type type L type K H K H L US BISERE S 6 l o _ olol ol dl gp ee Usable Setting data Data type of S1 or S2 which is greater Integer type Functions 1 The bit by bit logical product of the data specified with S1 and the data specified wi
470. tion Note 2 Base No in common information classification code of error information classification code is 0 CPU base 1 to 7 Number of extension bases Note 3 Because a stop error or CPU No except CPU No that it was reset becomes MULTI CPU DOWN simultaneously a stop error or CPU No except CPU No that it was reset may store in the classification of error information depending on timing Note 4 When an error occurs in the Motion CPU and so on except PLC CPU if a PC diagnosis is made in the CPU except PLC CPU from GX Developer via PLC CPU the error code 10000 is indicated Note 5 The Motion SFC error detection signal M2039 turned on at the error detection A self diagnosis error flag M9008 and a diagnosis error flag M9010 do not turn on at the error detection The error code 10000 being set in D9008 is reset in the Motion SFC error detection signal M2039 ON OFF MOTION RUN LED turns off at the stop error occurrence The condition of RUN LED does not change ERROR status of CPU timing At power supply ON Flickers Stop at resell at Stop Run Flickers Stop At power supply ON at reset At power Flickers Stop supply ON at reset ON System Stop System At power setting setting supply ON error error at reset File name Module No Note 1 Note 3 Parameter Other issue opportunity CPU weight occasion error MULTI CPU DOWN Module No Note 1 Multiple CPU start error
471. tion Up to 4 axes Circular interpolation 2 axes Interpolation functions nd Helical interpolation 3 axes PTP Point to Point control Speed control Speed position control Fixed pitch feed Operation cycle default Control modes Constant speed control Position follow up control Speed switching control High speed oscillation control Synchronous control SV22 Acceleration Automatic trapezoidal acceleration deceleration deceleration control S curve acceleration deceleration Compensation Backlash compensation Electronic gear Programming language Motion SFC Dedicated instruction Mechanical support language SV22 Servo program capacity 14k steps Number of positioning 3200 points points Positioning data can be designated indirectly Programming tool IBM PC AT Peripheral I F USB RS 232 SSCNET Teaching operation Provided Q173CPUN T Q172CPUN T SV13 use unction a Proximity dog type 2 types Count type 3 types Data set type 2 types Dog cradle type Home position return EM funi Stopper type 2 types Limit switch combined type unction 1 OVERVIEW Motion control specifications continued Q173CPUN T Q173CPU Q172CPUN T Q172CPU Manual pulse generator Possible to connect 3 modules operation function Synchronous encoder Possible to connect 12 modules Possible to connect 8 modules operation function M code output function provided M code function M
472. tion Logical AND Conditional expression 7403 conditional expression Logical OR Conditional expression 7404 conditional expression Equal to Conditiona expression 72414 conditional expression Not equal to Conditional expression 7112 conditional expression 7 Loss tha Conditiona expression lt 7113 conditional expression Conditi lt Less than or equal to pea expression lt 7 11 4 conditional expression Conditiona expression gt 7115 conditional expression Conditi gt More than or equal to expression gt 7 11 6 conditional expression Motion dedicated CHGV Speed change request CHGV S1 S2 7 124 function CHGT limit value change request S2 polet _ 7 12 2 EI _ Event task enable 1 Bice m Di _ Event task disable ee 7132 OP spese MER 1 7133 BMOV Block transfer BMOV D S 2 24 7 13 4 FMOV Same data block transfer vU 75 Write device data to shared CPU memory MULTW 7 13 6 self CPU dire a SHE Read device data from shared CPU POEM memory of the other CPU ilo od SEMEN CI RENI DS Write device data to intelligent function TO D1 D2 S n 7438 module special function module Read device data from intelligent function FROM D S1 S2 n 7 13 9 function module O Usable Unusable
473. tion may not obstruct the execution of the motion operation because processing time becomes long in argument to the Number of words n to be read 5 The following analogue modules can be used as the control module of Motion CPU Q62DA Q64AD Q64DA Q68ADV Q68DAV Q68ADI Q68DAI 1 An operation error will occur if Number of words n to be read is outside the range of 1 to 256 Motion CPU cannot communicate with intelligent function module special function module at the instruction execution Abnormalities of the intelligent function module special function module were detected at the instruction execution I O No s specified with 51 differ from the intelligent function module special function module controlled by the self CPU The address specified with S2 is outside the buffer memory range First device No D which stores the reading data number of words n to be read is outside the device range D is a bit device and device number is not a multiple of 16 PX PY is set in D to D n 1 7 OPERATION CONTROL PROGRAMS Program examples 1 1 word is read from the buffer memory address 10H of the intelligent function module special function module First I O No 020H and is stored in WO FROM WO H020 H10 K1 Intelligent function module special function module First I O No 020H Buffer memory Device memory 4 word transfer w wo 7 OPERATION CONTROL PROGRAMS
474. tional integer integer type expression x point expression expression data integer integer 1 point timer t L t K H K H L type ype L type F ype K H type Usable Setting data Setting data Data type of result Data which will be converted into signed 16 bit 2 S 16 bit integer type integer value 1 The data specified with S is converted into a signed 16 bit integer value Functions 2 The data range of S is 32768 to 32767 3 When S is a 64 bit floating point type its fractional portion is rounded down before conversion is made 4 If S is a 16 bit integer type its value is returned unchanged with no conversion processing performed Errors 1 An operation error will occur if The S data is outside the range 32768 to 32767 or S is an indirectly specified device and its device No is outside the range Program examples 1 Program which converts the data of DOL into a signed 16 bit integer value and substitutes the result to 0 0 SHORT DOL D1 DO 40 K 30000 4 K 30000L H8ADO HFFFF8ADO 7 OPERATION CONTROL PROGRAMS FIFS 7 7 2 Unsigned 16 bit integer value conversion USHORT USHORT S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison bi bi bi bi Calculati data Bit device a8 bit 32 bit floating Coasting 16 bit 32 bit floating 9048 conditional conditional in
475. to 2k words of devices D W M Y B can be set per 2 modules None Set the total number of Multiple CPUs including PLC CPU s Set the automatic refresh between CPUs setting using Multiple CPU shared memory Multiple CPU CPU for settings 1 to 4 Common setting Stop do not stop all CPUs in CPU Nos system eof operation mode He x n ne Stop all CPUs upon Set whether or not to stop the entire parameters P e error in CPU Nos system when a CPU stop error occurs in at the stop of CPU The setting range varies A 1 2 3 4 each CPU depending on the number of Multiple CPUs installed T Install the modules controlled by the self Within the CPU b d Module arrangement E sad None CPU in the CPU base and or extension Motion slot extension base slots base s setting Individual module Varies depending on the module Varies depending on the module Set detailed items for each module controlled by the self CPU Individual parameters Operation cycle setting 0 8 ms 1 7 ms 3 5 ms 7 1 ms 14 2ms Auto Auto Set the operation cycle of motion control Operation at STOP to RUN Basic system setting M2000 is turned on with switch STOP to RUN M2000 becomes a switch set STOP to RUN register by single unit with turning on M2000 is turned on with switch STOP to RUN Set the condition in which the PLC ready flag M2000 turns on None X PX 0 to 1FFF S
476. to each Motion CPU and the monitor of a state by the PLC CPU at the time of operation However the automatic refresh is not necessary between each Motion CPU In this case because it is made not to execute the automatic refresh setting between the Motion CPU using a dummy setting it is not necessary to use the user device for the automatic refresh vainly and a main cycle can also be shortened Example of the automatic refresh setting using the Dummy setting is as follows Motion CPU No 2 Read data of PLC CPU No 1 PLC CPU CPU No 1 Automatic refresh setting 1 Motion CPU No 4 CPU No 3 Motion CPU No 3 This part is not refreshed so that a dummy setting Read data of CPU No 3 r Refresh Setting Setting 1 Send range for each CPU CPU side device CPU share memory G Stat End Stat End 10 158 M43 f 08001 Ms53 aa Os27 Mse0 1593 The applicable device of head device is DW M Y The unit of points that send range for each CPU is word Motion CPU CPU No 3 Automatic refresh setting 1 gt Refresh Setting Setting 1 Send range for each CPU CPU side device CPU share memory G Dev startin End Stat End Stat 0809 w1024 MITES o X omo ist 0810 BO BIDF L The applicable device of head device is D W M Y B The unit o
477. tten in ROM and Mode operated by ROM The SRAM memory built in Motion CPU module is targeted at the Backup load operation of SWGRN GSVLIP Set the Mode operated by ROM after ROM writing for the ROM operation after Backup load at the CPU module replacement 3 The internal FLASH ROM serves as a life in 100000 times writing If it passes over a life writing error will occur After that replace a module at the ROM operation 4 The online change of Motion SFC program at the mode operated by ROM executes the Motion SFC program performed the online change from the next scanning After that it returns to the contents of Motion SFC program written in the internal FLASH ROM at the power supply on or system reset 14 8 14 ROM OPERATION FUNCTION 3 ROM operation procedure The flowchart to start the ROM operation is shown below Installation mode mode written in ROM Install the operating system software gt lt Mode operated by RAM v A Installation mode mode written ROM ROM writing Mode operated by ROM v ROM operation start procedure Set Installation mode mode written in ROM as a DIP switch 5 of the Motion CPU module Turn ON the power supply of Multiple CPU System Install the operating system software to the Motion CPU module using the SW6RN GSVOP Set normal mode as a DIP switch 5 and set Mode operated by RAM as a DIP
478. ttt tp e fat 2010 _ A A Must be set A Set if required 1 Only reference axis speed specification 2 B indicates a bit device 9 MOTION CONTROL PROGRAMS Table 9 2 Servo Instruction List continued Positioning data E 2 Dwell time Radius Pitch Auxiliary point Central point Instruction symbol Command spee Processing Torque limit value Parameter block No Address travel value Positioning control Virtual enable eal eal eoo es en oor 8 Number of steps INC 1 INC 3 INC 4 Constant speed control passing point incremental specification INC INC INC INC Constant speed control 2 M INH Constant speed control passing point INH TA SEAN helical incremental specification INH CPEND mna Ida 9 MOTION CONTROL PROGRAMS Positioning data ii Number of steps ERES ee eo Re ESAE EE EE ESI Rea ol Ren a ER Res rog ee eee eee 18 2 2 1 B 1 B Starting angle Amplitude Frequency Reference axis No Control unit Speed limit value Acceleration time Deceleration time Torque limit value Decelerati
479. tural EIN o3 ena en ad en en ad vp eoa vp tesa Ade aude 7 32 7 6 9 Exponential operation EXP 7 33 7 0 10 Absolute value s ABS37 2 aun t teni e aiebat ie dott hie s 7 34 7 651 T4 8o und off itte e iie e e tee Hc eoe ce be fefe 7 35 7 6 12 Round down FIX iiie i e e e uh Doe ze V sda an EL a a Eo o A Oda 7 36 7 06 19 Roundsup UP sien at Ra RR ERE ERE ERR CR eee 7 37 7 6 14 BCD gt BIN conversion BIN 7 38 7 6 15 BIN BGD conversion BED va nn de drea eH eR aede die 7 39 7 7 eb Pte es 7 40 7 7 1 Signed 16 bit integer value conversion SHORT 7 40 7 7 2 Unsigned 16 bit integer value conversion USHORT seen 7 41 7 7 3 Signed 32 bit integer value conversion 7 42 7 7 4 Unsigned 32 bit integer value conversion ULONG ssssseeeeeeenenem nennen 7 43 7 7 5 Signed 64 bit floating point value conversion FLOAT sessseseeeeeeenen mnn 7 44 7 7 6 Unsigned 64 bit floating point value conversion UFLOAT sese 7 45 14 7 8 Bit Device Statuses eoe ee ee ee ee eet ee sede 7 46 7 8 1 ON Normally open contact None 7 46 7 8 2 OFF Normally closed contact
480. ture are shown below 12 1 Projects User files are managed on a project basis When you set a project name a project name folder is created as indicated on the next page and under that sub folders Sfc Glist Gcode Flist Fcode classified by file types are created Also under the Sfc sub folders initial files of the project file project name prj and an editing folder temp are created Setthe project name on the project management screen The project name is restricted to 230 characters in length The project path name project name are restricted to 230 characters in length Example CAUsn name 12 12 USER FILES 12 2 User File List A user file list is shown below Indicates the file data stored in CPU memory Project name folder Folder of user set project name Sub folders fixed r Sfc I 1 Project file Project name prj x1pc Information file of correspondence between Motion SFC program No 0 to 255 and SFC program names SFC files 2 Motion SFC chart file SFC program name sfc x 256 pcs Motion SFC chart edit information and comment information file of one Motion SFC program gt 3 Motion SFC list file SFC program name txt
481. ult Input destination data Data type of D cca Input source bit data Integer type Functions 1 The bit data specified with S is input to the data specified with D 2 Specify a multiple of 16 as the device No of the bit data specified with S 3 Ifthe type of D is a 16 bit integer type 16 points of the D data starting at the least significant bit are input in order to the bit devices headed by the one specified with S 4 If the type of D is a 32 bit integer type 32 points of the D data starting at the least significant bit are input in order to the bit devices headed by the one specified with S Errors 1 An operation error will occur if D or S is an indirectly specified device and its device No is outside the range S isan indirectly specified device and its device No is not a multiple of 16 Program examples 1 Program which inputs the data of to DO DIN DO 7 OPERATION CONTROL PROGRAMS FIFS 7 9 5 Bit device output OUT Refer to the Section 1 3 4 for the correspondence version of the Motion CPU and the software OUT D S Number of basic steps Usable data Usable Data Setting 64 bit 64 bit Bit Comparison data Bit device ADDI floating Coasting o floating Calculation conditional conditional integer integer integer integer type int expression expression type type L type K H ee
482. umber of words n to be read is within the range of 1 to 256 Replace the intelligent function module special function module if there is a fault Correct the program so that I O No s specified with S1 is intelligent function module special function module controlled by the self CPU Correct the program so that the address specified with S2 is within the buffer memory range Correct the program so that first device No D which stores the reading data number of words n to be read is within the device range When D is a bit device set the device number to be multiple of 16 When D is a bit device do not set PX PY Correct the program so that the indirectly specified device No is proper 19 ERROR CODE LISTS Table 19 5 Operation control transition execution errors 16300 to 16599 continued Error factor Error code Error Processing Name Description Indirectly specified 16 bit link register W n read error Indirectly specified 32 bit link register W n L read error The indirectly specified device No is outside Indirectly specified the range or an odd number 64 bit link register W n F read error Corrective Action The indirectly specified device No is outside the range Indirectly specified input relay X n read error Indirectly specified output relay Y n read error Indirectly specified internal latch relay M n L n read the range erro
483. upt enable instruction execution 3 SM390 turn on when the transmission of the instruction toward the target CPU was completed SM391 S P GINT instruction execution completion flag turned on simultaneously 5 MOTION DEDICATED PLC INSTRUCTION 4 SM390 turn off when the transmission of the instruction toward the target CPU was not completed SM391 S P GINT instruction execution completion flag turned off when the instruction toward the target CPU cannot be transmitted 5 Number of instruction execution does not have restriction if to self CPU high speed interrupt accept flag from CPUn in the target shared CPU memory of S P GINT instruction Operation PLC program END END END i END t S P GINT instruction execution ON S P GINT instruction OFF To self CPU high speed interrupt accept flag from CPUn f Interrupt PLC to Event task executed processing to the other CPU i the other Motion CPU S P GINT instruction execution M391 Instruction executed OFF complete flag S P GINT instruction non execution Errors The error flag SMO is turned on an operation error in the case shown below and an error code is stored in SDO Complete status de H Error factor Corrective action rror code 2110 The CPU No to be set by First I O No of the target CPU 16 is specified 2414 The self CPU by First I O No of the target CPU 16 is speci
484. ur ranges is 2k words per CPU PLC CPU or Motion CPU or 8k points 8k words for all CPUs Refresh 2k points 2k words per CPU 5 1 1 8k points 8k words Send range for each CPU CPU side device for all CPUs Setting two points in shared CPU memory and specifying the bit device for the CPU side device creates 32 bit device points De pet CPU share memory G Dev stating Sat Em St 2 Set in units of 2 points 2 words E The unit of points that ed taxge for each CPU is word Settings should be set as same when using multiple CPU Data in CPU No 3 and 4 is not refreshed since the number of points is set to 0 3 3 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 4 The shared CPU memory to be occupied during execution of the automatic refresh function covers all areas corresponding to settings 1 to 4 When the number of transmitting points is set the first and last addresses of the shared CPU memory to be used are indicated in hexadecimals The CPU for which the number of transmitting points is set in settings 1 and 2 use the last address of shared CPU memory in setting 2 In the example below CPU No 1 and No 2 are using the area up to 811H while CPU No 4 is using the area up to 821H The CPU for which the number of transmitting points is set only in setting 1 use the last a
485. ur 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 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 an
486. urns on the error content is stored at the TEST mode request error register D9182 to D9183 This flag status indicates whether the positioning data of the servo program K specified with the Motion SFC program is Servo program setting Abnormal normal or abnormal and if error is detected this flag turns error flag Normal on The content of a servo program setting error is stored at D9189 and D9190 Servo parameter read OFF to ON The servo parameter of servo parameter read request axis S Occur an error Gero parsmbter read set as D9104 is reflected in the Motion CPU from the servo 3 g P amplifier at the time of OFF to ON flag Except servo parameter reading M9216 CPU No 1 MULTR OFF to ON Turn on when the data read from CPU No 1 is performed complete flag CPU No 1 read completion normally by MULTR instruction S t Sono parameter eadi xd This flag turn on while having read the servo amplifier M9105 to the Motion CPU It turn off automatically after reading S Reading completion M9217 CPU No 2 MULTR OFF to Turn on when the data read from CPU No 2 is performed complete flag CPU No 2 read completion normally by MULTR instruction S Read completion M9218 CPU No 3 MULTR OFF to ON Turn on when the data read from CPU No 3 is performed complete flag CPU No 3 read completion normally by MULTR instruction P No 4 MULTR OFF to Turn on when the data read
487. uted during waiting for the completion of transition condition of the jump destination 2 Coupling jump When a jump to the other route within a parallel branch takes place after the parallel branch a coupling jump takes place and execution waits at the jump destination 6 MOTION SFC PROGRAMS Combining the basic type branches couplings provides the following application types which are defined as in the basic types Name Motion SFC chart symbol Hist Function representation Selective branch Parallel branch Parallel coupling Selective coupling FEm Parallel branch Selective branch Selective coupling Parallel coupling CALL Kn IFBm IFT1 SFT Gn PABm PAT1 CALL Fn JMP PAEm PAT2 CALL Fn JMP PAEm PAEm JMP IFEm IFT2 SFT Gn CALL Fn JMP IFEm IFEm SFT Gn SFT Gn PABm PATI CALL Fn IFBm IFT1 SFT Gn CALL Fn JMP IFEm IFT2 SFT Gn CALL Fn JMP IFEm IFEm JMP PAEm PAT2 CALL CALL Kn JMP PAEm PAEm SFT Gn After a selective branch a parallel branch can be performed The selective coupling point can be the same as the coupling point of a parallel coupling
488. uter running SW6RN GSV OP and Motion CPU by SSC I F communication cable When the RS 232 USB cable is used to communicate with the Motion CPU connect the cable to any one of the PLC CPU Motion CPU in the Multiple CPU system Multiple CPU system power ON Turn ON the power of Multiple CPU system in the following state of PLC CPU RUN STOP switch STOP RESET L CLR switch OFF 1 Refer to Section 3 1 for automatic refresh function of device data Refer to the Q173CPU N Q172CPU N User s Manual for module select Refer to the Q173CPU N Q172CPU N User s Manual for install method or install position of modules Refer to Section 2 1 4 of the Q173CPU N Q172CPU N User s Manual for restrictions of module install Refer to the GX Developer manual for GX Developer start Create the parameters for CPU No 1 to 4 and PLC programs Refer to the QCPU User s Manual Function Explanation Program Fundamentals for PLC settings 2 STARTING UP THE MULTIPLE CPU SYSTEM 1 Write to the PLC CPU Write the parameters and PLC programs PLC CPU to the PLC CPU CPU No 1 Set the connect destinations of PLC CPU CPU No 2 to 4 and write them i SWE6RN GSVLIP start Start the SW6RN GSVLIP Refer to the help for operation of SWG6RN GSV IP System settings and program create Refer to Section 1 5 for system settings Create the system setting
489. vo program and mode changing errors are stored in this history At error occurrence the Motion SFC error detection flag M2039 is also set The error information is shown below D ipti Signal name Motion SFC control errors Conventional errors Error Motion SFC 0 to 255 Motion SFC program No in error program No 1 Independent of Motion SFC program Minor major error 4 Minor major error virtual servomotor shaft SV22 only Minor major error synchronous encoder shaft SV22 1 F FS only 2 G Servo error Error type 1 K or other Servo program error not any of F FS G and SFC chart Mode change error SV22 only 2 Motion SFC chart 9 Manual pulse generator axis setting error 10 Test mode request error 11 WDT error 12 Personal computer link communication error 0 to 4095 F FS G K program No 0 to 4095 Servo program No when error type is 3 4 or Error program No 0 to 255 GSUB program No 7 1 Independent of F FS G GSUB_ 1 Others 0 to 8191 F FS or G program s block No line No when error type is 1 Error block No or 2 1 to 32 Corresponding axis No when error type is any of 3 Motion SFC list 0 to 8188 Motion SFC list line No when error to 6 line No axis No type is 2 1 Others 1 Independent of block when error type is 1 or error type is 1 or 2 e Conventional error code less than 16000 when error ty
490. xis 21 JOG speed D650 Axis 6 JOG speed D682 Axis 22 JOG speed D652 Axis 7 JOG speed D684 Axis 23 JOG speed D654 Axis 8 JOG speed D686 Axis 24 JOG speed D656 Axis 9 JOG speed D688 Axis 25 JOG speed D658 Axis 10 JOG speed D690 Axis 26 JOG speed D660 Axis 11 JOG speed D692 Axis 27 JOG speed D662 Axis 12 JOG speed D694 Axis 28 JOG speed D664 Axis 13 JOG speed D696 Axis 29 JOG speed D666 Axis 14 JOG speed D698 Axis 30 JOG speed D668 Axis 15 JOG speed D700 Axis 31 JOG speed D670 Axis 16 JOG speed D702 Axis 32 JOG speed setting register setting register 1 38 1 OVERVIEW MEMO 1 OVERVIEW 3 Table of the virtual servomotor axis monitor devices SV22 only D800 D960 to Axis 1 monitor device to Axis 17 monitor device D809 D969 D810 D970 to Axis 2 monitor device to Axis 18 monitor device D819 D979 D820 D980 to Axis 3 monitor device to Axis 19 monitor device D829 D989 D830 D990 to Axis 4 monitor device to Axis 20 monitor device D839 D999 D840 D1000 to Axis 5 monitor device to Axis 21 monitor device D849 D1009 D850 D1010 to Axis 6 monitor device to Axis 22 monitor device D859 D1019 D860 D1020 to Axis 7 monitor device to Axis 23 monitor device D869 D1029 D870 D1030 to Axis 8 monitor device to Axis 24 monitor device D879 D1039 D880 D1040 to Axis 9 monitor device to Axis 25 monitor device D889 D1049 D890 D1050 to Axis 10 monitor device to Axis 26 monitor device D899 D1059 D900 D1060 to Axis 11 monitor dev
491. y for the Motion SFC programs run by event NMI tasks take care so that the processing time will not be too long APP 8 APPENDICES APPENDIX 2 Sample Program APPENDIX 2 1 Program example to execute the Multiple CPU dedicated instruction continuously This is the program example which publishes the instruction continuously toward the same Motion CPU in the Multiple dedicated instruction toward the Motion CPU When an instruction cannot be accepted even if it is executed it becomes No operation The following is program example which repeats reading data for 10 points from DO of the Motion CPU installing the CPU No 2 to since D100 of the PLC CPU and the data for 10 points from D200 of the Motion CPU to since D300 of the PLC CPU by turns continuously during is ON Make a circuit to execute the next S P DDRD instruction after the device which it is made to turn on by the instruction completion of the S P DDRD instruction execute 1 scan turns it on lt Example gt SM400 K10 D251 2 M1 M MO M10 m H3E1 D50 DO D100 M10 M50 M50 M10 oer RST RST M50 M1 M pP DDRO H3E1 D250 D200 D300 M20 M51 M51 M20 RST M51 M10 M11 Read the data from DO to 0100 ead the data from i F4 M11 26 Read the data from DO to D100 M20 M21 Read the data from D200 to D300 21 Read the data from D200 to D300
492. y specified 32 bit motion device n L read error Indirectly specified 64 bit motion device n F read error Indirectly specified 16 bit data register D n read error Indirectly specified 32 bit data register D n L read error Indirectly specified 64 bit data register D n F read error Number of words n to be written is outside the range of 1 to 256 Motion CPU cannot communicate with intelligent function module special function module at the instruction execution Abnormalities of the intelligent function module special function module were detected at the instruction execution I O No s specified with D1 differ from the intelligent function module special function module controlled by the self CPU The address specified with D2 is outside the buffer memory range First device No S which writing data are stored number of words n to be written is outside the device range e S is a bit device and the device number is not a multiple of 16 PX PY is set in S to S n 1 Number of words n to be read is outside the range of 1 to 256 Motion CPU cannot communicate with intelligent function module special function module at the instruction execution Abnormalities of the intelligent function module special function module were detected at the instruction execution I O No s specified with S1 differ from the intelligent function module special
493. z 2k words CPU No 4 gt receiving data No 3 ransmitting data No 3 GEUMO CPU No 1 y transmitting data No 4 transmitting data No 4 CPU No 2 receiving data No 4 CPU No 3 receiving data No 4 CPU No 4 receiving data No 4 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 3 Automatic refresh settings 2 Manual setting Refer to Section 1 3 4 4 for the applicable version of Motion CPU and the software a When the automatic refresh setting Manual setting of Motion CPU is used there are the following advantages 1 2 A device setting which executes the automatic refresh setting between the PLC CPU and Motion CPU can be performed flexibly Because it is made not to execute the automatic refresh setting between the Motion CPU using a dummy setting it is not necessary to use the user device for the automatic refresh vainly and a main cycle can also be shortened It is possible to execute the automatic refresh of Motion device to the PLC CPU directly Similarly it is possible to execute the automatic refresh for data of the PLC CPU to the Motion device directly Refer to the QCPU User s Manual Function Explanation Program Fundamentals about the setting for the PLC CPU Basic Setting x Base Setting No of CPU No o CPU 3 Please set the number of CPU which includes PC

SV13/22 Programming Manual (Motion SFC

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