Instruction manual

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4 POSITIONING DEDICATED SIGNALS
The positioning dedicated devices are shown below.
It indicates the device refresh cycle of the Motion CPU for status signal with the
positioning control, and the device fetch cycle of the Motion CPU for command signal
with the positioning control.
The operation cycle and main cycle of the Motion CPU are shown below.
(a) Operation cycle
Item Q173DCPU Q172DCPU
Number of control axes Up to 32 axes Up to 8 axes
Operation cycle
(Default)
SV22
0.44[ms] / 1 to 4 axes
0.88[ms] / 5 to 12 axes
1.77[ms] / 13 to 28 axes
3.55[ms] / 29 to 32 axes
0.44[ms] / 1 to 4 axes
0.88[ms] / 5 to 8 axes
(b) Main cycle is not fixed-cycle as operation cycle. The cycle is dozens[ms] to
hundreds[ms].
REMARK
(1) In the positioning dedicated signals, "n" in "M3200+20n", etc. indicates a value
corresponding to axis No. such as the following tables.
Axis No. n Axis No. n Axis No. n Axis No. n
1 0 9 8 17 16 25 24
2 1 10 9 18 17 26 25
3 2 11 10 19 18 27 26
4 3 12 11 20 19 28 27
5 4 13 12 21 20 29 28
6 5 14 13 22 21 30 29
7 6 15 14 23 22 31 30
8 7 16 15 24 23 32 31
• Calculate as follows for the device No. corresponding to each axis.
(Example) For axis 32 M3200+20n (Stop command)=M3200+20
31=M3820
M3215+20n (Servo OFF command)=M3215+20
31=M3835
• The range (n=0 to 7) of axis No.1 to 8 is valid in the Q172DCPU.
(2) In the positioning dedicated signals, "n" in "M4640+4n", etc. of the "Synchronous
encoder axis status", "Synchronous encoder axis command signal" and
"Synchronous encoder axis monitor device" indicates a value corresponding to
synchronous encoder No. such as the following tables.
Synchronous encoder No. n Synchronous encoder No. n
P1/E1 0 P7/E7 6
P2/E2 1 P8/E8 7
P3/E3 2 P9/E9 8
P4/E4 3 P10/E10 9
P5/E5 4 P11/E11 10
P6/E6 5 P12/E12 11
• Calculate as follows for the device No. corresponding to each synchronous encoder.
(Example) For synchronous encoder No.12
M4640+4n (Error detection)= M4640+4
11=M4684
D1122+10n (Minor error code)= D1122+10
11= D1232
• The range (n=0 to 7) of synchronous encoder No. P1/E1 to P8/E8 is valid in the Q172DCPU.