MITSUBISHI ELECTRIC Motion Controllers Programming Manual Common Q173DCPU Q172DCPU 01 01 2008 B(NA)-0300134 Version A MITSUBISHI ELECTRIC INDUSTRIAL AUTOMATION
SAFETY PRECAUTIONS (Please read these instructions before using this equipment.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. These precautions apply only to this product. Refer to the Q173DCPU/Q172DCPU Users manual for a description of the Motion controller safety precautions. In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".
For Safe Operations 1. Prevention of electric shocks DANGER Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks. Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks. Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF.
3. For injury prevention CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity ( + / - ), as this may lead to destruction or damage. Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and servomotor, etc.
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.
CAUTION Use the program commands for the program with the conditions specified in the instruction manual. Set the sequence function program capacity setting, device capacity, latch validity range, I/O assignment setting, and validity of continuous operation during error detection to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.
CAUTION The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or apply strong impacts on them. Securely fix the Motion controller, servo amplifier and servomotor to the machine according to the instruction manual. If the fixing is insufficient, these may come off during operation. Always install the servomotor with reduction gears in the designated direction. Failing to do so may lead to oil leaks. Store and use the unit in the following environmental conditions.
(4) Wiring CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier. Correctly connect the output side (terminal U, V, W).
(6) Usage methods 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.
(7) Corrective actions for errors CAUTION If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the check details according to the instruction manual, and restore the operation. If a dangerous state is predicted in case of a power failure or product failure, use a servomotor with electromagnetic brakes or install a brake mechanism externally.
CAUTION When replacing the Motion controller or servo amplifier, always set the new module settings correctly. When the Motion controller or absolute value motor has been replaced, carry out a home position return operation using one of the following methods, otherwise position displacement could occur. 1) After writing the servo data to the Motion controller using programming software, switch on the power again, then perform a home position return operation.
REVISIONS The manual number is given on the bottom left of the back cover. Print Date Jan., 2008 Manual Number IB(NA)-0300134-A First edition Revision Japanese Manual Number IB(NA)-0300126 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.
INTRODUCTION Thank you for choosing the Mitsubishi Motion controller Q173DCPU/Q172DCPU. Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the Motion controller you have purchased, so as to ensure correct use. CONTENTS Safety Precautions .................................................................................................................................. A- 1 Revisions....................................................
3.1.3 Individual parameters........................................................................................................................ 3-10 3.2 I/O number assignment..................................................................................................................... 3-15 3.2.1 I/O number assignment of each module .......................................................................................... 3-15 3.2.2 I/O number of each CPU modules ...................................
About Manuals The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below.
(2) PLC Manual Number (Model Code) Manual Name QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains the specifications of the QCPU modules, power supply modules, base modules, extension cables, memory card battery and others. SH-080483ENG (13JR73) (Optional) QCPU User's Manual (Function Explanation, Program Fundamentals) This manual explains the functions, programming methods and devices and others to create programs with the QCPU.
MEMO A - 16
1 OVERVIEW 1. OVERVIEW 1 1.1 Overview This programming manual describes the common items of each operating system software, such as the Multiple CPU system of the operating system software packages "SW8DNC-SV Q " for Motion CPU module (Q173DCPU/Q172DCPU). In this manual, the following abbreviations are used.
1 OVERVIEW REMARK For information about the each module, design method for program and parameter, refer to the following manuals relevant to each module.
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) Load distribution of processing can be performed by controlling the complicated servo control with Motion CPU and the machine control or information control with PLC CPU. Therefore, the flexible system configuration can be realized.
1 OVERVIEW (3) Connection between the Motion controller and servo amplifier with high speed synchronous network by SSCNET (a) High speed synchronous network 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.
1 OVERVIEW 1.2.2 Basic specifications of Q173DCPU/Q172DCPU (1) Module specifications Item Q173DCPU Q172DCPU Internal current consumption (5VDC) [A] 1.25 1.14 Mass [kg] 0.33 0.33 Exterior dimensions [mm(inch)] 98 (3.85)(H) 27.4 (1.08)(W) 119.3 (4.69)(D) (2) SV13/SV22 Motion control specifications/performance specifications (a) Motion control specifications Item Number of control axes Q173DCPU Q172DCPU Up to 32 axes Up to 8 axes 0.44ms/ 1 to 6 axes SV13 0.44ms/ 1 to 6 axes 0.
1 OVERVIEW Motion control specifications (continued) Item Q173DCPU Absolute position system Number of SSCNET systems (Note-1) Q172DCPU Made compatible by setting battery to servo amplifier.
1 OVERVIEW (b) Motion SFC Performance Specifications Item Q173DCPU/Q172DCPU Code total (Motion SFC chart + Operation control Motion SFC program capacity + Transition) 543k bytes Text total (Operation control + Transition) 484k bytes Number of Motion SFC programs 256 (No.
1 OVERVIEW 1.3 Hardware Configuration This section describes the Q173DCPU/Q172DCPU 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 Q173DCPU/Q172DCPU system.
1 OVERVIEW (2) Peripheral device configuration for the Q173DCPU/Q172DCPU The following (a)(b) can be used.
1 OVERVIEW 1.3.
1 OVERVIEW CAUTION 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 the Motion controller, servo amplifier and servomotor.
1 OVERVIEW 1.3.
1 OVERVIEW CAUTION 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 the Motion controller, servo amplifier and servomotor.
1 OVERVIEW 1.3.
1 OVERVIEW (3) Operating system type/version (a) Confirmation method in the operating system (CD) 1) 2) 3) 1) OS software type 2) OS software version 3) Serial number Example) When using Q173DCPU, SV22 and version 00A. 1) SW8DNC-SV22QA 2) 00A (b) Confirmation method in MT Debeloper The operating system(OS) type/version of connected CPU is displayed on the installation screen of MT Developer.
1 OVERVIEW POINTS (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 following functions cannot be used when the computer is running under R R R Windows Vista, Windows XP or Windows 2000. This product may not perform properly, when these functions are used.
1 OVERVIEW 1.3.5 Restrictions on motion systems (1) Combination of Multiple CPU system (a) Motion CPU module cannot be used as standalone module. Be sure to install the universal model PLC CPU module (Q03UDCPU/ Q04UDHCPU/Q06UDHCPU) to CPU No.1. For Universal model PLC CPU module, "Multiple CPU high speed taransmission function" must be set in the Multiple CPU settings. (b) Only Multiple CPU high speed main base unit (Q38DB/Q312DB) can be used.
1 OVERVIEW (2) Motion modules (Note-1) (a) Installation position of Q172DEX is only the main base unit. It cannot be used on the extension base unit. (b) Q172DLX/Q173DPX can be installed on any of the main base unit/ extension base unit. (Note-1) (c) Q172DLX/Q172DEX /Q173DPX cannot be installed in CPU slot and I/O slot 0 to 2 of the main base unit. Wrong installation might damage the main base unit.
1 OVERVIEW (3) Other restrictions (a) Motion CPU module cannot be set as the control CPU of intelligent function module (except some modules) or Graphic Operation Terminal(GOT). (b) Be sure to use the external battery. (c) There are following methods to execute the forced stop input. • Use a EMI terminal of Motion CPU module • Use a device set in the forced stop input setting of system setting (d) Forced stop input for EMI terminal of Motion CPU module cannot be invalidated by the parameter.
1 OVERVIEW MEMO 1 - 20
2 MULTIPLE CPU SYSTEM 2. MULTIPLE CPU SYSTEM 2.1 Multiple CPU System 2.1.1 Overview (1) What is Multiple CPU system ? A Multiple CPU system is a system in which more than one PLC CPU module and Motion CPU module (up to 4 modules) are mounted on several main base unit in order to control the I/O modules and intelligent function modules. Each Motion CPU controls the servo amplifiers connected by SSCNET cable.
2 MULTIPLE CPU SYSTEM 2.1.2 Installation position of CPU module Up to four PLC CPUs and Motion CPUs can be installed from the CPU slot (the right side slot of the power supply module) to slots 2 of the main base unit. The Motion CPU module cannot be installed in the CPU slot. The PLC CPU module must be installed in the CPU slot (CPU No.1) in the Multiple CPU system. There is no restriction on the installation order for CPU modules (CPU No.2 to 4).
2 MULTIPLE CPU SYSTEM 2.1.3 Precautions for using I/O modules and intelligent function modules (1) Modules controllable by the Motion CPU Modules controllable by the Motion CPU are shown below. • Motion modules (Q172DLX, Q172DEX, Q173DPX) • I/O modules (QX , QY , QH , QX Y ) • Analogue modules (Q6 AD , Q6 AD- , Q6 DA , Q6 DA- ) • Interrupt module (QI60) (2) Compatibility with the Multiple CPU system The intelligent function modules of function version "B" or later support the Multiple CPU system.
2 MULTIPLE CPU SYSTEM 2.1.4 Modules subject to installation restrictions (1) Modules subject to install restrictions for the Motion CPU are sown below. Use within the restrictions listed below.
2 MULTIPLE CPU SYSTEM 2.1.5 How to reset the Multiple CPU system The entire Multiple CPU system can be reset by resetting CPU No.1. The CPU modules of No.2 to No.4, I/O modules and intelligent function modules will be reset when PLC CPU No.1 is reset. If a stop error occurs in any of the CPUs on the Multiple CPU system, either reset CPU No.1 or restart the Multiple CPU system (power supply ON OFF ON) for recovery. (Recovery is not allowed by resetting the error-stopped CPU modules other than CPU No.1.
2 MULTIPLE CPU SYSTEM 2.1.6 Operation for CPU module stop error The entire system will behaves differently depending whether a stop error occurs in CPU No.1 or any of CPU No.2 to No.4 in the Multiple CPU system. (1) When a stop error occurs at CPU No.1 (a) A "MULTI CPU DOWN (error code: 7000)" error occurs at the other CPUs and the Multiple CPU system will be halted when a stop error occurs at the (Note-1) PLC CPU No.1. (b) The following procedure to restore the system is shown below.
2 MULTIPLE CPU SYSTEM (b) When a stop error occurs in the CPU module for which " All station stop by stop error of CPU 'n' " has not been set, a "MULTI EXE. ERROR (error code: 7010)" error occurs in all other CPUs but operations will continue. POINT (Note-1) : When a stop error occurs, a "MULTI CPU DOWN (error code : 7000)" stop error will occur at the CPU on which the error was detected.
2 MULTIPLE CPU SYSTEM (3) Operation at a Motion CPU error Operations at a Motion CPU error are shown below. Category Type of error System setting error Operation Operation Does not operate from the beginning (does not run). WDT error Varies depending on the error. Self-diagnosis error Stops at a CPU DOWN error. disable errors Remark • All actual output PY points turn OFF. No effect on other CPUs. • All actual output PY points turn OFF. Other CPUs may also stop depending on the parameter setting.
2 MULTIPLE CPU SYSTEM 2.2 Starting Up the Multiple CPU System This section describes a standard procedure to start up the Multiple CPU system. 2.2.1 Startup Flow of the Multiple CPU System START Definition of functions with Multiple CPU system Control and function executed in each CPU module are defined. Application and assignment of device Refer to Section 2.3 When automatic refresh of the CPU shared memory is performed, the number of refresh points is continuously obtained.
2 MULTIPLE CPU SYSTEM 1) Start-up of MT Developer Refer to the help for operation of MT Developer. Start-up MT Developer. Creation of system settings and program, etc. Motion CPU Create the system settings, servo data and Motion SFC program. Refer to Section 3.1 for system settings. Refer to the Programming Manual of each operating system software for details of program. Write to the Motion CPU Write the system settings, servo data and Motion SFC program.
2 MULTIPLE CPU SYSTEM 2.3 Communication between the PLC CPU and the Motion CPU in the Multiple CPU System 2.3.1 CPU shared Memory (1) Structure of CPU shared memory The CPU shared memory is memory provided for each CPU module by which data is written or read between CPU modules of a Multiple CPU system. The CPU shared memory consists of four areas.
2 MULTIPLE CPU SYSTEM (a) Self CPU operation information area (0H to 1FFH) 1) The following information of self CPU is stored as the Multiple CPU system Table 2.3 Table of self CPU operation information areas CPU shared memory address 0H 1H 2H 3H 4H 5H 6H to 10H 11H to 1BH Name Description Detail (Note) The area to confirm if information is stored in the self CPU's operation information area (1H to 1FH) or not.
2 MULTIPLE CPU SYSTEM (d) Multiple CPU high speed transmission area The area corresponding to the Multiple CPU high speed main base unit (Q3 DB) and Multiple CPU high speed transmission that uses the drive system controllers including QnUD(H)CPU and Motion CPU. The image chart of Multiple CPU high speed transmission area is shown below. Refer to Section 2.3.2(1) for access to the Multiple CPU high speed transmission area of self CPU and other CPU. CPU No.2 CPU No.3 CPU No.4 CPU No.
2 MULTIPLE CPU SYSTEM 2.3.2 Multiple CPU high speed transmission (1) Multiple CPU high speed transmission Multiple CPU high speed transmission is a function for fixed cycle data transmission between Multiple CPUs (Multiple CPU high speed transmission cycle is 0.88ms.). Secure data transmission is possible without effecting the PLC CPU scan time or Motion CPU main cycle because the data transmission and execution of PLC program and Motion SFC program can be executed with parallel processing.
2 MULTIPLE CPU SYSTEM 1) Access to Multiple CPU high speed transmission area a) Description of Multiple CPU area device Word device : U \G CPU shared memory address (decimal) (10000 to up to 24335) First I/O number of CPU module CPU No.1 CPU No.2 CPU No.3 CPU No.4 CPU No. 3E1(H) 3E2(H) 3E3(H) First I/O number 3E0(H) Bit device :U \G . Bit specification (0 to F : Hexadecimal) CPU shared memory address (decimal) (10000 to up to 24335) First I/O number CPU module CPU No.1 CPU No.2 CPU No.3 CPU No.
2 MULTIPLE CPU SYSTEM (b) Example of using automatic refresh method CPU No.2 (Motion CPU) CPU No.1 (PLC CPU) PLC program Device memory SM400 CPU shared memory CPU shared memory (Automatic refresh area (Note-1)) (Automatic refresh area (Note-1)) Device memory INC D0 Y0 1) D0 Refresh at the timing of END processing SM400 CPU No.1 transmitting data 3) 2) CPU No.1 transmitting data INC D1 D2000 Refresh at the timing of Motion CPU main cycle Y0 Multiple CPU high speed transmission in 0.
2 MULTIPLE CPU SYSTEM (3) Memory configuration of Multiple CPU high speed transmission area Memory configuration of Multiple CPU high speed transmission area is shown below. 1) Multiple CPU high speed transmission area [Variable in 0 to 14k[points] (Note-1)] 2) 3) 4) 5) CPU No.1 send area CPU No.2 send area 6) 7) User setting area Automatic refresh area CPU No.3 send area CPU No.
2 MULTIPLE CPU SYSTEM (4) Parameter setting The parameter setting list for use with the Multiple CPU high speed transmission is shown in Table 2.6. Table 2.6 Multiple CPU high speed transmission parameter list Name Description Multiple CPU high Set the size of the Multiple CPU high speed speed transmission transmission area allocated in each CPU module area setting which composes the Multiple CPU system.
2 MULTIPLE CPU SYSTEM Table 2.7 Parameter setting items of Multiple CPU high speed transmission area setting Item CPU Setting description Setting/display value CPU No. corresponding to displayed parameters. CPU No.1 to No.4 Set the number of points of data that each CPU module sends. Default value assigned to each CPU is shown below. CPU specific send range Number of CPUs Default value of CPU specific send range [points] CPU No.1 CPU No.2 CPU No.3 CPU No.
2 MULTIPLE CPU SYSTEM POINT Selecting "Advanced setting" enables the ability to change the number of points from 1k to 2k in the system area used for Motion dedicated PLC instructions. Changing the number of points in the system area to 2k increases the number of Motion dedicated PLC instructions that can be executed concurrently in a scan. The screen where "Advanced setting" is selected is shown below.
2 MULTIPLE CPU SYSTEM (b) Automatic refresh setting Setting for use of the automatic refresh function in the Multiple CPU high speed transmission area. Up to 32 setting ranges can be set for each CPU module. Automatic refresh setting screen and setting range are shown below. Table 2.8 Parameter setting items of automatic refresh setting Item Setting description Setting range CPU selection Select the CPU module for editing of the CPU specific send range setting. CPU No.1 to No.4 Setting No.
2 MULTIPLE CPU SYSTEM POINT The processing performance of automatic refresh improves when devices are transmitted in 2 word sets. Therefore, it is recommended to set the start device as 2 word unit by inputting an even device number. 1) Operation example of automatic refresh a) Parameter setting The example of setting automatic refresh is shown below. • CPU No.1 (PLC CPU) (GX Developer) Set the device transmitted to CPU No.2. • CPU No.2 (Motion CPU) (MT Developer) Set the device received from CPU No.1.
2 MULTIPLE CPU SYSTEM POINT Set the following operation for automatic refresh setting using GX Developer. 1) Select tab "Multiple CPU high speed communication area setting". 2) Set "Use Multiple CPU high speed communication ". 1) 2) b) Operation example The example of operating automatic refresh is shown below. PLC CPU (CPU No.1) Motion CPU (CPU No.2) Multiple CPU high speed transmission area CPU No.
2 MULTIPLE CPU SYSTEM (5) Precautions (a) Assurance of data sent between CPUs Due to the timing of data sent from the self CPU and automatic refresh in any of the other CPUs, old data and new data may become mixed (data separation). The following shows the methods for avoiding data separation at communications by automatic refresh. 1) Data consistency for 32 bit data Transfer data with automatic refresh method is in units of 32 bits.
2 MULTIPLE CPU SYSTEM 2.3.3 Multiple CPU high speed refresh function This function is used to update the data between internal devices of Motion CPU and the Multiple CPU high speed transmission area. This occurs every operation cycle as defined in the device setting of automatic refresh in the self CPU. Classification Item Setting No. Display CPU Description Setting/display value Setting No. which executes high speed refresh is displayed. CPU No.
2 MULTIPLE CPU SYSTEM (2) Operation example of Multiple CPU high speed refresh function (a) Parameter setting The automatic refresh setting of Multiple CPU high speed refresh is shown below. • CPU No.1 (PLC CPU) (GX Developer) Set the device transmitted to CPU No.2. • CPU No.2 (Motion CPU) (MT Developer) Set the device received from CPU No.1. Set the device received from CPU No.2. Set the device transmitted to CPU No.1. Set the device to executed the Multiple CPU high speed refresh.
2 MULTIPLE CPU SYSTEM POINT Set the following operation for automatic refresh setting using GX Developer. 1) Select tab "Multiple CPU high speed communication area setting". 2) Set "Use Multiple CPU high speed communication ".
2 MULTIPLE CPU SYSTEM (b) Operation example The example of operating Multiple CPU high speed refresh function is shown below. PLC CPU (CPU No.1) Motion CPU (CPU No.2) Multiple CPU high speed transmission area Internal relay Multiple CPU high speed transmission area U3E0\G10000 M0 M2400 Automatic refresh area M U3E1\G10000 U3E1\G10000 es oc pr CPU No.2 transmitting data CPU No.
2 MULTIPLE CPU SYSTEM 2.3.4 Clock synchronization between Multiple CPU The clock of each CPU is synchronized with the clock of CPU No. 1. The clock data used for synchronization in a Multiple CPU system can be edited. (1) Setting of clock data Set the clock of CPU No.1. The Motion CPU module operates automatically by the clock of CPU No.1. POINT The clock data of CPU No.1 is automatically set even if the clocks of CPU No. 2 to 4 are set independently.
2 MULTIPLE CPU SYSTEM 2.3.5 Multiple CPU synchronous startup Multiple CPU synchronous startup function synchronizes the startups of CPU No.1 to CPU No.4. (It takes about ten seconds to startup for Motion CPU.) Since this function monitors the startup of each CPU module, when other CPU is accessed by a user program, an interlock program which checks the CPU module startup is unnecessary.
2 MULTIPLE CPU SYSTEM 2.3.6 Control Instruction from PLC CPU to Motion CPU Control can be instructed from the PLC CPU to the Motion CPU using the Motion dedicated PLC instructions listed in the table below. Refer to the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for the details of each instruction. (Control may not be instructed from one Motion CPU to another Motion CPU.) Instruction name Description D(P).SFCS Start request of the Motion SFC program (Program No.
2 MULTIPLE CPU SYSTEM MEMO 2 - 32
3 COMMON PARAMETERS 3. COMMON PARAMETERS 3.1 System Settings In the Multiple CPU system, the common system parameters and individual parameters are set for each CPU and written to each CPU. (1) The base settings, Multiple CPU settings and Motion slot settings are set in the common system parameter setting. (2) The system basic setting, self CPU installation position setting, servo amplifier setting, high-speed read setting and optional data monitor setting are set in the individual parameter setting.
3 COMMON PARAMETERS 3.1.1 System data settings The table below lists the system data items to be set. Item Base setting Setting range Initial value Remark Main base Extension base 8/12 slots None/2/3/5/8/10/12 slots Main base: 8 slots None Set the number of slots in the main base or extension base. No. of CPU 2/3/4 modules 2 modules Set the total number of Multiple CPUs including PLC CPU(s).
3 COMMON PARAMETERS Item Setting range Initial value Q173DCPU: Up to 2 systems, 32 None axes Q172DCPU: Up to 1 system, 8 axes External signal input setting Amplifier input invalid/Amplifier input Amplifier input invalid valid Amplifier setting Individual parameters Input filter setting None/0.8ms/1.7ms/2.6ms/3.5ms High-speed data read setting Optional data monitor setting One Q172DEX/Q173DPX module and one input module. Set 1 to 3 for each axis.
3 COMMON PARAMETERS 3.1.2 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.
3 COMMON PARAMETERS (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, 3015), 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.
3 COMMON PARAMETERS (a) Multiple CPU settings Set the following items identically in Multiple CPU Settings (Motion CPU) in MT Developer and in Multiple CPU Settings (PLC CPU) in GX Developer.
3 COMMON PARAMETERS (b) Motion slot settings Set the modules controlled by the self CPU by the Motion Slot Settings (Motion CPU) in MT Developer. In GX Developer, set the slot for Motion CPU control as the CPU number of Motion CPU in I/O Assignment Settings (PLC CPU). Motion Slot Setting (Motion CPU) in MT Developer Control CPU No. I/O Assignment Setting (PLC CPU setting) in GX Developer (Note): Motion slot setting items are different depending on the operating system software.
3 COMMON PARAMETERS (c) Base settings Set the total number of bases and number of slots in each base identically between Base Settings (Motion CPU) in MT Developer and I/O Assignment Settings (PLC CPU) in GX Developer. In GX Developer, the detailed settings may be omitted by setting the base mode "Automatic".
3 COMMON PARAMETERS POINT GOT is recognized as an intelligent function 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). When the "2nd stage" of extension base is set as connection with GOT.
3 COMMON PARAMETERS 3.1.3 Individual parameters (1) System basic setting The following explains each item to be set in system basic setting. (a) Operation cycle 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 0.4ms/0.8ms/1.7ms/3.5ms/7.1ms/14.2ms/Automatic setting. The actual operation cycle corresponding to 0.4ms is 0.444...ms. Similarly, 0.8ms corresponds to 0.888…ms, 1.7ms to 1.777...ms, 3.5ms to 3.555...ms, 7.
3 COMMON PARAMETERS 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 (unit:μs) is stored in SD522, and the current setting of operation cycle (unit:μs) is stored in SD523.
3 COMMON PARAMETERS (d) Latch range Set the following latching ranges for M, B, F, D and W, respectively. • Latch (1) : It is possible clear using the remote operation (Latch clear(1), Latch clear (1)(2)). • Latch (2) : It is possible clear using the remote operation (Latch clear (1)(2)). (2) Individual module settings The setting items for each module are shown below.
3 COMMON PARAMETERS Setting items for each module (Continued) Module name QX Input module Item Setting range First I/O No. 00 to FF0 (in units of 16 points) 0 Point 0/16/32/64/128/256 16 High-speed data read setting Used/Unused I/O response time 1/5/10/20/70 ms (setting for high-speed input (0.1/0.2/0.4/0.6/1 ms) module in parentheses) QY QH / QX Y Output module Input/Output composite module 00 to FF0 (in units of 16 points) 0 0/16/32/64/128/256 16 First I/O No.
3 COMMON PARAMETERS (3) External signal input Servo external signal (Upper stroke limit/Lower stroke limit/Stop signal/Proximity dog) can be selected for every axis from the following two methods. (a) Q172DLX Servo external signals interface module use Set the servo external signals interface module, and set axis No. as the "External signal setting" in the system setting.
3 COMMON PARAMETERS 3.2 I/O number assignment In the Multiple CPU system, I/O numbers are used for interactive transmission between the Motion CPU and I/O modules and intelligent function modules, or between PLC CPU and Motion CPU. 3.2.1 I/O number assignment of each module The Multiple CPU system is different from the Single CPU system in the position (slot) of I/O number "0H" for PLC CPU. However, I/O number of control module can be assigned independently for each CPU for Motion CPU.
3 COMMON PARAMETERS (2) I/O number assignment of Motion CPU control module Mitsubishi recommends that I/O No. assignment be set as common consecutive No. throughout all CPUs. However, the I/O number of the input modules, output modules and input/output composite modules controlled with the Motion CPU can also be set regardless as the I/O number of PLC CPU. (I/O number of the Motion CPU control modules is indicated as PX/PY.
3 COMMON PARAMETERS 3.2.2 I/O number of each CPU modules In the Multiple CPU system, I/O numbers are assigned to each CPU module to specify installed CPU modules. The I/O number for each CPU module is fixed to the corresponding slot and cannot be changed. The I/O number allocated to each CPU module in the Multiple CPU system is shown below.
3 COMMON PARAMETERS 3.2.3 I/O number setting Set the modules installed in the each slot of the main base or extension base and assign the control CPU of applicable slot as the self CPU in the system setting for Motion CPU. The following modules must be set the I/O No.. • Input module • Output module • Input/Output composite module • Analogue input module • Analogue output module Refer to the help of MT Developer for the detailed operating procedure on the system settings screen. Set the I/O No.
3 COMMON PARAMETERS 3.3 Servo Parameters The servo parameters control the data fixed by the specifications of the servo amplifier and servomotor controlled in the parameter set for each axis and the control of the servomotor. The servo parameters are set by the Setup software (MR Configurator). Refer to the "Servo amplifier Instruction Manual" for details of the servo parameters. Refer to the help for handling of MR Configurator. Instruction Manual list is shown below.
3 COMMON PARAMETERS (2) Gain/filter parameters No. Symbol Name Initial value Unit PB01 FILT Adaptive tuning mode (Adaptive filter ) 0000h — PB02 VRFT Vibration suppression control tuning mode (Advanced vibration suppression control) 0000h — For manufacturer setting 0 — Feed forward gain 0 % For manufacturer setting 500 — times PB03 — PB04 FFC PB05 — PB06 GD2 Ratio of load inertia moment to servomotor inertia moment 7.
3 COMMON PARAMETERS (3) Extension setting parameters No.
3 COMMON PARAMETERS (4) I/O Setting Parameters No.
4 AUXILIARY AND APPLIED FUNCTIONS 4. AUXILIARY AND APPLIED FUNCTIONS 4.1 Limit Switch Output Function This function is used to output the ON/OFF signal corresponding to the data range of the watch data set per output device. Motion control data or optional word data can be used as watch data. (Refer to Section "4.1.2 Limit output setting data" for details.) A maximum output device for 32 points can be set regardless of the number of axes. 4.1.
4 AUXILIARY AND APPLIED FUNCTIONS 3) (ON Value) = (OFF Value) Output device ON region setting OFF in whole region 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 (SM500: ON) by the PLC ready flag (M2000) from OFF to ON. When the PCPU ready flag (SM500) turns OFF by turning the PLC ready flag (M2000) from ON to OFF, all points turn OFF.
4 AUXILIARY AND APPLIED FUNCTIONS (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.
4 AUXILIARY AND APPLIED FUNCTIONS 4.1.2 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.) No.
4 AUXILIARY AND APPLIED FUNCTIONS (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 according to the ON region setting. (b) As the watch data, motion control data or optional word device data can be used. 1) Motion control data Item Feed current value Real current value Unit Data type Position command 32-bit Deviation counter value PLS Motor current 0.1% Motor speed 0.
4 AUXILIARY AND APPLIED FUNCTIONS (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. Item Device No.
4 AUXILIARY AND APPLIED FUNCTIONS (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. Output enable/disable bit Limit switch outputs are turned ON/OFF on the basis of Without setting the "output enable/disable bit" and ON region setting OFF With setting Control description (ON Value, OFF Value). ON Limit switch outputs are turned ON. (b) Usable devices Item Device No.
4 AUXILIARY AND APPLIED FUNCTIONS 4.2 Absolute Position System The positioning control for absolute position system can be performed using the absolute-position-compatible servomotors and servo amplifiers. If the machine position is set at the system starting, home position return is not necessary because the absolute position is detected at the power on. The machine position is set with the home position return using the Motion SFC program or MT Developer.
4 AUXILIARY AND APPLIED FUNCTIONS POINT (1) The address setting range of absolute position system is 2147483648 to 2147483647. It is not possible to restore position commands that exceed this limit, or current values after a power interruption. Correspond by the [degree] setting for an infinite feed operation.
4 AUXILIARY AND APPLIED FUNCTIONS 4.2.1 Current value control The current value when using the ABS encoder is controlled by following functions. (1) The validity of an encoder data during operation is checked. (a) Checks that the amount of change of the encoder in a 3.5[ms] is within 180 degrees at the motor axis. (An error is displayed at the abnormal.) (b) Checks that adjustment of the encoder data and feed-back positions controlled with the servo amplifier. (An error is displayed at the abnormal.
4 AUXILIARY AND APPLIED FUNCTIONS 4.3 High-Speed Reading of Specified Data This function is used to store the specified positioning data in the specified device (D, W, U \G). The signal from input module controlled in the Motion CPU is used as a trigger. It can be set in the system setting of MT Developer. (1) Positioning data that can be set Setting data Word No.
4 AUXILIARY AND APPLIED FUNCTIONS 4.4 ROM Operation Function This function is used to operate based on the data in the FLASH ROM built-in Motion CPU module that the user programs and parameters have been stored. 4.4.1 Specifications of 7-segment LED/Switches No. Q172DCPU 1) CDE AB 789 CD AB E F01 45 23 6 F01 789 1 45 23 6 SW 2 STOP RUN CAUTION 3) Functions 7-segment LED 2) Rotary switch 1 (SW1) • Set the operation mode (Normal mode, Installation mode and mode operated by ROM, etc.
4 AUXILIARY AND APPLIED FUNCTIONS (b) Operation mode overview Operation mode 7-segment LED Operation overview • " . " remains flashing in the first digit of 7-segment LED. • It operates based on the user programs and parameters stored in the SRAM Mode operated built-in Motion CPU module. by RAM • The user programs and parameters for the ROM operation can be written to the FLASH ROM built-in Motion CPU module. • " . " remains flashing in the first digit and steady " .
4 AUXILIARY AND APPLIED FUNCTIONS 4.4.2 Outline of ROM operation When the ROM writing is requested to the Motion CPU module using the MT Developer, the programs and parameters stored in the SRAM built-in Motion CPU module are batch-written to the FLASH ROM, after the data of FLASH ROM built-in Motion CPU are erased. When the Motion CPU starts in the "Mode operated by ROM", a normal operation starts, after the data written in the FLASH ROM is read to the SRAM.
4 AUXILIARY AND APPLIED FUNCTIONS (1) Write the programs and parameters written in the SRAM built-in Motion CPU module to the FLASH ROM built-in Motion CPU module for the ROM operation. Mode operated by RAM/Mode operated by ROM Motion CPU module Be sure to write the programs and parameters beforehand to the SRAM built-in Motion CPU module at the ROM operation. IBM PC/AT SRAM Programs Parameters, etc. MT Developer 1) ROM writing request FLASH ROM Programs Parameters, etc.
4 AUXILIARY AND APPLIED FUNCTIONS Write the data of SRAM built-in Motion CPU module to the ROM. The operating procedure for ROM writing using the MT Developer is shown below. Main Frame screen Operating procedure 1) Select menu "Online" -"Export to ROM Format" to display "Export to ROM Format" screen. Export to ROM Format screen 2) Select "Execute" button. ROM writing is executed to FLASH ROM built-in Motion CPU module.
4 AUXILIARY AND APPLIED FUNCTIONS (2) Write the programs and parameters of the MT Developer to the SRAM built-in Motion CPU module, and then write them to the FLASH ROM built-in Motion CPU module for the ROM operation. Mode operated by RAM/Mode operated by ROM Motion CPU module SRAM IBM PC/AT 1) Write data (ROM writing request) Programs Parameters, etc. Programs Parameters, etc. 2) ROM writing request after write data FLASH ROM Programs Parameters, etc.
4 AUXILIARY AND APPLIED FUNCTIONS Write the data of MT Developer to the ROM. The operating procedure for ROM writing using the MT Developer is shown below. Main Frame screen Operating procedure 1) Select menu "Online" -"Write to CPU" to display "Write to CPU" screen. Write to CPU screen 2) Check data of MT Developer written in the Motion CPU. 3) Select "Program memory + CPU ROM" in target memory. 4) Select "Execute" button.
4 AUXILIARY AND APPLIED FUNCTIONS 4.4.3 Operating procedure of 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". 2) Create the system setting, programs and parameters using the MT Developer, and execute a trial run and adjustment.
4 AUXILIARY AND APPLIED FUNCTIONS (2) Operation at the "Mode operated by ROM" Mode operated by ROM start Is the data write to the FLASH ROM built-in Motion CPU module ? NO (Data (programs, parameters and absolute position data) is not written to the FLASH ROM built-in Motion CPU module.) YES Read the followings of the FLASH ROM built-in Motion CPU module to the SRAM built-in Motion CPU module.
4 AUXILIARY AND APPLIED FUNCTIONS 4.5 Security Function This function is used to protect the user data of Motion CPU by registering a password. The illegal reading or writing of the user data are prevented by setting a password. Registered password can be changed and deleted. [Register/Change Password] or [Delete Password] screen is used to register/ change/delete a password. Select from a menu bar to display these screen. The user data protected in this function are shown below.
4 AUXILIARY AND APPLIED FUNCTIONS (b) Enter new password in password column, and select registration condition (Write Protection, Read/Write Protection). It leaves in blank for the user data that does not change a password. (c) Click on [Execute] button to display [Check Password] screen for old password confirmation. Click on [Execute] button after old password input. New password will be registered in the Motion CPU by success of old password check.
4 AUXILIARY AND APPLIED FUNCTIONS 4.5.2 Password delete Select menu [Online] [Register Password] [Delete] to delete a password. (1) Procedure for password delete (a) Status of password registered in the Motion CPU are displayed. (b) Enter old password and click on [Execute] button to delete password. It leaves in blank for the user data that does not delete a password. (c) A password will be deleted by success of password check. (" " displayed in registration column disappears.
4 AUXILIARY AND APPLIED FUNCTIONS 4.5.3 Password check When operating the user data that sets password, the check password screen is displayed automatically. (1) Procedure for password check (a) Enter old password in password column, and click on [Execute] button. (b) Protection by the password temporarily released by success of password check. After that it can be operated the user data. (c) A password is memorized until MT Developer ends.
4 AUXILIARY AND APPLIED FUNCTIONS 4.5.4 Password save Registered/changed/deleted password or password read with user data from "Read from CPU" screen displayed by menu [Online] [Read from CPU] can be saved in a project data. A password saved in a project data can be registered with user data, when the user data are written in the Motion CPU that does not set password from "Write to CPU" screen displayed by menu [Online] [Write to CPU].
4 AUXILIARY AND APPLIED FUNCTIONS 4.6 All clear function This function is used to clear the all user data, password setting, backup area and user data area of FLASH ROM in the Motion CPU module. (1) Procedure for clear all (a) Set the Motion CPU module to installation mode (Set a rotary switch 1 (SW1) to "A".) (b) Select [Execute] button of "Clear CPU Memory" screen displayed by menu [Online] [Clear CPU Memory]". POINT (1) Set the Motion CPU module to installation mode to clear all.
4 AUXILIARY AND APPLIED FUNCTIONS 4.7 Communication via Network The communication between the personal computer and the Motion CPU is possible via Q series Network module (MELSECNET/10(H), Ethernet, CC-Link and etc.) in the Motion CPU (Q173DCPU/Q172DCPU). Refer to the PLC manuals for the specifications of each network modules of MELSECNET/10(H), Ethernet, CC-Link and Serial communication, the handling method. 4.7.
4 AUXILIARY AND APPLIED FUNCTIONS 4.7.2 Access range of the communications via network (1) Network configuration via the MELSECNET/10(H) or the Ethernet (a) It can access the other CPU via the network from the programming software packages (GX Developer, MT Developer, etc.) of the personal computer connected with the CPU or serial communication module in USB/RS-232.
4 AUXILIARY AND APPLIED FUNCTIONS (2) Network configuration via the CC-Link (a) It can access the other CPU via the CC-link from the programming software packages (GX Developer, MT Developer, etc.) of the personal computer connected with the CPU or serial communication module in USB/RS-232. (b) It can access the other CPU via the CC-Link from the programming software packages in the personal computer by connecting the personal computer equipped with CC-Link board to the CC-Link.
4 AUXILIARY AND APPLIED FUNCTIONS (3) Network configuration via the RS-422/485 (a) It can access the other CPU via the RS-422/485 from the programming software packages (GX Developer, MT Developer, etc.) of the personal computer connected with the CPU or serial communication module in USB/RS-232. (b) 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.
4 AUXILIARY AND APPLIED FUNCTIONS (4) Network configuration which MELSECNET/10(H), Ethernet, CCLink, RS-422/485 were mixed (a) When the MELSECNET/10(H) or Ethernet is defined as "Network" and CCLink or RS-422/485 is defined as "Link", combination of whether to be able to access from the programming software packages (GX Developer, MT Developer, etc.) is shown below.
4 AUXILIARY AND APPLIED FUNCTIONS Personal computer USB/ RS-232 QnUD(H) Q173D CPU CPU Personal computer C24 : Serial communication module MNET : MELSECNET/10(H) Ether : Ethernet RS-232 RS-422/485 C24 CC-Link CC-Link QnUD(H) Q173D CC-Link CPU CPU QnUD(H) Q173D CC-Link MNET CPU CPU or Ether Network No.1 RS-422/485 Network No.2 QnUD(H) Q173D CC-Link MNET CPU CPU or Ether QnUD(H) Q173D CPU CPU MNET or Ether QnUD(H) Q173D CPU CPU MNET or Ether Network No.
4 AUXILIARY AND APPLIED FUNCTIONS 4.8 Monitor Function of the Main Cycle (1) Information for main cycle of the Motion CPU (process cycle executed at free time except for motion control) is stored to the special register. (2) Since the automatic refresh of CPU shared 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.
4 AUXILIARY AND APPLIED FUNCTIONS 4.9 Servo Parameter Reading Function (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, an operation to read servo parameters is unnecessary in the following cases. (a) The parameters are changed by auto tuning. (b) The parameters are changed by connecting directly MR Configurator to the servo amplifier.
4 AUXILIARY AND APPLIED FUNCTIONS 4.10 Optional Data Monitor Function This function is used to store the data (refer to following table) up to three points per axis to the specified devices (D, W, #, U \G) and monitor them. It can be set by the system setting of MT Developer.
4 AUXILIARY AND APPLIED FUNCTIONS 4.11 Connect/Disconnect Function This function is used to temporarily suspend SSCNET communication while servo amplifiers and/or SSCNET cables after Axis 1 are exchanged with the power supply ON in a Multiple CPU system. SD803 is required for connect/disconnect and SD508 stores the command status for "accept waiting" or "execute waiting" during this process.
4 AUXILIARY AND APPLIED FUNCTIONS POINT (1) After completion of SSCNET communication disconnect processing, be sure to check the LED display of the servo amplifier for "AA" before turning OFF its the power supply. (2) When a "1 to 32 : Disconnect command" and/or "-10 : Connect command" are set to the "Connect/disconnect command device (SD803)", the status of the SD508 changes to the "-1: Connect/disconnect waiting" state.
4 AUXILIARY AND APPLIED FUNCTIONS (b) Operation procedure to connect 1) Turn ON the power supply of the servo amplifier. 2) Set "-10: Connect command" in SD803. 3) Check that "-1: Connect execute waiting" is set in SD508. (Connect execute waiting) 4) Set "-2: Connect execute command" in SD803. 5) Check that SD508 is "0: Connect command accept waiting" is set in SD508. (Completion of connection) 6) Resume operation of servo amplifier after verifying the servo ready status (M2415+20n) is ON.
4 AUXILIARY AND APPLIED FUNCTIONS (1) Self CPU program which connects/disconnects servo amplifiers from Axis 5 on Disconnect procedure: Turn OFF the power supply of servo amplifier after checking its LED display for "AA". Connect procedure: Resume operation of servo amplifier after verifying that the servo ready (M2415+20n) is ON.
4 AUXILIARY AND APPLIED FUNCTIONS (2) PLC CPU program which connects/disconnects servo amplifiers from Axis 5 on which is connected to the Motion CPU (CPU No.2). Disconnect procedure: Turn X0 OFF to ON, and then turn OFF the power supply of servo amplifier after checking the LED display "AA" of servo amplifier. Connect procedure: Turn X1 OFF to ON, and then resume operation of servo amplifier after checking the servo ready (M2415+20n) of servo amplifier.
4 AUXILIARY AND APPLIED FUNCTIONS 4.12 Remote operation This function is used to control the following operation of Motion CPU using MT Developer. • Remote RUN/STOP • Remote latch clear POINT Latch clear can be executed only using the remote control of MT Developer. 4.12.1 Remote RUN/STOP The PLC ready flag (M2000) is turned ON/OFF by MT Developer with RUN/STOP switch of Motion CPU module set to RUN.
4 AUXILIARY AND APPLIED FUNCTIONS POINT (1) Remote RUN cannot be executed if RUN/STOP switch sets to STOP. Operation after remote operation by RUN/STOP switch is shown below. Position of RUN/STOP switch RUN Remote operation STOP Execute remote RUN RUN STOP Execute remote STOP STOP STOP (2) The following parameters are read by turning on the PLC ready flag (M2000).
4 AUXILIARY AND APPLIED FUNCTIONS 4.12.2 Remote latch clear Device data of Motion CPU that latched are cleared by MT Developer at PLC ready flag (M2000) OFF (PCPU READY complete flag (SM500) OFF). Operation for remote latch clear is combined with remote RUN/STOP. (1) Operation procedure (a) Turn OFF the PLC ready flag (M2000) (PCPU READY complete flag (SM500) OFF) by remote STOP.
4 AUXILIARY AND APPLIED FUNCTIONS MEMO 4 - 44
APPENDICES APPENDICES APPENDIX 1 Special relays/Special registers APPENDIX 1.1 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. Item No. Explanation • Indicates the device No. of the special relay.
APPENDICES Table 1.1 Special relay list No. SM0 SM1 SM51 SM52 Name Meaning Details Set by (When set) • Turn ON if an error occurs as a result of diagnosis. • Remains ON even if the condition is restored to normal thereafter. • Turn ON by ON to OFF of the Motion error detection flag (M2039) for except the stop error after confirming the error content. Diagnostic error OFF : No error ON : Error Self-diagnostic error • Turn ON if an error occurs as a result of self-diagnosis.
APPENDICES Table 1.1 Special relay list (Continued) No. Name Meaning Details SM243 No.4 CPU resetting OFF : CPU No.4 reset cancel • Goes OFF when reset of the CPU No.4 is cancelled. ON : CPU No.4 resetting SM244 No.1 CPU error OFF : CPU No.1 normal ON : CPU No.1 during stop error • Goes OFF when the CPU No.1 is normal. (Including a continuation error) (Note-2) • Comes ON when the CPU No.1 is during stop error. SM245 No.2 CPU error OFF : CPU No.2 normal ON : CPU No.
APPENDICES Table 1.1 Special relay list (Continued) No. Name Meaning Details SM528 No.1 CPU MULTR complete OFF to ON : CPU No.1 read completion • Turn ON when the data read from CPU No.1 is normal by MULTR instruction. SM529 No.2 CPU MULTR complete OFF to ON : CPU No.2 read completion • Turn ON when the data read from CPU No.2 is normal by MULTR instruction. SM530 No.3 CPU MULTR complete OFF to ON : CPU No.3 read completion • Turn ON when the data read from CPU No.
APPENDICES APPENDIX 1.2 Special registers Special registers are internal registers whose applications are fixed in the Motion CPU. For this reason, it is not possible to use these registers in Motion SFC programs in the same way that normal registers are used. However, data can be written as needed in order to control the Motion CPU. Data stored in the special registers are stored as BIN values if no special designation has been made to the contrary.
APPENDICES Table 1.2 Special register list No. SD0 Name Diagnostic errors Meaning Diagnostic error code Details Set by (When set) • Error codes for errors found by diagnosis are stored as BIN data. • Refer to "APPENDIX 3" for details of the error code. • After confirm the error content, except the stop error, it is possible to clear by ON to OFF of the Motion error detection flag (M2039).
APPENDICES Table 1.2 Special register list (Continued) No. Name Meaning SD16 Set by (When set) Details • Individual information corresponding to the diagnostic error (SD0) is stored. • The error individual information type can be judged by SD4 (individual information category code). 5: Parameter No. SD17 SD18 SD19 SD20 No. Meaning SD21 SD16 Parameter No.
APPENDICES Table 1.2 Special register list (Continued) No. Name Meaning Set by (When set) Details • The year (last two digits) and month are stored as BCD code. B15 to B12 B11 to B8 B7 to Clock data (Year, Month) SD210 Year B4 B3 to B0 Example : July, 2006 H0607 B0 Example : 31st, 10 a.m. H3110 Month • The day and hour are stored as BCD code. B15 to B12 B11 to B8 B7 to B4 B3 to Clock data (Day, Hour) SD211 Day Hour • The minutes and seconds are stored as BCD code.
APPENDICES Table 1.2 Special register list (Continued) No. Name Meaning SD395 Multiple CPU No. Multiple CPU No. Details • CPU No. of the self CPU is stored. Set by (When set) S (Initial processing) Real mode axis SD500 information SD501 register • The information (Real mode axis: 0/Except real mode axis: 1) used as a real mode axis at the time of switching from real mode to virtual mode is stored.
APPENDICES Table 1.2 Special register list (Continued) No. SD522 Name Meaning Motion operation Motion operation cycle cycle Operation cycle SD523 of the Motion CPU setting Connect/ SD803 Disconnect (Command) Details • The time required for motion operation cycle is stored in the [µs] unit. Operation cycle of the Motion CPU • The setting operation cycle is stored in the [µs] unit.
APPENDICES APPENDIX 1.3 Replacement of special relays/special registers When a project for Q173HCPU(-T)/Q172HCPU(-T)/Q173CPUN(-T)/Q172CPUN(-T)/ Q173CPU/Q172CPU is converted into a project for Q173DCPU/Q172DCPU using the "Project management - File diversion" in MT Developer, special relays (M9000 to M9255) and special registers (D9000 to D9255) are automatically converted into new special relays (SM2000 to SM2255) and special registers (SD2000 to SD2255) respectively.
APPENDICES Table 1.4 Replacement of special registers Device No. Special relays for Q173HCPU(-T)/Q172HCPU(-T)/ Q173CPUN(-T)/Q172CPUN(-T) Q173CPU/Q172CPU Automatically converted to special relays Special relays for Q173DCPU/ Q172DCPU Name D9000 SD2000 SD60 Fuse blown No. D9005 SD2005 SD53 AC/DC DOWN counter No.
APPENDICES APPENDIX 2 System Setting Errors Motion CPUs generate a system configuration error under the following conditions. Table 2.1 System Setting Errors 7-segment LED Error code Error name (Note-1) Error cause (Note-2) LAY ERROR (SL ) • The slot set in system settings is vacant or a different module is installed. AXIS No. MULTIDEF • The axis No. setting overlaps in the system settings. • The axis No. (function select switch) setting of servo amplifier overlaps in the same SSCNET system.
APPENDICES MEMO APP - 14
APPENDICES APPENDIX 3 Self-diagnosis error code Multiple CPU related errors are stored in the CPU shared memory "self CPU operation information area (1H to 1CH)" of each module and self diagnostic error information (SD0 to SD26) of the special register (SD) as the self diagnostic errors. Error codes (1000 to 9999) of Multiple CPU related errors are common to each CPU module. The error code (10000 to 10999) is stored as required at Motion CPU-specific error occurrence.
APPENDICES (1) Multiple CPU related errors which occurs in Motion CPU Each digit of error code has been described as follows. Digit : Tens digit : Details code Hundreds digit : Thousands digit : Major division (Cause) 1 2 3 4 5 6 7 8 9 Major division Internal hardware Handling Parameter Program Watch timer Redundant system Multiple CPU Outside diagnosis Table 3.
APPENDICES Error code (SD0) Error contents and cause Corrective action 1000 1001 1002 1003 1004 1005 1006 Runaway or failure of CPU module. (1) Malfunctioning due to noise or other reason (2) Hardware fault (1) Take noise reduction measures. (2) Reset the CPU module and RUN it again. If the same error is displayed again, this suggests a CPU module hardware fault. Explain the error symptom and get advice from our sales representative.
APPENDICES Table 3.1 Multiple CPU related errors which occurs in Motion CPU (1000 to 9999) (Continued) Item Error code (SD0) Error message 1430 Common information (SD5 to SD15) Individual Information (SD16 to SD26) 7-segment LED display CPU operation status Diagnostic timing — 1431 At power ON/ At reset "AL" flashes 3 times Steady "A1" display Multiple CPU high speed bus MULTI-C.BUS ERR. — CPU No. 1432 Stop 4 digits error code is displayed in two flashes of 2 digits each.
APPENDICES Error code (SD0) Error contents and cause Corrective action 1430 Reset the CPU module and RUN it again. If the same error is displayed The error of self CPU is detected in the Multiple CPU high speed bus. again, this suggests a CPU module hardware fault. Explain the error symptom and get advice from our sales representative. 1431 The communication error with other CPU is detected in the Multiple CPU high speed bus. (1) Take noise reduction measures.
APPENDICES Table 3.1 Multiple CPU related errors which occurs in Motion CPU (1000 to 9999) (Continued) Item Error code (SD0) Error message Common information (SD5 to SD15) Individual Information (SD16 to SD26) 7-segment LED display CPU operation status 3001 At power ON/ At reset/ STOP RUN 3012 Parameter Diagnostic timing Parameter No. PARAMETER ERROR — Stop 3013 At power ON/ At reset Parameter No./ CPU No. 3015 (Note-1) (Note-4) — MULTI CPU DOWN (Note-1) MULTI EXE.
APPENDICES Error code (SD0) Error contents and cause Corrective action 3001 The parameter settings are corrupted. (1) Check the parameter item corresponding the numerical value (parameter No.), and correct it. (2) Rewrite corrected parameters to the CPU module, reload or reset the Multiple CPU system power supply. (3) If the same error occurs, it is thought to be a hardware error. Explain the error symptom and get advice from our sales representative.
APPENDICES (2) Motion CPU-specific errors Each digit of error code has been described as follows. Refer to programming manuals for error details.
APPENDICES Error code (SD0) Error contents and cause Corrective action 10003 Minor/major errors had occurred. 10004 Minor/major errors had occurred in virtual servomotor axis. (SV22) 10005 Minor/major errors had occurred in synchronous encoder axis. (SV22) 10006 The servo errors had occurred in the servo amplifier connected to the Motion CPU. Check the Motion error history of MT Developer and the servo error codes of servo error code storage device, and remove the error cause of servo amplifier.
APPENDICES (3) Self-diagnostic error information No. SD0 Name Meaning Diagnostic error Diagnostic errors code Details • Error codes for errors found by diagnosis are stored as BIN data. • The year (last two digits) and month that SD0 data was updated is stored as BCD 2-digit code.
APPENDICES (4) Release of Multiple CPU related error The release operation of errors that continues operation for CPU can be executed. Release the errors in the following procedure. 1) Remove the error cause. 2) Turn off the Motion error detection flag (M2039). The special relays, special registers and 7-segment LED for the errors are returned to the status before error occurs after release of errors.
APPENDICES APPENDIX 4 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU APPENDIX 4.1 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU Common differences to each mode are shown in Table 4.1. Refer to "APPENDIX 4.3 Differences of each mode" for characteristic differences to each mode. And, refer to "APPENDIX 4.2 Comparison of devices " for detailed differences of devices. Table 4.
APPENDICES Table 4.1 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU (Continued) Item Medium of operating system software Model of operating system software CPU module No.1 FD (2 disks) SW8DNC-SV Q SW6RN-SV Q Qn(H)CPU No restriction Q173DCPU/Q172DCPU only Combination with Q173CPUN(-T)/Q172CPUN(-T).
APPENDICES APPENDIX 4.2 Comparison of devices (1) Motion registers (a) Monitor devices Table 4.2 Motion registers (Monitor devices) list Device No.
APPENDICES Table 4.3 Monitor devices list Device No. Name Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU #8000 + 20n #8064 + 4n Servo amplifier type #8001 + 20n #8065 + 4n Motor current #8002 + 20n #8003 + 20n #8066 + 4n #8067 + 4n Motor speed #8004 + 20n #8005 + 20n — Command speed #8006 + 20n #8007 + 20n — Home position return re-travel value Remark New device in Q173DCPU/Q172DCPU (Note-1) : "n" in the above device No. indicates the numerical value which correspond to axis No.
APPENDICES (2) Special relays Table 4.6 Special relay list Device No.
APPENDICES (3) Special registers Table 4.7 Special registers list Device No. Q173DCPU/Q172DCPU Name Q173HCPU/Q172HCPU SD60 D9000 Fuse blown No. SD53 D9005 AC/DC DOWN counter No.
APPENDICES Table 4.7 Special registers list (Continued) Device No. Name Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU SD512 D9184 SD513 D9185 SD514 D9186 SD515 D9187 SD522 D9188 Motion operation cycle SD516 D9189 Error program No.
APPENDICES (4) Other devices Table 4.8 Other devices list Item Q173DCPU/Q172DCPU M2320 to M2399 M2400 to M3039 Internal relays/ Data registers M3136 to M3199 M3200 to M3839 D0 to D639 D640 to D703 Personal computer link communication error flag Q173HCPU/Q172HCPU Unusable Special relay allocated devices (Status) Device area of 9 axes or more is usable as user devices in Q172DCPU.
APPENDICES Table 4.8 Other devices list (Continued) Item Q173DCPU/Q172DCPU Output device Q173HCPU/Q172HCPU X0 to X1FFF X0 to X1FFF Y0 to Y1FFF Y0 to Y1FFF M0 to M8191 M0 to M8191 — L0 to L8191 B0 to B1FFF Limit switch output data U \G10000.0 to U \G(10000 + p –1).
APPENDICES APPENDIX 4.3 Differences of each mode (1) Motion SFC Table 4.9 Differences in Motion SFC mode Item Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU X, Y, M, B, U \G — Operation control/transition control usable device (Word device) D, W, U \G, SD, #, FT D, W, Special D, #, FT Operation control/transition control usable device (Bit device) X, PX, Y, PY, M, U \G . , B, F, SM X, PX, Y, PY, M, L, B, F, Special M Motion SFC program executing flag (2) Virtual mode Table 4.
WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
MOTION CONTROLLER Qseries Programming Manual (COMMON) (Q173DCPU/Q172DCPU) HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN MODEL Q173D-P-COM-E MODEL CODE 1XB928 IB(NA)-0300134-A(0801)MEE IB(NA)-0300134-A(0801)MEE When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.
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