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SAFETY PRECAUTIONS

(Please read these instructions before using this equipment.)

Before using this product, please read this manual and the relevant manuals introduced in this manual
carefully and pay full attention to safety to handle the product correctly.
These precautions apply only to this product. Refer to the Q173D(S)CPU/Q172D(S)CPU Users manual
for a description of the Motion controller safety precautions.
In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".

Indicates that incorrect handling may cause hazardous


DANGER conditions, resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous


CAUTION conditions, resulting in medium or slight personal injury or
physical damage.

Depending on circumstances, procedures indicated by CAUTION may also be linked to serious


results.
In any case, it is important to follow the directions for usage.

Please save this manual to make it accessible when required and always forward it to the end user.

A-1
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. The insides of the Motion controller and servo amplifier are
charged and may lead to electric shocks.
Completely turn off the externally supplied power used in the system before mounting or
removing the module, performing wiring work, or inspections. Failing to do so may lead to electric
shocks.
When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and
then check the voltage with a tester, etc. Failing to do so may lead to electric shocks.
Be sure to ground the Motion controller, servo amplifier and servomotor. (Ground resistance :
100 or less) Do not ground commonly with other devices.
The wiring work and inspections must be done by a qualified technician.
Wire the units after installing the Motion controller, servo amplifier and servomotor. Failing to do
so may lead to electric shocks or damage.
Never operate the switches with wet hands, as this may lead to electric shocks.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this
may lead to electric shocks.
Do not touch the Motion controller, 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


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.

A-2
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., while the power is ON and for a short time after the power is turned OFF. In this
timing, these parts become very hot and may lead to burns.
Always turn the power OFF before touching the servomotor shaft or coupled machines, as these
parts may lead to injuries.
Do not go near the machine during test operations or during operations such as teaching.
Doing so may lead to injuries.

4. Various precautions
Strictly observe the following precautions.
Mistaken handling of the unit may lead to faults, injuries or electric shocks.
(1) System structure
CAUTION
Always install a leakage breaker on the Motion controller and servo amplifier power source.
If installation of an electromagnetic contactor for power shut off during an error, etc., is specified in
the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor.
Install the emergency stop circuit externally so that the operation can be stopped immediately and
the power shut off.
Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the correct
combinations listed in the instruction manual. Other combinations may lead to fire or faults.
Use the Motion controller, base unit and motion module with the correct combinations listed in 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.

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CAUTION
The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or
servo OFF. These brakes must not be used for normal braking.
The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications,
and must not be used for normal braking.
The system must have a mechanical allowance so that the machine itself can stop even if the
stroke limits switch is passed through at the max. speed.
Use wires and cables that have a wire diameter, heat resistance and bending resistance
compatible with the 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


CAUTION
Set the parameter values to those that are compatible with the Motion controller, servo amplifier,
servomotor and regenerative resistor model and the system application. The protective functions
may not function if the settings are incorrect.
The regenerative resistor model and capacity parameters must be set to values that conform to
the operation mode, servo amplifier and servo power supply module. The protective functions
may not function if the settings are incorrect.
Set the mechanical brake output and dynamic brake output validity parameters to values that are
compatible with the system application. The protective functions may not function if the settings
are incorrect.
Set the stroke limit input validity 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.

A-4
CAUTION
Set the sequence function program capacity setting, device capacity, latch validity range, I/O
assignment setting, and validity of continuous operation during error detection to values that are
compatible with the system application. The protective functions may not function if the settings
are incorrect.
Some devices used in the program have fixed applications, so use these with the conditions
specified in the instruction manual.
The input devices and data registers assigned to the link will hold the data previous to when
communication is terminated by an error, etc. Thus, an error 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


CAUTION
Transport the product with the correct method according to the mass.
Use the servomotor suspension bolts only for the transportation of the servomotor. Do not
transport the servomotor with machine installed on it.
Do not stack products past the limit.
When transporting the Motion controller or servo amplifier, never hold the connected wires or
cables.
When transporting the servomotor, never hold the cables, shaft or detector.
When transporting the Motion controller or servo amplifier, never hold the front case as it may fall
off.
When transporting, installing or removing the Motion controller or servo amplifier, never hold the
edges.
Install the unit according to the instruction manual in a place where the mass can be withstood.
Do not get on or place heavy objects on the product.
Always observe the installation direction.
Keep the designated clearance between the Motion controller or servo amplifier and control panel
inner surface or the Motion controller and servo amplifier, Motion controller or servo amplifier and
other devices.
Do not install or operate Motion controller, servo amplifiers or servomotors that are damaged or
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.

A-5
CAUTION
Always install the servomotor with reduction gears in the designated direction. Failing to do so
may lead to oil leaks.
Store and use the unit in the following environmental conditions.
Conditions
Environment
Motion controller/Servo amplifier Servomotor
Ambient 0°C to +40°C (With no freezing)
According to each instruction manual.
temperature (32°F to +104°F)
80% RH or less
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 instruction manual

When coupling with the synchronous encoder or servomotor shaft end, do not apply impact such
as by hitting with a hammer. Doing so may lead to detector damage.
Do not apply a load larger than the tolerable load onto the synchronous encoder and servomotor
shaft. Doing so may lead to shaft breakage.
When not using the module for a long time, disconnect the power line from the Motion controller
or servo amplifier.
Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store.
When storing for a long time, please contact with our sales representative.
Also, execute a trial operation.
When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine
are used for disinfecting and protecting wooden packaging from insects, they cause malfunction
when entering our products.
Please take necessary precautions to ensure that remaining materials from fumigant do not
enter our products, or treat packaging with methods other than fumigation (heat method).
Additionally, disinfect and protect wood from insects before packing products.

A-6
(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) and ground. Incorrect connections will lead
the servomotor to operate abnormally.
Do not connect a commercial power supply to the servomotor, as this may lead to trouble.
Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control
signal output of brake signals, etc. Incorrect installation may lead to signals not being output
when trouble occurs or the protective functions not functioning.
Servo amplifier Servo amplifier
24VDC 24VDC
DOCOM DOCOM

Control output Control output


signal RA signal RA

DICOM DICOM

For the sink output interface For the source output interface

Do not connect or disconnect the connection cables between each unit, the encoder cable or
PLC expansion cable while the power is ON.
Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may
lead to the cables coming off during operation.
Do not bundle the power line or cables.

(5) Trial operation and adjustment


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.
Before starting test operation, set the parameter speed limit value to the slowest value, and
make sure that operation can be stopped immediately by the forced stop, etc. if a hazardous
state occurs.

A-7
(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.
Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using
wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the
Motion controller or servo amplifier.
When using the CE Mark-compliant equipment, refer to the User's manual for the Motion
controllers and refer to the corresponding EMC guideline information for the servo amplifiers,
inverters and other equipment.
Use the units with the following conditions.
Item Conditions
Input power According to each instruction manual.
Input frequency According to each instruction manual.
Tolerable momentary power failure According to each instruction manual.

(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.
Use a double circuit construction so that the electromagnetic brake operation circuit can be
operated by emergency stop signals set externally.
Shut off with the
Shut off with servo ON signal OFF, emergency stop
alarm, electromagnetic brake signal. signal (EMG).

Servo motor
EMG
RA1

Electromagnetic
brakes
B 24VDC

If an error occurs, remove the cause, secure the safety and then resume operation after alarm
release.
The unit may suddenly resume operation after a power failure is restored, so do not go near the
machine. (Design the machine so that personal safety can be ensured even if the machine
restarts suddenly.)

A-8
(8) Maintenance, inspection and part replacement
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 following methods, otherwise position displacement
could occur.
1) After writing the servo data to the Motion controller using programming software, switch on the
power again, then perform a home position return operation.
2) Using the backup function of the programming software, load the data backed up before
replacement.
After maintenance and inspections are completed, confirm that the position detection of the
absolute position detector function is correct.
Do not drop or impact the battery installed to the module.
Doing so may damage the battery, causing battery liquid to leak in the battery. Do not use the
dropped or impacted battery, but dispose of it.
Do not short circuit, charge, overheat, incinerate or disassemble the batteries.
The electrolytic capacitor will generate gas during a fault, so do not place your face near the
Motion controller or servo amplifier.
The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary
damage from faults. Replacements can be made by our sales representative.
Lock the control panel and prevent access to those who are not certified to handle or install
electric equipment.
Do not burn or break a module and servo amplifier. Doing so may cause a toxic gas.

A-9
(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).

CAUTION
This product is not designed or manufactured to be used in equipment or systems in situations
that can affect or endanger human life.
When considering this product for operation in special applications such as machinery or systems
used in passenger transportation, medical, aerospace, atomic power, electric power, or
submarine repeating applications, please contact your nearest Mitsubishi sales representative.
Although this product was manufactured under conditions of strict quality control, you are strongly
advised to install safety devices to forestall serious accidents when it is used in facilities where a
breakdown in the product is likely to cause a serious accident.

(10) General cautions


All drawings provided in the instruction manual show the state with the covers and safety
partitions removed to explain detailed sections. When operating the product, always return the
covers and partitions to the designated positions, and operate according to the instruction
manual.

A - 10
REVISIONS
The manual number is given on the bottom left of the back cover.
Print Date Manual Number Revision
Sep., 2007 IB(NA)-0300134-A First edition
Sep., 2010 IB(NA)-0300134-B [Additional model/function]
Software for SV43, Amplifier-less operation function, Q10UD(E)HCPU,
Q13UD(E)HCPU, Q20UD(E)HCPU, Q26UD(E)HCPU, QX40H, QX70H,
QH80H, QX90H, MR-J3- BS
[Additional correction/partial correction]
Safety precautions, About Manuals, Restrictions by the software's
version, Checking serial number and operating system software version,
Servo parameters, Warranty
Sep., 2011 IB(NA)-0300134-C [Additional model]
Q173DCPU-S1, Q172DCPU-S1, Q50UDEHCPU, Q100UDEHCPU,
GX Works2, MR Configurator2
[Additional function]
External input signal (DOG) of servo amplifier, Communication via
PERIPHERAL I/F
[Additional correction/partial correction]
Safety precautions, About Manuals, Restrictions by the software's
version
Mar., 2012 IB(NA)-0300134-D [Additional model]
Q173DSCPU, Q172DSCPU, MR-J4- B, MR-J4W- B,
[Additional function]
Servo external signal parameters, Software security key, Mark
detection function
[Additional correction/partial correction]
About Manuals, Manual Page Organization, Restrictions by the
software's version, Programming software version, Individual
parameters, Servo parameter change function, Optional data monitor
function, Special relays/Special registers list, System setting errors,
Differences between Motion CPU
Sep., 2012 IB(NA)-0300134-E [Additional function]
Advanced synchronous control, High-speed input request signal setting
[Additional correction/partial correction]
About Manuals, Restrictions by the software's version, Programming
software version, Individual parameters, Limit switch output function,
Protection by password, Mark detection function, Special relays/
Special registers list, Self-diagnosis error, Differences between Motion
CPU
Apr., 2013 IB(NA)-0300134-F [Additional model]
LJ72MS15, Intelligent function module
[Additional function]
Driver communication function, Connection of SSCNET /H head
module
[Additional correction/partial correction]
About Manuals, Restrictions by the software's version, System data
setting list, Individual parameters, Special relays/Special registers list,
System setting error, Self-diagnosis error, Differences between Motion
CPU

A - 11
Print Date Manual Number Revision
Nov., 2013 IB(NA)-0300134-G [Additional correction/partial correction]
Safety precautions, Restrictions by the software's version, System
data setting list, Optional data monitor function, Driver communication
function (SSCNET /H), Special registers list, System setting error,
Self-diagnosis error, Differences between Motion CPU

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.

© 2007 MITSUBISHI ELECTRIC CORPORATION

A - 12
INTRODUCTION

Thank you for choosing the Mitsubishi Motion controller Q173D(S)CPU/Q172D(S)CPU.


Before using the equipment, please read this manual carefully to develop full familiarity with the functions
and performance of the Motion controller you have purchased, so as to ensure correct use.

CONTENTS

Safety Precautions .........................................................................................................................................A- 1


Revisions ........................................................................................................................................................A-11
Contents .........................................................................................................................................................A-13
About Manuals ...............................................................................................................................................A-16
Manual Page Organization ............................................................................................................................A-18

1. OVERVIEW 1- 1 to 1-32

1.1 Overview................................................................................................................................................... 1- 1
1.2 Features ................................................................................................................................................... 1- 3
1.2.1 Features of Motion CPU ................................................................................................................... 1- 3
1.2.2 Basic specifications of Q173D(S)CPU/Q172D(S)CPU.................................................................... 1- 5
1.3 Hardware Configuration ........................................................................................................................... 1-11
1.3.1 Motion system configuration ............................................................................................................. 1-11
1.3.2 Q173DSCPU/Q172DSCPU System overall configuration .............................................................. 1-14
1.3.3 Q173DCPU(-S1)/Q172DCPU(-S1) System overall configuration ................................................... 1-16
1.3.4 Software packages ............................................................................................................................ 1-17
1.3.5 Restrictions on motion systems ........................................................................................................ 1-19
1.4 Checking Serial Number and Operating System Software Version ....................................................... 1-23
1.4.1 Checking serial number .................................................................................................................... 1-23
1.4.2 Checking operating system software version................................................................................... 1-26
1.5 Restrictions by the Software's Version .................................................................................................... 1-28
1.6 Programming Software Version............................................................................................................... 1-32

2. MULTIPLE CPU SYSTEM 2- 1 to 2-36

2.1 Multiple CPU System ............................................................................................................................... 2- 1


2.1.1 Overview ............................................................................................................................................ 2- 1
2.1.2 Installation position of CPU module.................................................................................................. 2- 2
2.1.3 Precautions for using I/O modules and intelligent function modules ............................................... 2- 3
2.1.4 Modules subject to installation restrictions ....................................................................................... 2- 4
2.1.5 How to reset the Multiple CPU system ............................................................................................. 2- 6
2.1.6 Operation for CPU module stop error ............................................................................................... 2- 7
2.2 Starting Up the Multiple CPU System ..................................................................................................... 2-10
2.2.1 Startup Flow of the Multiple CPU system ......................................................................................... 2-10
2.3 Communication Between the PLC CPU and the Motion CPU in the Multiple CPU System ................. 2-12
2.3.1 CPU shared memory......................................................................................................................... 2-12
2.3.2 Multiple CPU high speed transmission............................................................................................. 2-15
2.3.3 Multiple CPU high speed refresh function ........................................................................................ 2-30
2.3.4 Clock synchronization between Multiple CPU ................................................................................. 2-34
2.3.5 Multiple CPU synchronous startup ................................................................................................... 2-35
2.3.6 Control instruction from PLC CPU to Motion CPU ........................................................................... 2-36
A - 13
3. COMMON PARAMETERS 3- 1 to 3-28

3.1 System Settings ....................................................................................................................................... 3- 1


3.1.1 System data settings ......................................................................................................................... 3- 2
3.1.2 Common system parameters ........................................................................................................... 3- 5
3.1.3 Individual parameters ........................................................................................................................ 3-11
3.2 I/O Number Assignment. ......................................................................................................................... 3-21
3.2.1 I/O number assignment of each module .......................................................................................... 3-21
3.2.2 I/O number of each CPU modules ................................................................................................... 3-23
3.2.3 I/O number setting ............................................................................................................................. 3-24
3.3 Servo Parameters .................................................................................................................................... 3-25
3.4 Servo External Signal Parameters .......................................................................................................... 3-26

4. AUXILIARY AND APPLIED FUNCTIONS 4- 1 to 4-114

4.1 Limit Switch Output Function ................................................................................................................... 4- 1


4.1.1 Operations ......................................................................................................................................... 4- 1
4.1.2 Limit output setting data .................................................................................................................... 4- 4
4.1.3 Operations (SV22 advanced synchronous control only) ................................................................. 4- 8
4.1.4 Limit output setting data (SV22 advanced synchronous control only) ............................................ 4-10
4.2 Absolute Position System ........................................................................................................................ 4-17
4.2.1 Current value control ......................................................................................................................... 4-19
4.3 High-Speed Reading of Specified Data .................................................................................................. 4-20
4.4 ROM Operation Function ......................................................................................................................... 4-22
4.4.1 Specifications of 7-segment LED/switches ...................................................................................... 4-22
4.4.2 Outline of ROM operation ................................................................................................................. 4-24
4.4.3 Operating procedure of the ROM operation function ....................................................................... 4-29
4.5 Security Function ..................................................................................................................................... 4-31
4.5.1 Protection by password ..................................................................................................................... 4-31
4.5.2 Protection by software security key .................................................................................................. 4-38
4.6 All Clear Function ..................................................................................................................................... 4-43
4.7 Communication Via Network ................................................................................................................... 4-44
4.7.1 Specifications of the communications via network........................................................................... 4-44
4.8 Monitor Function of the Main Cycle ......................................................................................................... 4-45
4.9 Servo Parameter Read/Change Function ............................................................................................... 4-46
4.10 Optional Data Monitor Function ............................................................................................................. 4-48
4.11 SSCNET Control Function ..................................................................................................................... 4-51
4.11.1 Connect/disconnect function of SSCNET communication ............................................................ 4-52
4.11.2 Amplifier-less operation function .................................................................................................... 4-56
4.12 Remote Operation .................................................................................................................................. 4-60
4.12.1 Remote RUN/STOP ........................................................................................................................ 4-60
4.12.2 Remote latch clear .......................................................................................................................... 4-62
4.13 Communication Function via PERIPHERAL I/F ................................................................................... 4-63
4.13.1 Direct connection............................................................................................................................. 4-63
4.13.2 Connection via HUB ........................................................................................................................ 4-66
4.13.3 MC protocol communication ........................................................................................................... 4-72
4.14 Mark Detection Function ........................................................................................................................ 4-79
4.15 High-speed Input Request Signal Setting (SV22 advanced synchronous control only) ..................... 4-91
4.16 Driver Communication Function ............................................................................................................ 4-94

A - 14
4.16.1 Control details.................................................................................................................................. 4-95
4.16.2 Precautions during control .............................................................................................................. 4-96
4.16.3 Servo parameter............................................................................................................................ 4-100
4.17 Intelligent Function Modules Controlled by Motion CPU .................................................................... 4-101
4.18 Connection of SSCNET /H Head Module ......................................................................................... 4-104
4.18.1 System configuration..................................................................................................................... 4-104
4.18.2 SSCNET /H head module parameters ....................................................................................... 4-105
4.18.3 Data operation of intelligent function module by Motion SFC program....................................... 4-113
4.18.4 Data of refresh device ................................................................................................................... 4-113
4.18.5 Precautions when using SSCNET /H head module................................................................... 4-113

APPENDICES APP- 1 to APP-48

APPENDIX 1 Special Relays/Special Registers ...................................................................................... APP- 1


APPENDIX 1.1 Special relays .............................................................................................................. APP- 1
APPENDIX 1.2 Special registers .................................................................................................... APP- 6
APPENDIX 1.3 Replacement of special relays/special registers ........................................................APP-13
APPENDIX 2 System Setting Errors ........................................................................................................APP-16
APPENDIX 3 Self-diagnosis Error ............................................................................................................APP-19
APPENDIX 4 Differences Between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/Q172DCPU(-S1)/
Q173HCPU/Q172HCPU ....................................................................................................APP-32
APPENDIX 4.1 Differences between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/Q172DCPU(-S1)/
Q173HCPU/Q172HCPU .............................................................................................APP-32
APPENDIX 4.2 Comparison of devices ................................................................................................APP-36
APPENDIX 4.3 Differences of the operating system software ............................................................APP-45

A - 15
About Manuals

The following manuals are also related to this product.


In necessary, order them by quoting the details in the tables below.

Related Manuals

(1) Motion controller


Manual Number
Manual Name
(Model Code)
Q173D(S)CPU/Q172D(S)CPU Motion controller User's Manual
This manual explains specifications of the Motion CPU modules, Q172DLX Servo external signal interface
IB-0300133
module, Q172DEX Synchronous encoder interface module, Q173DPX Manual pulse generator interface (1XB927)
module, Power supply modules, Servo amplifiers, SSCNET cables and Synchronous encoder, and the
maintenance/inspection for the system, trouble shooting and others.
Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)
IB-0300134
This manual explains the Multiple CPU system configuration, performance specifications, common
(1XB928)
parameters, auxiliary/applied functions, error lists and others.

Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual


IB-0300135
(Motion SFC)
(1XB929)
This manual explains the functions, programming, debugging, error lists for Motion SFC and others.

Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual


IB-0300136
(REAL MODE)
(1XB930)
This manual explains the servo parameters, positioning instructions, device lists, error lists and others.

Q173D(S)CPU/Q172D(S)CPU Motion controller (SV22) Programming Manual


(VIRTUAL MODE)
IB-0300137
This manual explains the dedicated instructions to use the synchronous control by virtual main shaft,
(1XB931)
mechanical system program create mechanical module, servo parameters, positioning instructions, device
lists, error lists and others.

Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual


(Advanced Synchronous Control) IB-0300198
This manual explains the dedicated instructions to use the synchronous control by synchronous control (1XB953)
parameters, device lists, error lists and others.

Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (Safety Observation)


IB-0300183
This manual explains the details, safety parameters, safety sequence program instructions, device lists
(1XB945)
and error lists and others for safety observation function by Motion controller.

Motion controller Setup Guidance (MT Developer2 Version1)


IB-0300142
This manual explains the items related to the setup of the Motion controller programming software
( — )
MT Developer2.

A - 16
(2) PLC
Manual Number
Manual Name
(Model Code)
QCPU User's Manual (Hardware Design, Maintenance and Inspection)
This manual explains the specifications of the QCPU modules, power supply modules, base units, SH-080483ENG
extension cables, memory card battery, and the maintenance/inspection for the system, trouble shooting, (13JR73)
error codes and others.

QnUCPU User's Manual (Function Explanation, Program Fundamentals)


SH-080807ENG
This manual explains the functions, programming methods and devices and others to create programs
(13JZ27)
with the QCPU.

QCPU User's Manual (Multiple CPU System)


This manual explains the Multiple CPU system overview, system configuration, I/O modules, SH-080485ENG
communication between CPU modules and communication with the I/O modules or intelligent function (13JR75)
modules.

QnUCPU User's Manual (Communication via Built-in Ethernet Port) SH-080811ENG


This manual explains functions for the communication via built-in Ethernet port of the CPU module. (13JZ29)

MELSEC-Q/L Programming Manual (Common Instruction)


SH-080809ENG
This manual explains how to use the sequence instructions, basic instructions, application instructions and
(13JW10)
micro computer program.

MELSEC-Q/L/QnA Programming Manual (PID Control Instructions) SH-080040


This manual explains the dedicated instructions used to exercise PID control. (13JF59)

MELSEC-Q/L/QnA Programming Manual (SFC)


SH-080041
This manual explains the system configuration, performance specifications, functions, programming,
(13JF60)
debugging, error codes and others of MELSAP3.

I/O Module Type Building Block User's Manual


SH-080042
This manual explains the specifications of the I/O modules, connector, connector/terminal block
(13JL99)
conversion modules and others.

MELSEC-L SSCNET /H Head Module User's Manual


SH-081152ENG
This manual explains specifications of the head module, procedures before operation, system
(13JZ78)
configuration, installation, wiring, settings, and troubleshooting.

A - 17
(3) Servo amplifier
Manual Number
Manual Name
(Model Code)
SSCNET /H interface MR-J4- B Servo amplifier Instruction Manual
SH-030106
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for
(1CW805)
MR-J4- B Servo amplifier.

SSCNET /H interface Multi-axis AC Servo MR-J4W- B Servo amplifier Instruction Manual


SH-030105
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Multi-
(1CW806)
axis AC Servo MR-J4W - B Servo amplifier.

SSCNET interface MR-J3- B Servo amplifier Instruction Manual


SH-030051
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for
(1CW202)
MR-J3- B Servo amplifier.

SSCNET interface 2-axis AC Servo Amplifier MR-J3W- B Servo amplifier Instruction


Manual SH-030073
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for 2-axis (1CW604)
AC Servo Amplifier MR-J3W- B Servo amplifier.

SSCNET Compatible Linear Servo MR-J3- B-RJ004 Instruction Manual


SH-030054
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Linear
(1CW943)
Servo MR-J3- B-RJ004 Servo amplifier.

SSCNET Compatible Fully Closed Loop Control MR-J3- B-RJ006 Servo amplifier
Instruction Manual SH-030056
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Fully (1CW304)
Closed Loop Control MR-J3- B-RJ006 Servo amplifier.

SSCNET Interface Direct Drive Servo MR-J3- B-RJ080W Servo amplifier Instruction
Manual SH-030079
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Direct (1CW601)
Drive Servo MR-J3- B-RJ080W Servo amplifier.

SSCNET interface Drive Safety integrated MR-J3- B Safety Servo amplifier Instruction
Manual SH-030084
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for safety (1CW205)
integrated MR-J3- B Safety Servo amplifier.

Manual Page Organization

The symbols used in this manual are shown below.

Symbol Description
QDS Symbol that indicates correspondence to only Q173DSCPU/Q172DSCPU.
QD Symbol that indicates correspondence to only Q173DCPU(-S1)/Q172DCPU(-S1).

A - 18
1 OVERVIEW

1. OVERVIEW

1.1 Overview 1

This programming manual describes the common items of each operating system
software, such as the Multiple CPU system of the operating system software packages
"SW7DNC-SV Q " and "SW8DNC-SV Q " for Motion CPU module
(Q173D(S)CPU/Q172D(S)CPU).
In this manual, the following abbreviations are used.
Generic term/Abbreviation Description
Q173D(S)CPU/Q172D(S)CPU or Q173DSCPU/Q172DSCPU/Q173DCPU/Q172DCPU/Q173DCPU-S1/
Motion CPU (module) Q172DCPU-S1 Motion CPU module
Q172DLX Servo external signals interface module/
(Note-1)
Q172DLX/Q172DEX/Q173DPX/ Q172DEX Synchronous encoder interface module /
Q173DSXY or Motion module Q173DPX Manual pulse generator interface module/
Q173DSXY Safety signal module
MR-J4(W)- B Servo amplifier model MR-J4- B/MR-J4W- B
MR-J3(W)- B Servo amplifier model MR-J3- B/MR-J3W- B
General name for "Servo amplifier model MR-J4- B/MR-J4W- B/MR-J3- B/
AMP or Servo amplifier
MR-J3W- B"
QCPU, PLC CPU or PLC CPU module QnUD(E)(H)CPU/QnUDVCPU
Multiple CPU system or Motion system Abbreviation for "Multiple PLC system of the Q series"
Abbreviation for "CPU No.n (n= 1 to 4) of the CPU module for the Multiple CPU
CPUn
system"
Operating system software General name for "SW7DNC-SV Q /SW8DNC-SV Q "
Operating system software for conveyor assembly use (Motion SFC) :
SV13
SW8DNC-SV13Q
Operating system software for automatic machinery use (Motion SFC) :
SV22
SW8DNC-SV22Q
Operating system software for machine tool peripheral use :
SV43
SW7DNC-SV43Q
Programming software package General name for MT Developer2/GX Works2/GX Developer/MR Configurator
Abbreviation for "Motion controller engineering environment MELSOFT
MELSOFT MT Works2
MT Works2"
(Note-2) Abbreviation for "Motion controller programming software MT Developer2
MT Developer2
(Version 1.00A or later)"
Abbreviation for "Programmable controller engineering software
GX Works2
MELSOFT GX Works2 (Version 1.15R or later)"
Abbreviation for "MELSEC PLC programming software package
GX Developer
GX Developer (Version 8.48A or later)"
(Note-2)
MR Configurator General name for "MR Configurator/MR Configurator2"
Abbreviation for "Servo setup software package
MR Configurator
MR Configurator (Version C0 or later)"
Abbreviation for "Servo setup software package
MR Configurator2
MR Configurator2 (Version 1.01B or later)"
Manual pulse generator or MR-HDP01 Abbreviation for "Manual pulse generator (MR-HDP01)"
Serial absolute synchronous encoder Abbreviation for "Serial absolute synchronous encoder (Q171ENC-W8/
or Q171ENC-W8/Q170ENC Q170ENC)"

1-1
1 OVERVIEW

Generic term/Abbreviation Description


(Note-3)
SSCNET /H
(Note-3) High speed synchronous network between Motion controller and servo amplifier
SSCNET
(Note-3)
SSCNET (/H) General name for SSCNET /H, SSCNET
General name for "system using the servomotor and servo amplifier for absolute
Absolute position system
position"
Battery holder unit Battery holder unit (Q170DBATC)
General name for module that has a function other than input or output such as
Intelligent function module
A/D converter module and D/A converter module.
(Note-3)
SSCNET /H head module Abbreviation for "MELSEC-L series SSCNET /H head module (LJ72MS15)"
(Note-1): Q172DEX can be used in SV22.
(Note-2): This software is included in Motion controller engineering environment "MELSOFT MT Works2".
(Note-3): SSCNET: Servo System Controller NETwork

REMARK
For information about each module, design method for program and parameter, refer
to the following manuals relevant to each module.

Item Reference Manual


Q173D(S)CPU/Q172D(S)CPU Motion controller
Motion CPU module/Motion unit
User’s Manual
PLC CPU, peripheral devices for sequence program design,
Manual relevant to each module
I/O modules and intelligent function module
Operation method for MT Developer2 Help of each software
• Design method for Motion SFC program
Q173D(S)CPU/Q172D(S)CPU Motion controller
• Design method for Motion SFC parameter
(SV13/SV22) Programming Manual (Motion SFC)
• Motion dedicated PLC instruction
• Design method for positioning control
program in the real mode Q173D(S)CPU/Q172D(S)CPU Motion controller
SV13/SV22 • Design method for positioning control (SV13/SV22) Programming Manual (REAL MODE)
parameter
• Design method for safety observation
parameter Q173D(S)CPU/Q172D(S)CPU Motion controller
• Design method for user made safety Programming Manual (Safety Observation)
sequence program
SV22 • Design method for mechanical system Q173D(S)CPU/Q172D(S)CPU Motion controller (SV22)
(Virtual mode) program Programming Manual (VIRTUAL MODE)
SV22
(Advanced • Design method for synchronous control Q173DSCPU/Q172DSCPU Motion controller (SV22)
synchronous parameter Programming Manual (Advanced Synchronous Control)
control)

1-2
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.

(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.
Q173DSCPU : Up to 32 axes
Q172DSCPU : Up to 16 axes
Q173DCPU(-S1) : Up to 32 axes
Q172DCPU(-S1) : 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.)

(c) The device data access of the Motion CPU and the Motion SFC program
(SV13/SV22)/Motion program (SV43) start can be executed from PLC CPU
by the Motion dedicated PLC instruction.

(2) High speed operation processing


(a) The minimum operation cycle of the Motion CPU is made 0.22[ms]
(Q173DSCPU/Q172DSCPU use), and it correspond with high frequency
operation.

(b) High speed PLC control is possible by the universal model QCPU.

(3) Connection between the Motion controller and servo amplifier with
high speed synchronous network by SSCNET (/H)
(a) High speed synchronous network by SSCNET (/H) 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.

(b) The maximum distance between the Motion CPU and servo amplifier, servo
amplifier and servo amplifier of the SSCNET cable on the same bus was
set to 100(328.08)[m(ft.)] for SSCNET /H, 50(164.04)[m(ft.)] for SSCNET ,
and the flexibility improved at the Motion system design.

1-3
1 OVERVIEW

(4) 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 linear 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.

(b) Automatic machinery use (SV22)


In addition to the functions (real mode) equivalent to the software package
for conveyor assembly use (SV13), provides synchronous control and offers
electronic cam control. Ideal for use in automatic machinery.
1) Q173DSCPU/Q172DSCPU
Select the operation method from the following methods when installing
the operating system software.
The operation method can be switched by using MT Developer2.
• Virtual mode switching method:
By using the common device (real mode/virtual mode switching
request flag), switching between the positioning control in the real
mode and the synchronous control, electronic cam control by
mechanical support language (virtual mode) is enabled.
• Advanced synchronous control method:
In addition to the positioning control in the real mode, provides
synchronous control by setting the synchronous control parameter
(advanced synchronous control) by using the synchronous control start
signal for each axis.
2) Q173DCPU(-S1)/Q172DCPU(-S1)
By using the common device (real mode/virtual mode switching request
flag), switching between the positioning control in the real mode and the
synchronous control, electronic cam control by mechanical support
language (virtual mode) is enabled.

(c) Machine tool peripheral use (SV43)


Offer linear interpolation, circular interpolation, helical interpolation,
constantspeed positioning and etc. by the EIA language (G-code). Ideal for
use in machine tool peripheral.

1-4
1 OVERVIEW

1.2.2 Basic specifications of Q173D(S)CPU/Q172D(S)CPU

(1) Module specifications


Item Q173DSCPU Q172DSCPU Q173DCPU Q173DCPU-S1 Q172DCPU Q172DCPU-S1
Internal current consumption (Note-1) (Note-1)
1.75 1.44 1.25 1.30 1.25 1.30
(5VDC) [A]
Mass [kg] 0.38 0.33
120.5 (4.74)(H) 27.4 (1.08)(W)
Exterior dimensions [mm(inch)] 98 (3.85)(H) 27.4 (1.08)(W) 119.3 (4.70)(D)
120.3 (4.74)(D)

(Note-1): The current consumption (0.2[A]) of manual pulse generator/incremental synchronous encoder connected to the internal I/F
connector is not included.

(2) SV13/SV22 Motion control specifications/performance


specifications
(a) Motion control specifications
Item Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1)
Number of control axes Up to 32 axes Up to 16 axes Up to 32 axes Up to 8 axes
0.22ms/ 1 to 4 axes
0.22ms/ 1 to 4 axes 0.44ms/ 1 to 6 axes
0.44ms/ 5 to 10 axes 0.44ms/ 1 to 6 axes
SV13 0.44ms/ 5 to 10 axes 0.88ms/ 7 to 18 axes
0.88ms/ 11 to 24 axes 0.88ms/ 7 to 8 axes
0.88ms/ 11 to 16 axes 1.77ms/19 to 32 axes
Operation cycle 1.77ms/25 to 32 axes
(default) 0.44ms/ 1 to 4 axes
0.44ms/ 1 to 6 axes
0.44ms/ 1 to 6 axes 0.88ms/ 5 to 12 axes 0.44ms/ 1 to 4 axes
SV22 0.88ms/ 7 to 16 axes
0.88ms/ 7 to 16 axes 1.77ms/13 to 28 axes 0.88ms/ 5 to 8 axes
1.77ms/17 to 32 axes
3.55ms/29 to 32 axes
Linear interpolation (Up to 4 axes), Circular interpolation (2 axes),
Interpolation functions
Helical interpolation (3 axes)
PTP(Point to Point) control, Speed control,
Speed-position control, Fixed-pitch feed,
PTP(Point to Point) control, Speed control,
Constant speed control, Position follow-up control,
Speed-position control, Fixed-pitch feed,
Speed control with fixed position stop,
Constant speed control, Position follow-up control,
Speed switching control,
Control modes Speed control with fixed position stop,
High-speed oscillation control,
Speed switching control,
Speed-torque control,
High-speed oscillation control,
Synchronous control (SV22 (Virtual mode
Synchronous control (SV22)
switching method/Advanced synchronous control
method))
Acceleration/ Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration,
deceleration control Advanced S-curve acceleration/deceleration
Compensation Backlash compensation, Electronic gear, Phase compensation (SV22)
Motion SFC, Dedicated instruction, Motion SFC, Dedicated instruction,
Programming language (Note-1)
Mechanical support language (SV22) Mechanical support language (SV22)
Servo program capacity 16k steps
Number of positioning points 3200 points (Positioning data can be designated indirectly)
USB/RS-232/Ethernet (Via PLC CPU) USB/RS-232/Ethernet (Via PLC CPU)
Peripheral I/F (Note-2)
PERIPHERAL I/F (Motion CPU) PERIPHERAL I/F (Motion CPU)
Proximity dog type (2 types), Count type (3 types),
Proximity dog type (2 types), Count type (3 types),
Data set type (2 types), Dog cradle type,
Data set type (2 types), Dog cradle type,
Stopper type (2 types), Limit switch combined
Home position return function Stopper type (2 types), Limit switch combined
type, Scale home position signal detection type,
type, Scale home position signal detection type
Dogless home position signal reference type
Home position return re-try function provided, home position shift function provided

1-5
1 OVERVIEW

Motion control specifications (continued)


Item Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1)
JOG operation function Provided
Possible to connect 3 modules (Q173DPX use)
Manual pulse generator
Possible to connect 1 module Possible to connect 3 modules (Q173DPX use)
operation function (Note-3)
(Built-in interface in Motion CPU use)
Possible to connect 12 module (SV22 use)
Possible to connect 12 Possible to connect 8
Synchronous encoder operation (Q172DEX + Q173DPX + Built-in interface in
(Note-4) (Note-5) modules (SV22 use) modules (SV22 use)
function Motion CPU + Via device
(Note-5), (Note-6) (Q172DEX + Q173DPX) (Q172DEX + Q173DPX)
+ Via servo amplifier )
M-code function M-code output function provided, M-code completion wait function provided
Number of output points 32 points
SV13
Watch data: Motion control data/Word device
Virtual mode switching method:
Limit switch output Number of output points 32 points
function Advanced synchronous control method: Number of output points 32 points
SV22
Number of output points 64 points  2 settings Watch data: Motion control data/Word device
Output timing compensation
Watch data: Motion control data/Word device
ROM operation function Provided
Multiple CPU synchronous
(Note-5) Provided None
control
Q172DLX, External input signals (FLS/RLS/DOG)
Q172DLX or External input signals
External input signal of servo amplifier,
(FLS/RLS/DOG) of servo amplifier
Built-in interface in Motion CPU (DI), Bit device
Provided
Provided
High-speed reading function (Via built-in interface in Motion CPU,
(Note-7) (Via input module, Via tracking of
Via input module,
Q172DEX/Q173DPX)
Via tracking of Q172DEX/Q173DPX)
Motion controller forced stop (EMI connector, System setting),
Forced stop
Forced stop terminal of servo amplifier
Total 256 points
Total 256 points
Number of I/O points (Built-in interface in Motion CPU (Input 4 points) +
(I/O module)
I/O module + Intelligent function module)
Continuous detection mode,
Mark detection
Specified number of detection mode,
mode setting
Ring buffer mode
Mark detection
Mark detection Built-in interface in Motion CPU (4 points), None
function
signal Bit device, DOG/CHANGE signal of Q172DLX
Mark detection
32 settings
setting
Clock function Provided
Provided Provided
Security function
(Protection by software security key or password) (Protection by password)
All clear function Provided
Remote operation Remote RUN/STOP, Remote latch clear
Up to 6 data/axis
Optional data SSCNET /H None
(Communication data: Up to 6 points/axis)
monitor
Up to 3 data/axis
function SSCNET
(Communication data: Up to 3 points/axis)
Motion buffering method Motion buffering method
Digital oscilloscope function (Real-time waveform can be displayed) (Real-time waveform can be displayed)
Sampling data: Word 16CH, Bit 16CH Sampling data: Word 4CH, Bit 8CH

1-6
1 OVERVIEW

Motion control specifications (continued)


Item Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1)
Made compatible by setting battery to servo amplifier.
Absolute position system
(Possible to select the absolute data method or incremental method for each axis)
Communication
SSCNET SSCNET /H, SSCNET SSCNET
method
communication
(Note-8) Number of (Note-9) (Note-9)
2 lines 1 line 2 lines 1 line
lines
Driver communication function
(Note-10) Provided None

Q172DLX 4 modules usable 2 modules usable 4 modules usable 1 module usable


Number of
Q172DEX 6 modules usable 4 modules usable
Motion related
(Note-11) 3 modules usable
modules Q173DPX 4 modules usable (Note-11)

Number of SSCNET /H head Up to 8 stations usable


Up to 4 stations usable Unusable
module connection stations (Up to 4 stations/line)

(Note-1): SV22 virtual mode only


(Note-2): Q173DCPU-S1/Q172DCPU-S1 only
(Note-3): When the manual pulse generator is used via the built-in interface in Motion CPU, the Q173DPX cannot be used.
(Note-4): Any incremental synchronous encoder connected to the built-in interface in Motion CPU will automatically be assigned an
Axis No. one integer greater than the number of encoders connected to any Q172DEX modules and Q173DPX modules.
(Note-5): SV22 advanced synchronous control only
(Note-6): Servo amplifier (MR-J4- B-RJ) only.
(Note-7): This cannot be used in SV22 advanced synchronous control.
(Note-8): The servo amplifiers for SSCNET cannot be used.
(Note-9): SSCNET and SSCNET /H cannot be combined in the same line.
For Q173DSCPU, SSCNET or SSCNET /H can be set every line.
(Note-10): Servo amplifier (MR-J3- B/MR-J4- B-RJ) only.
(Note-11): 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.

1-7
1 OVERVIEW

(b) Motion SFC Performance Specifications


Item Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1)
Code total
(Motion SFC chart + Operation control + 652k bytes 543k bytes
Motion SFC program
Transition)
capacity
Text total
668k bytes 484k bytes
(Operation control + Transition)
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)
Number of operation control programs
combined. (F/FS0 to F/FS4095)
Number of transition programs 4096(G0 to G4095)
Code size/program Up to approx. 64k bytes (32766 steps)
Operation control
Number of blocks(line)/program Up to 8192 blocks (in the case of 4 steps(min)/blocks)
program
Number of characters/block Up to 128 (comment included)
(F/FS)
Number of operand/block Up to 64 (operand: constants, word device, bit devices)
/
( ) nesting/block Up to 32 levels
Transition program
(G) Calculation expression,
Operation control Calculation expression,
bit conditional expression,
Descriptive program bit conditional expression
branch/repetition processing
expression
Calculation expression/bit conditional expression/
Transition program
comparison conditional expression
Number of multi execute programs Up to 256
Number of multi active steps Up to 256 steps/all programs
Normal task Execute in main cycle of Motion CPU
Execute in fixed cycle Execute in fixed cycle
Event task
Execute specification Fixed cycle (0.22ms, 0.44ms, 0.88ms, 1.77ms, (0.44ms, 0.88ms, 1.77ms, 3.55ms,
Executed (Execution
3.55ms, 7.11ms, 14.2ms) 7.11ms, 14.2ms)
task can be
External interrupt Execute when input ON is set among interrupt module QI60 (16 points).
masked.)
PLC interrupt Execute with interrupt instruction (D(P).GINT) from PLC CPU.
NMI task Execute when input ON is set among interrupt module QI60 (16 points).
Number of I/O points (X/Y) 8192 points
256 points
(Built-in interface in Motion CPU 256 points
Number of real I/O points (PX/PY)
(Input 4 points) + I/O module + (I/O module)
Intelligent function module)
Internal relays (M) 12288 points
Link relays (B) 8192 points
Number of devices Annunciators (F) 2048 points
(Device In the Motion Special relays (SM) 2256 points
(Note-1)
CPU only) Data registers (D) 8192 points 8192 points
(Included the Link registers (W) 8192 points
positioning dedicated Special registers (SD) 2256 points
device) Motion registers (#) 12288 points
Coasting timers (FT) 1 point (888µs)
(Note-2)
Multiple CPU area devices (U \G) Up to 14336 points usable
(Note-1): 19824 points can be used for SV22 advanced synchronous control.
(Note-2): Usable number of points changes according to the system settings.

1-8
1 OVERVIEW

(3) SV43 Motion control specifications/performance specifications


(a) Motion control specifications
Item Q173DCPU(-S1) Q172DCPU(-S1)
Number of control axes Up to 32 axes Up to 8 axes
0.44ms/ 1 to 4 axes
Operation cycle 0.88ms/ 5 to 12 axes 0.44ms/ 1 to 4 axes
(default) 1.77ms/13 to 28 axes 0.88ms/ 5 to 8 axes
3.55ms/29 to 32 axes
Interpolation functions Linear interpolation (Up to 4 axes), Circular interpolation (2 axes), Helical interpolation (3 axes)
Control modes PTP (Point to Point) control, Constant speed positioning, High-speed oscillation control
Acceleration/deceleration control Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration
Compensation Backlash compensation, Electronic gear
Programming language Dedicated instruction (EIA language)
Motion program capacity 504k bytes
Number of programs 1024
Number of simultaneous start Axis designation program : 32 Axis designation program : 8
programs Control program : 16 Control program : 16
Number of positioning points Approx. 10600 points (Positioning data can be designated indirectly)
USB/RS-232/Ethernet (Via PLC CPU)
Peripheral I/F (Note-1)
PERIPHERAL I/F (Motion CPU)
Proximity dog type (2 types), Count type (3 types), Data set type (2 types), Dog cradle type, Stopper
Home position return function type (2 types), Limit switch combined type, Scale home position signal detection type
Home position return re-try function provided, home position shift function provided
JOG operation function Provided
Manual pulse generator
Possible to connect 3 modules (Q173DPX use)
operation function
M-code function M-code output function provided, M-code completion wait function provided
Number of output points 32 points
Limit switch output function
Watch data: Motion control data/Word device
Skip function Provided
Override ratio setting function Override ratio setting : -100 to 100[%]
ROM operation function Provided
External input signal Q172DLX or External input signals (FLS/RLS/DOG) of servo amplifier
High-speed reading function Provided (Via input module, Via tracking of Q173DPX)
Motion controller forced stop (EMI connector, System setting),
Forced stop
Forced stop terminal of servo amplifier
Number of I/O points Total 256 points (I/O module)
Clock function Provided
Security function Provided (Protection by password)
All clear function Provided
Remote operation Remote RUN/STOP, Remote latch clear
Digital oscilloscope function Provided
Made compatible by setting battery to servo amplifier.
Absolute position system
(Possible to select the absolute data method or incremental method for each axis)
Communication
SSCNET SSCNET
method
communication
(Note-2) Number of
2 lines 1 line
lines
Number of Q172DLX 4 modules usable 1 module usable
Motion related
Q173DPX 1 modules usable
modules
(Note-1): Q173DCPU-S1/Q172DCPU-S1 only
(Note-2): The servo amplifiers for SSCNET cannot be used.

1-9
1 OVERVIEW

(b) Motion program performance specifications


Item Q173DCPU(-S1)/Q172DCPU(-S1)
Total of program files 504k bytes
Program capacity
Number of programs Up to 1024 (No. 1 to 1024)
Unary operation, Addition and subtraction operation, Multiplication and
Arithmetic operation
division operation, Remainder operation
Operation controls Comparison operation Equal to, Not equal to
Logical shift operation, Logical negation, Logical AND,
Logical operation
Logical OR, Exclusive OR
G00, G01, G02, G03, G04, G09, G12, G13, G23, G24, G25, G26, G28,
G-codes Positioning command G30, G32, G43, G44, G49, G53, G54, G55, G56, G57, G58, G59, G61,
G64, G90, G91, G92, G98, G99, G100, G101
M-codes Output command to data register M****
Special M-codes Program control command M00, M01, M02, M30, M98, M99, M100
Variable Device variable X, Y, M, B, F, D, W, #, U \G
Trigonometric function SIN, COS, TAN, ASIN, ACOS, ATAN
Functions
Numerical function ABS, SQR, BIN, LN, EXP, BCD, RND, FIX, FUP, INT, FLT, DFLT, SFLT
Start/end CALL, CLEAR
Home position return CHGA
Speed/torque setting CHGV, CHGT, TL
Motion control WAITON, WAITOFF, EXEON, EXEOFF
Instructions CALL, GOSUB, GOSUBE, IF…GOTO,
Jump/repetition processing IF…THEN…ELSE IF...ELSE...END,
WHILE…DO…BREAK...CONTINUE...END
BMOV, BDMOV, FMOV, BSET, BRST, SET, RST, MULTW, MULTR,
Data operation
TO, FROM, ON, OFF, IF…THEN…SET/RST/OUT, PB
Program calls (GOSUB/GOSUBE) Up to 8
Number of controls
Program calls (M98) Up to 8
Internal relays (M) 8192 points
Link relays (B) 8192 points
Number of devices Annunciators (F) 2048 points
(Device In the Motion Special relays (SM) 2256 points
CPU only) Data registers (D) 8192 points
(Included the Link registers (W) 8192 points
positioning dedicated Special registers (SD) 2256 points
device) Motion registers (#) 8736 points
Coasting timers (FT) 1 point (888µs)
(Note)
Multiple CPU area devices (U \G) Up to 14336 points usable
(Note): Usable number of points changes according to the system settings.

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1 OVERVIEW

1.3 Hardware Configuration

This section describes the Motion controller system configuration, precautions on use
of system, and configured equipments.

1.3.1 Motion system configuration

(1) Equipment configuration in system


(a) Q173DSCPU/Q172DSCPU

Extension of the Q series module


(Note-2)

Power supply module/


QnUD(E)(H)CPU/QnUDVCPU/ Motion module
I/O module/Intelligent function (Q172DLX, Q173DPX)
module of the Q series

Motion module Main base unit Extension cable Q6 B extension base unit
(Q172DLX, Q172DEX, Q173DPX) (Q35DB, Q38DB, Q312DB) (QC B) (Q63B, Q65B, Q68B, Q612B)

Power supply module/


Safety signal module Motion CPU module Forced stop input cable
I/O module/Intelligent function
(Q173DSXY) (Q173DSCPU/Q172DSCPU) (Q170DEMICBL M)
module of the Q series

(Note-1)

M IT S U B I S H I
L IT H IU M B A T T E R Y

PROGRAMMABLE CONTROLLER
TYPE Q6BAT

RIO cable SSCNET cable Battery


(Q173DSXYCBL M) (MR-J3BUS M(-A/-B)) (Q6BAT)

Servo amplifier Servo amplifier


(MR-J3(W)- B) (MR-J4(W)- B)

It is possible to select the best according to the system.


(Note-1): Be sure to install the Battery (Q6BAT).
It is packed together with Q173DSCPU/Q172DSCPU.
(Note-2): Q172DEX cannot be used in the extension base unit.
Install it to the main base unit.

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1 OVERVIEW

(b) Q173DCPU(-S1)/Q172DCPU(-S1)
Extension of the Q series module
(Note-2)

Power supply module/


QnUD(E)(H)CPU/QnUDVCPU/ Motion module
I/O module/Intelligent function (Q172DLX, Q173DPX)
module of the Q series

Motion module Main base unit Extension cable Q6 B extension base unit
(Q172DLX, Q172DEX, Q173DPX) (Q35DB, Q38DB, Q312DB) (QC B) (Q63B, Q65B, Q68B, Q612B)

(Note-3)

Motion CPU module Power supply module/


Safety signal module Forced stop input cable
(Q173DCPU(-S1)/ I/O module/Intelligent function
(Q173DSXY) (Q170DEMICBL M)
Q172DCPU(-S1)) module of the Q series

(Note-3) (Note-1)

RIO cable SSCNET cable Battery holder unit


(Q173DSXYCBL M) (MR-J3BUS M(-A/-B)) (Q170DBATC)

(Note-1)

M IT S U B I S H I
L IT H IU M B A T T E R Y

PROGRAMMABLE CONTROLLER
TYPE Q6BAT

Servo amplifier Battery


(MR-J3(W)- B) (Q6BAT)

It is possible to select the best according to the system.


(Note-1): Be sure to install the Battery (Q6BAT) to the Battery holder unit (Q170DBATC).
It is packed together with Q173DCPU(-S1)/Q172DCPU(-S1).
(Note-2): Q172DEX cannot be used in the extension base unit.
Install it to the main base unit.
(Note-3): Q173DCPU-S1/Q172DCPU-S1 only.

1 - 12
1 OVERVIEW

(2) Peripheral device configuration for the Q173D(S)CPU/


Q172D(S)CPU
The following (a)(b)(c) can be used.

(a) USB configuration (b) RS-232 configuration (c) Ethernet configuration

Motion CPU module


PLC CPU module PLC CPU module (Q17 DSCPU/Q17 DCPU-S1)
(QnUD(E)(H)CPU/QnUDVCPU) (QnUD(H)CPU) PLC CPU module
(QnUDE(H)CPU/QnUDVCPU)

RS-232 communication cable


USB cable Ethernet cable (Note-1)
(QC30R2)

Personal computer Personal computer Personal computer

(Note-1): Corresponding Ethernet cables


1) Connecting to Motion CPU module
Part name Connection type Cable type Ethernet standard Specification
10BASE-T
Connection with HUB Straight cable
100BASE-TX Compliant with Ethernet standards, category 5 or higher.
Ethernet cable
10BASE-T • Shielded twisted pair cable (STP cable)
Direct connection Crossover cable
100BASE-TX

[Selection criterion of cable]


• Category : 5 or higher
• Diameter of lead : AWG26 or higher
• Shield : Copper braid shield and drain wire
Copper braid shield and aluminium layered type shield

2) Connecting to PLC CPU module


Refer to the "QnUCPU User's Manual (Communication via Built-in
Ethernet Port)".

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1 OVERVIEW

1.3.2 Q173DSCPU/Q172DSCPU System overall configuration


Motion CPU control module

interface module

interface module

interface module
Servo external

Manual pulse
Synchronous

generator
encoder
signals
Main base unit PLC CPU/
(Q3 DB) Motion CPU
PERIPHERAL I/F
Q61P QnUD Q17 DS QI60 QX QY Q6 AD Q172D Q172D Q173D

function module
CPU CPU / LX EX PX
Panel personal I/O module/
computer Q6 DA Intelligent function

Intelligent
module

100/200VAC

Manual pulse generator 3/module


USB/RS-232/ P
(MR-HDP01)
Ethernet (Note-1)
Serial absolute synchronous encoder cable
(Q170ENCCBL M)
Serial absolute synchronous encoder 2/module
E
Personal Computer (Q171ENC-W8)
IBM PC/AT
External input signals Number of Inputs
FLS : Upper stroke limit
RLS : Lower stroke limit
8 axes/module
Battery (Q6BAT) STOP : Stop signal
DOG/CHANGE : Proximity dog/Speed-position switching

Analogue input/output

Forced stop input cable


(Q170DEMICBL M) Input/output (Up to 256 points)

EMI forced stop input (24VDC)


External input signals
Extension base unit Upper stroke limit
(Q6 B) Interrupt signals (16 points)
Lower stroke limit
Manual pulse generator/ STOP signal
Power supply

P Incremental synchronous encoder Proximity dog/Speed-position switching


1/module
module

Extension
Input signal/Mark detection input signal (4 points)
cable
(QC B) UP to 7 extensions SSCNET cable
(MR-J3BUS M(-A/-B))

Line 2 Line 1
SSCNET (/H) SSCNET (/H)
d01 d16 d01 d16
(CN2) (CN1)
L61P LJ72MS15
I/O module/
Intelligent function
module
M M M M
E E E E
L61P LJ72MS15
Serial absolute I/O module/
synchronous Intelligent function
encoder cable MR-J3(W)- B/MR-J4(W)- B model Servo amplifier module
(Q170ENCCBL M-A) Q173DSCPU: 2 lines (Up to 32 axes (Up to 16 axes/line))
Q172DSCPU: 1 line (Up to 16axes)
Serial absolute synchronous MELSEC-L series SSCNET /H head module
E (LJ72MS15)
encoder (Note-2) External input signals of servo amplifier
(Q171ENC-W8) Q173DSCPU: 2 lines (Up to 8 stations (Up to 4 stations/line))
Proximity dog/Speed-position switching Q172DSCPU: 1 line (Up to 4 stations)
Upper stroke limit
Lower stroke limit
(Note-1): QnUDE(H)CPU/QnUDVCPU only
(Note-2): MR-J4- B-RJ only

1 - 14
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.
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.

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1 OVERVIEW

1.3.3 Q173DCPU(-S1)/Q172DCPU(-S1) System overall configuration


Motion CPU control module

interface module

interface module

interface module
Servo external

Manual pulse
Synchronous

generator
encoder
signals
Main base unit PLC CPU/
PERIPHERAL I/F (Q3 DB) Motion CPU
(Note-1)

Q61P QnUD Q17 D QI60 QX Q6 AD Q172D Q172D Q173D


Panel personal CPU CPU / / LX EX PX
computer QY Q6 DA I/O module/
Intelligent function module

100/200VAC

Manual pulse generator 3/module


P
USB/RS-232/ (MR-HDP01)
Ethernet (Note-2)
Serial absolute synchronous encoder cable
(Q170ENCCBL M)
Serial absolute synchronous encoder 2/module
E
Personal Computer (Q170ENC)
IBM PC/AT
External input signals Number of Inputs
FLS : Upper stroke limit
RLS : Lower stroke limit
8 axes/module
STOP : Stop signal
DOG/CHANGE : Proximity dog/Speed-position switching
Battery holder unit
Q170DBATC Analogue input/output
Forced stop input cable
Input/output (Up to 256 points)
(Q170DEMICBL M)
EMI forced stop input (24VDC) Interrupt signals (16 points)

Extension base unit


(Q6 B)
SSCNET cable
Power supply

(MR-J3BUS M(-A/-B)) Line 1 SSCNET (CN1)


module

Extension d01 d16 d01 d16


Line 2 SSCNET (CN2)
cable
(QC B) UP to 7 extensions

M M M M
E E E E

MR-J3(W)- B model Servo amplifier


Q173DCPU(-S1): 2 lines (Up to 32 axes (Up to 16 axes/line))
Q172DCPU(-S1): 1 line (Up to 8 axes)

External input signals of servo amplifier


Proximity dog/Speed-position switching
Upper stroke limit
Lower stroke limit

(Note-1): Q173DCPU-S1/Q172DCPU-S1 only


(Note-2): QnUDE(H)CPU/QnUDVCPU only

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.
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.

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1 OVERVIEW

1.3.4 Software packages

(1) Operating system software


Software package
Application (Note-1) (Note-1)
Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1)
Conveyor assembly use SV13 SW8DNC-SV13QJ SW8DNC-SV13QL SW8DNC-SV13QB SW8DNC-SV13QD
Automatic machinery use SV22 SW8DNC-SV22QJ SW8DNC-SV22QL SW8DNC-SV22QA SW8DNC-SV22QC
Machine tool peripheral use SV43 — — SW7DNC-SV43QA SW7DNC-SV43QC

(Note-1): The operating system software (SV22 (Virtual mode switching method)) is installed
at the time of product purchases.

(2) Operating system software type/version


(a) Confirmation method in the operating system (CD)
1)

2)

3)

1) Operating system software type


2) Operating system software version
3) Serial number

Example) When using Q173DCPU, SV22 and version 00B.


1) SW8DNC-SV22QA
2) 00B

(b) Confirmation method in MT Developer2


The operating system software type and version of connected CPU can be
confirmed on the following screens.
1) Installation screen
2) CPU information screen displayed by menu bar [Help] [CPU
Information]
(OS software) S V 2 2 Q A V E R 3 0 0 B

A or B : Q173DCPU(-S1) OS version
C or D : Q172DCPU(-S1)
J or L : Q173DSCPU 3: Motion SFC compatibility
Q172DSCPU . : Motion SFC not compatibility

(3) Programming software packages


(a) Motion controller engineering environment
Part name Model name
MELSOFT MT Works2
(Note-1) SW1DNC-MTW2-E
(MT Developer2 )

(Note-1): This software is included in Motion controller engineering environment "MELSOFT MT Works2".

1 - 17
1 OVERVIEW

(4) Related software packages


(a) PLC software package
Model name Software package
GX Works2 SW1DNC-GXW2-E
GX Developer SW8D5C-GPPW-E

(b) Servo set up software package


Model name Software package
MR Configurator2 SW1DNC-MRC2-E
(Note-1)
MR Configurator MRZJW3-SETUP221E

(Note-1): Q173DSCPU/Q172DSCPU is not supported.

POINTS
When the operation of Windows is unclear in the operation of this software, refer
R

to the manual of Windows or guide-book from the other supplier.


R

1 - 18
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 to CPU No.1.
For Universal model PLC CPU module, "Multiple CPU high speed
transmission function" must be set in the Multiple CPU settings.

(b) Only Multiple CPU high speed main base unit (Q35DB/Q38DB/Q312DB)
can be used.

(c) The combination of Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/


Q172DCPU(-S1) and Q173HCPU(-T)/Q172HCPU(-T)/Q173CPUN(-T)/
Q172CPUN(-T) cannot be used.
The combination of Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/
Q172DCPU(-S1) can be used.

(d) Up to four modules of universal model PLC CPU modules/Motion CPU


modules can be installed from the CPU slot (the slot on the right side of
power supply module) to slot 2 of the main base unit. CPU modules called
as CPU No.1 to CPU No.4 from the left sequentially.
There is no restriction on the installation order of CPU No.2 to No.4.
For CPU module except CPU No.1, an empty slot can be reserved for
addition of CPU module. An empty slot can be set between CPU modules.
However, the installation condition when combining with the High
performance PLC CPU module/Process CPU module/PC CPU module/
C controller module is different depending on the specification of CPU
modules, refer to the Manuals of each CPU modules.

(e) It takes about 10 seconds to startup (state that can be controlled) of Motion
CPU. Make a Multiple CPU synchronous startup setting suitable for the
system.

(f) Execute the automatic refresh of the Motion CPU modules and universal
model PLC CPU modules by using the automatic refresh of Multiple CPU
high speed transmission area setting.
When the High performance PLC CPU module/Process CPU module/PC
CPU module/C controller module is installed in the combination of Multiple
CPU system, the Motion CPU module cannot be execute the automatic
refresh with these modules.

(g) Use the Motion dedicated PLC instructions that starts by "D(P).". The Motion
dedicated PLC instructions that starts by "S(P)." cannot be used. When the
High performance PLC CPU module/Process CPU module/PC CPU
module/C controller module is installed in the combination of Multiple CPU
system, the Motion dedicated PLC instruction from these modules cannot be
executed.

1 - 19
1 OVERVIEW

(2) Motion modules


(Note-1)
(a) Installation position of Q172DEX and Q173DSXY 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.

(d) Q173DSXY cannot be used in Q173DCPU/Q172DCPU.

(e) Q172EX(-S1/-S2/-S3)/Q172LX/Q173PX(-S1) for Q173HCPU(-T)/


Q172HCPU(-T)/Q173CPUN(-T)/Q172CPUN(-T)/Q173CPU/Q172CPU
cannot be used.

(f) Be sure to use the Motion CPU as the control CPU of Motion modules
(Note-1)
(Q172DLX, Q172DEX , Q173DPX, etc.) for Motion CPU. 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.

(g) Q173DSXY is managed with PLC CPU.


The Motion CPU to connect Q173DSXY is only CPU No.2 in the Multiple
CPU system. Q173DSXY cannot be used for the CPU No. 3 or 4.

(Note-1): Q172DEX can be used in SV22. It cannot be used in SV13/SV43.

1 - 20
1 OVERVIEW

(3) Other restrictions


(a) Motion CPU module cannot be set as the control CPU of intelligent function
module (excluding some modules) or Graphic Operation Terminal(GOT).

(b) Be sure to use the battery.

(c) There are following methods to execute the forced stop input.
• Use a EMI connector of Motion CPU module
• Use a device set in the forced stop input setting of system setting

(d) Forced stop input for EMI connector of Motion CPU module cannot be
invalidated by the parameter.
When the device set in the forced stop input setting is used without use of
EMI connector of Motion CPU module, apply 24VDC voltage on EMI
connector and invalidate the forced stop input of EMI connector.

(e) Be sure to use the cable for forced stop input (sold separately). The forced
stop cannot be released without using it.

(f) Set "SSCNET /H" or "SSCNET " for every line in the SSCNET setting of
system setting to communicate with the servo amplifiers.
MR-J4(W)- B can be used by setting "SSCNET /H", and MR-J3(W)- B
can be used by setting "SSCNET ". QDS

(g) There are the following restrictions when "SSCCNET " is set as
communication method.
When the operation cycle is 0.2[ms], set the system setting and the axis
select rotary switch of servo amplifier to "0 to 3".
If the axis select rotary switch of servo amplifier is set to "4 to F", the servo
amplifiers are not recognized. QDS
When the operation cycle is 0.4[ms], set the system setting and the axis
select rotary switch of servo amplifier to "0 to 7".
If the axis select rotary switch of servo amplifier is set to "8 to F", the servo
amplifiers are not recognized.
There is no restriction when "SSCNET /H" is set in the SSCNET setting.
(Note): The setting of axis select rotary switch differs according to the servo
amplifier. Refer to the "Servo amplifier Instruction Manual" for details.

(h) Maximum number of control axes of servo amplifier is shown below.


• Operation cycle is 0.2[ms]: 4 axes per line
• Operation cycle is 0.4[ms]: 8 axes per line
There is no restriction when "SSCNET /H" is set in the SSCNET setting.
QDS

(i) When the operation cycle is "default setting", the operation cycle is set
depending on the number of axes used. However, when "SSCNET " is set
in the SSCNET communication setting and the number of axes used of
servo amplifier is 9 axes or more per line, the operation cycle of 0.8 [ms] or
more is set. (Refer to Section 1.2.2.) QDS

1 - 21
1 OVERVIEW

(j) MR-J4W3- B (Software version "A2" or before) and MR-J3W- B does not
support operation cycle 0.2 [ms]. Set 0.4[ms] or more as operation cycle to
use MR-J4W3- B (Software version "A2" or before) and MR-J3W- B.
QDS

MR-J4W3- B (Software version "A3" or later) supports operation cycle 0.2


[ms]. However, when using operation cycle 0.2 [ms], some functions are
restricted. Refer to the "Servo amplifier Instruction Manual" for details.

(k) If there is an axis which is not set at least 1 axis by system setting in
applicable servo amplifier at MR-J4W- B use, all axes connected to
applicable servo amplifier and subsequent servo amplifiers cannot be
connected. Set "Not used" to the applicable axis with a dip switch for the
axis which is not used by MR-J4W- B. QDS

(l) It is impossible to mount the main base unit by DIN rail when using the
Motion CPU module.
Doing so could result in vibration that may cause erroneous operation.

(m) The module name displayed by "System monitor" - "Product information list"
of GX Works2/GX Developer is different depending on the function version
of Motion modules (Q172DLX, Q172DEX, Q173DPX).
(Note): Even if the function version "C" is displayed, it does not correspond
to the online module change.

Model display
Module name
Function version "B" Function version "C"
Q172DLX Q172LX Q172DLX
Q172DEX MOTION-UNIT Q172DEX
Q173DPX MOTION-UNIT Q173DPX

(n) Use the Graphic Operation Terminal (GOT) that supports Motion CPU
(Q173D(S)CPU/Q172D(S)CPU).
(Refer to the "GOT1000 Series Connection Manual (Mitsubishi Products)".)

1 - 22
1 OVERVIEW

1.4 Checking Serial Number and Operating System Software Version

Checking for the serial number of Motion CPU module and Motion module, and the
operating system software version are shown below.

1.4.1 Checking serial number

(1) Motion CPU module (Q173DSCPU/Q172DSCPU)


(a) Rating plate
The rating plate is situated on the side face of the Motion CPU module.

(b) Front of Motion CPU module


The serial number is printed in the projection parts forward of the lower side
of Motion CPU module.

Q173DSCPU

F01 F01
SW
AB E

AB E
23 6

23 6
CD

CD
45

45

1 2
789 789

STOP RUN MITSUBISHI


MOTION CONTROLLER PASSED
EMI MODEL
Q173DSCPU
5VDC 1.75A
PERIPHERAL I/F

SERIAL N2X234999 Serial number


C
UL US LISTED
KCC-REI-MEK-
TC510A792G61
80M1 IND. CONT.EQ. DATE:2011-11

Rating plate
CN1

EXT.I/F

MITSUBISHI ELECTRIC CORPORATION


MADE IN JAPAN
See Q173DSCPU Instruction manual.
CN2

PULL

FRONT
RIO

Serial number N2X234999

(c) System monitor (product information list)


The serial number can be checked on the system monitor screen in
GX Works2/GX Developer. (Refer to Section 1.4.2.)

1 - 23
1 OVERVIEW

(2) Motion CPU module (Q173DCPU(-S1)/Q172DCPU(-S1))


(a) Rating plate
The rating plate is situated on the side face of the Motion CPU module.

(b) Front of Motion CPU module


The serial number is printed in the projection parts forward of the lower side
of Motion CPU module.

Q173DCPU-S1

F01 F01
SW
AB E

AB E
23 6

23 6
CD

CD
45

45

1 2
789 789

STOP RUN
CAUTION
EMI
PERIPHERAL I/F

MITSUBISHI
MOTION CONTROLLER PASSED Rating plate
MODEL Q173DCPU-S1
0026924699D0 5VDC 1.30A
SERIAL M16349999 Serial number
C
UL 80M1
US LISTED
IND. CONT. EQ.
MADE IN JAPAN
MITSUBISHI ELECTRIC CORPORATION
See Q173DCPU-S1 Instru ction manua l.
CN1

DATE:2011-06

KCC-REI-MEK-TC510A692051
CN2

FRONT
BAT
RIO

Serial number M16349999

(c) System monitor (product information list)


The serial number can be checked on the system monitor screen in
GX Works2/GX Developer. (Refer to Section 1.4.2.)

REMARK
The serial number display was corresponded from the Motion CPU modules
manufactured in early October 2007.

1 - 24
1 OVERVIEW

(3) Motion module (Q172DLX/Q172DEX/Q173DPX/Q173DSXY)


(a) Rating plate
The rating plate is situated on the side face of the Motion module.

(b) Front of Motion module


The serial No. is printed in the projection parts forward of the lower side of
Motion module.

Q172DLX

MITSUBISHI PASSED Rating plate


MOTION I/F UNIT
MODEL Q172DLX
24VDC 0.16A 5VDC 0.06A
SERIAL
DATE 2011-06
C16054999 Serial number
C
UL US LISTED
80M1 IND. CONT. EQ.

MITSUBISHI ELECTRIC CORPORATION


MADE IN JAPAN BC370C224H01
CTRL Se e Q1 72DLX I nstruction man ual .

KCC-REI-MEK-
TC510A646G51

Q172DLX
Serial number C16054999

REMARK
The serial number display was corresponded from the Motion modules
manufactured in early April 2008.

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1 OVERVIEW

1.4.2 Checking operating system software version Ver.!

The operating system software version can be checked on the system monitor screen
in GX Works2/GX Developer.
Select [Product Information List] button on the system monitor screen displayed on
[Diagnostics] – [System monitor] of GX Works2/GX Developer.

Serial number of
Motion CPU module

Operating system software version

<Screen: GX Works2>

Ver.! : Refer to Section 1.5 for the software version that supports this function.

1 - 26
1 OVERVIEW

REMARK
(1) "Serial number of Motion CPU module" and "Operating system software
version" on the system monitor (Product Information List) screen of
GX Works2/GX Developer was corresponded from the Motion CPU modules
manufactured in early October 2007.
(2) The operating system software version can also be checked on the system
monitor screen in CD-ROM of operating system software or MT Developer2.
(Refer to Section 1.3.4.)

1 - 27
1 OVERVIEW

1.5 Restrictions by the Software's Version

There are restrictions in the function that can be used by the version of the operating
system software and programming software.
The combination of each version and a function is shown in Table1.1.

Table 1.1 Restrictions by the Software's Version


(Note-1), (Note-2)
Operating system software version

Function Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1)

SV13/SV22 SV13/SV22 SV43


Checking Motion controller's serial number and operating
— 00D —
system software version in GX Developer
Advanced S-curve acceleration/deceleration
(Except constant-speed control (CPSTART) of servo — 00H
program.)
Direct drive servo
— 00H 00B
MR-J3- B-RJ080W
Servo amplifier display servo error code (#8008+20n) — 00H 00B
0.44ms fixed-cycle event task — 00H
444μs coasting timer (SD720, SD721) — 00H 00B
Synchronous encoder current value monitor in real mode — 00H
Display of the past ten times history in current value history
— 00H 00C
monitor
Amplifier-less operation — 00H
Servo instruction (Home position return (ZERO), high
speed oscillation (OSC)) and manual pulse generator — 00H
operation in mixed function of virtual mode/real mode
Advanced S-curve acceleration/deceleration in constant-
— 00K
speed control (CPSTART) of servo program.
External input signal (DOG) of servo amplifier in home
position return of count type and speed/position switching — 00G 00B
control
Communication via PERIPHERAL I/F — 00H 00C
Motion SFC operation control instruction
— 00L —
Type conversion (DFLT, SFLT)
Vision system dedicated function (MVOPEN, MVLOAD,
— 00L
MVTRG, MVPST, MVIN, MVFIN, MVCLOSE, MVCOM)
Home position return of scale home position signal
— 00L 00C
detection type
Real time display function in digital oscilloscope function — 00N Not support

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1 OVERVIEW

Programming software version


MELSOFT MT Works2 (MT Developer2)
Section of reference
Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) MR Configurator2 MR Configurator
SV13/SV22 SV13/SV22 SV43

— — — — — Section 1.4

1.39R 1.06G — — (Note-4)

1.39R 1.06G 1.06G 1.01B C2

— — — — — (Note-4), (Note-5)
1.39R 1.06G — — (Note-3)
— — — — — APPENDIX 1.2
— — — — (Note-5)

1.39R 1.06G Not support — — Section 4.2

— — — — Section 4.11

1.39R 1.09K — — (Note-5)

1.39R 1.09K — — (Note-4)

1.39R 1.15R Not support — —

1.39R 1.15R Not support — — Section 4.13

1.39R 1.15R — — — (Note-3)

1.39R 1.15R — — (Note-3)

1.39R 1.15R Not support — — (Note-4)

1.39R 1.17T Not support — —

—: There is no restriction by the version.


(Note-1): SV13/SV22 is the completely same version.
(Note-2): The operating system software version can be confirmed in the operating system software (CD-ROM), MT Developer2 or
GX Works2/GX Developer. (Refer to Section 1.3, 1.4.)
(Note-3): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)
(Note-4): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)
(Note-5): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV22) Programming Manual (VIRTUAL MODE)
(Note-6): Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (Safety Observation)
(Note-7): Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual (Advanced Synchronous Control)

1 - 29
1 OVERVIEW

Table 1.1 Restrictions by the Software's Version (continued)


(Note-1), (Note-2)
Operating system software version

Function Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1)

SV13/SV22 SV13/SV22 SV43


Rapid stop deceleration time setting error invalid function — 00S
Vision system dedicated function (MVOUT) — 00S
Motion SFC operation control instruction
Program control (IF - ELSE - IEND, SELECT -CASE - — 00R
SEND, FOR -NEXT, BREAK)
Display format depending on the error setting data
— 00S
information of motion error history device (#8640 to #8735)
Product information list device (#8736 to #8751) — 00S
Safety observation function — 00S
Feed current value update command (M3212+20n) valid in
00B Not support
speed control ( )
External forced stop input ON latch (SM506) 00B 00S
Operation method (SD560) 00B Not support
Advanced synchronous control 00B Not support

Limit switch output function expansion 00B Not support

Driver communication function (SSCNET ) 00C Not support


Intelligent function module support 00C Not support
SSCNET /H head module connection 00C Not support
Cam auto-generation (CAMMK) easy stroke ratio cam 00C Not support
Acceleration/deceleration time change function 00C Not support
Home position return of dogless home position signal
00C Not support
reference type
Setting range expansion of backlash compensation
00C Not support
amount
Multiple CPU synchronous control 00C Not support
Cam axis length per cycle change during synchronous
00C Not support
control
Servo driver VC series SSCNET — 00L
manufactured by Nikki Denso Co., Ltd. SSCNET /H 00D Not support
Inverter FR-A700 series — —
Synchronous encoder via servo amplifier 00D Not support
Driver communication function (SSCNET /H) 00D Not support

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1 OVERVIEW

Programming software version


MELSOFT MT Works2 (MT Developer2)
Section of reference
Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) MR Configurator2 MR Configurator
SV13/SV22 SV13/SV22 SV43
— — — — (Note-4)
1.39R 1.39R — — (Note-3)

1.39R 1.39R — — (Note-3)

— — — — (Note-3)

— — — — (Note-4), (Note-5)
1.39R 1.39R — — (Note-6)

— Not support — — (Note-4)

— — — — APPENDIX 1.1
— Not support — — APPENDIX 1.2
1.47Z Not support — — (Note-7)
Section 4.1.3
1.47Z Not support — —
Section 4.1.4
— Not support — — Section 4.16
1.56J Not support — — Section 4.17
1.56J Not support — — Section 4.18
1.56J Not support — — (Note-3)
1.56J Not support — — (Note-4)

1.56J Not support — — (Note-4)

1.56J Not support — — (Note-4)

1.56J Not support — — (Note-7)

1.56J Not support — — (Note-7)

1.34L 1.15R — — (Note-4)


1.56J Not support — — (Note-4)
1.34L 1.15R — — (Note-4)
1.68W Not support — Not support (Note-7)
1.68W Not support — Not support Section 4.16

—: There is no restriction by the version.


(Note-1): SV13/SV22 is the completely same version.
(Note-2): The operating system software version can be confirmed in the operating system software (CD-ROM), MT Developer2 or
GX Works2/GX Developer. (Refer to Section 1.3, 1.4.)
(Note-3): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)
(Note-4): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)
(Note-5): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV22) Programming Manual (VIRTUAL MODE)
(Note-6): Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (Safety Observation)
(Note-7): Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual (Advanced Synchronous Control)

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1 OVERVIEW

1.6 Programming Software Version

The programming software versions that support Motion CPU are shown below.
MELSOFT MT Works2 (MT Developer2)
Motion CPU MR Configurator2 MR Configurator
SV13/SV22 SV43
(Note-1)
Q173DSCPU 1.39R 1.10L Not support
(Note-1)
Q172DSCPU 1.39R 1.10L Not support
(Note-2) (Note-3) (Note-4)
Q173DCPU-S1 1.00A 1.03D 1.00A C0
(Note-2) (Note-3) (Note-4)
Q172DCPU-S1 1.00A 1.03D 1.00A C0
(Note-4)
Q173DCPU 1.00A 1.03D 1.00A C0
(Note-4)
Q172DCPU 1.00A 1.03D 1.00A C0

(Note-1): Use version 1.47Z or later to use advanced synchronous control method.
(Note-2): Use version 1.12N or later to communicate via PERIPHERAL I/F.
(Note-3): Use version 1.23Z or later to communicate via PERIPHERAL I/F.
(Note-4): Use version C1 or later to use MR Configurator combination with MT Developer2.

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2 MULTIPLE CPU SYSTEM

2. MULTIPLE CPU SYSTEM

2.1 Multiple CPU System

2.1.1 Overview

(1) What is Multiple CPU system ? 2


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) System configuration based on load distribution


(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
CPU modules.
It is possible to control up to 96 axes by using the three CPU modules
(Q173DSCPU/Q173DCPU(-S1)).

(c) By distributing the high-load processing performed on a single PLC CPU


over several CPU modules, it is possible to reduce the overall system PLC
scan time.

(3) Communication between CPUs in the Multiple CPU system


(a) Since device data of other CPUs can be automatically read by the automatic
refresh function, the self CPU can also use them as those of self CPU.
(Note): When the High performance PLC CPU module/Process CPU
module/PC CPU module/C controller module is mounted in the
combination of Multiple CPU system, the Motion dedicated PLC
instruction from these modules cannot be executed.

(b) Motion dedicated PLC instructions can be used to access device data from
the PLC CPU to Motion CPU and start Motion SFC program (SV13/SV22)/
Motion program (SV43).

2-1
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).
The combination of Q173DSCPU/Q172DSCPU and Q173DCPU(-S1)/
Q172DCPU(-S1) can be used.
(Note): Refer to the manual for each CPU module when the High performance PLC
CPU module, Process CPU module, PC CPU module and C controller module
is mounted in the combination of Multiple CPU.

Table 2.1 Example for CPU module installation


Number
Installation position of CPU module
of CPUs
CPU 0 1 2

Power QnUD Q17 D(S)


supply CPU CPU

2 —— ——

CPU CPU CPU CPU


No.1 No.2 No.3 No.4

CPU 0 1 2 CPU 0 1 2

Power QnUD Q17 D(S) QnUD Power QnUD Q17 D(S) Q17 D(S)
supply CPU CPU CPU supply CPU CPU CPU

3 ——

CPU CPU CPU CPU CPU CPU CPU CPU


No.1 No.2 No.3 No.4 No.1 No.2 No.3 No.4

CPU 0 1 2 CPU 0 1 2 CPU 0 1 2

Power QnUD Q17 D(S) QnUD CPU Power QnUD Q17 D(S) Q17 D(S) QnUD Power QnUD Q17 D(S) Q17 D(S) Q17 D(S)
supply CPU CPU CPU empty supply CPU CPU CPU CPU supply CPU CPU CPU CPU

CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU
No.1 No.2 No.3 No.4 No.1 No.2 No.3 No.4 No.1 No.2 No.3 No.4

CPU 0 1 2 : Slot number

An empty slot can be reserved for future addition of a CPU module.


Set the number of CPU modules including empty slots in the Multiple CPU setting, and
set the type of the slots to be emptied to "PLC (Empty)" in the CPU setting.

(Example 1) (Example 2) (Example 3)


CPU 0 1 2 CPU 0 1 2 CPU 0 1 2

Power QnUD CPU Q17 D(S) Power QnUD CPU Q17 D(S) CPU Power QnUD CPU CPU Q17 D(S)
supply CPU empty CPU supply CPU empty CPU empty supply CPU empty empty CPU

CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU
No.1 No.2 No.3 No.4 No.1 No.2 No.3 No.4 No.1 No.2 No.3 No.4

2-2
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 , QX - , QY , QY - , QH , QX Y )
(Note-1)
• Intelligent function module
• Interrupt module (QI60)

(Note-1): Refer to Section 4.17 for corresponding intelligent function module.

(2) Compatibility with the Multiple CPU system


The intelligent function modules of function version "B" or later support the
Multiple CPU system. Be sure to use the PLC CPU as a control CPU for the
intelligent function modules (network modules etc.) that cannot be controlled by
the Motion CPU.

(3) Access range from non-controlled 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 non-controlled PLC CPU for the modules controlled by
the Motion CPU are shown below.

Table 2.2 Access range to non-controlled module


I/O setting outside of the group (Set by PLC CPU)
Access target
Disabled (Not checked) Enabled (Checked)
Input (X)
Output (Y)
Read
Buffer memory
Write

: Accessible : Inaccessible

REMARK
• The function version of an intelligent function module can be checked on the rated
plate of the intelligent function module or in the GX Works2/GX Developer system
monitor product information list.
• Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller User's Manual" for
the model name which can be controlled by the Motion CPU.

2-3
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.
(a) SV13/SV22
Maximum installable modules per CPU
Description Model name
Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1)
Servo external signals
Q172DLX 4 modules 2 modules 4 modules 1 module
interface module
Serial absolute synchronous (Note-2)
Q172DEX 6 modules 4 modules
interface module
Incremental serial
encoder use 4 modules 3 modules
Manual pulse generator Q173DPX (Note-2)
(Note-1)
interface module
Manual pulse
1 module
generator only use
QX
Input module
QX -
QY
Output module
QY -
Input/output composite QH
(Note-5) Total 256 points
module QX Y Total 256 points
Analogue input Q6 AD
Intelligent
module Q6 AD-
function
Analogue Q6 DA
module
(Note-3) output module Q6 DA-
General (Note-4) —
Interrupt module QI60 1 module

(Note-1): When the Manual pulse generator and the serial encoder are used at the same time with the SV22, the Q173DPX installed in the
slot of the smallest number is used for manual pulse generator input.
(Note-2): SV22 only.
(Note-3): A maximum of 4 intelligent function modules can be used.
(Note-4): Refer to Section 4.17 for corresponding intelligent function module.
(Note-5): Number of I/O points is total of "Built-in interface in Motion CPU (Input 4 points) + I/O module + intelligent function module".

2-4
2 MULTIPLE CPU SYSTEM

(b) SV43
Maximum installable modules per CPU
Description Model name
Q173DCPU(-S1) Q172DCPU(-S1)
Servo external signals
Q172DLX 4 modules 1 module
interface module
Manual pulse generator Manual pulse
Q173DPX 1 module 1 module
interface module generator only use
QX
Input module
QX -
QY
Output module
QY -
Input/output QH
Total 256 points
composite module QX Y
Intelligent Analogue input Q6 AD
function module Q6 AD-
module Analogue Q6 DA
(Note-1)
output module Q6 DA-

(Note-1): A maximum of 4 intelligent function modules can be used.

(2) A total of eight base units including one main base unit and seven extension base
units can be used. However, the usable slots (number of modules) are limited to
64 per system including empty slots. If a module is installed 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 main 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.)

POINT
(1) 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.
(2) Q172DEX can be installed in the main base unit only. It cannot be used in the
extension base unit.

2-5
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.)

POINT
(1) It is not possible to reset the CPU modules of No.2 to No.4 individually in the
Multiple CPU system.
If an attempt to reset any of those PLC CPU modules during operation of the
Multiple CPU system, a "MULTI CPU DOWN (error code: 7000)" error will
occur for the other CPUs, and the entire Multiple CPU system will be halted.
However, depending on the timing in which any of PLC CPU modules other
than No.1 has been reset, an error other than the "MULTI CPU DOWN" may
halt the other PLC CPUs/Motion CPUs.
(2) A "MULTI CPU DOWN (error code: 7000)" error will occur regardless of the
operation mode (All stop by stop error of CPU "n"/continue) set at the "Multiple
CPU setting" screen when any of PLC CPU modules of No.2 to No.4 is reset.
(Refer to Section 2.1.6.)

2-6
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.


1) Confirm the error cause with the PLC diagnostics on GX Works2/
GX Developer.
2) Remove the error cause.
3) Either reset the PLC CPU No.1 or restart the power to the Multiple CPU
system (power ON OFF ON).
All CPUs on the entire Multiple CPU system will be reset and the system will
be restored when PLC CPU No. 1 is reset or the Multiple CPU system is
reapplied.

(2) When a stop error occurs at CPU other than No.1


Whether the entire system is halted or not is determined by the Multiple CPU
setting's "Operating Mode" setting when a stop error occurs in a PLC CPU
module/Motion CPU module other than CPU No.1.
The default is set for all CPUs to be stopped with a stop error.
When you do not want to stop all CPUs at occurrence of a stop error in a PLC
CPU module/Motion CPU module, remove the check mark that corresponds to
the CPU No. so that its error will not stop all CPUs. (See arrow A.)

(a) When a stop error occurs in the CPU module for which "All station stop by
stop error of CPU 'n' " has been set, a "MULTI CPU DOWN (error code:
7000)" error occurs for the other PLC CPU module/Motion CPU modules
(Note-1)
and the Multiple CPU system will be halted.

2-7
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: 7020)" 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)" will
occur at the CPU on which the error was detected.
Depending on the timing of error detection, a "MULTI CPU DOWN" error
may be detected in a CPU of "MULTI CPU DOWN" status, not the first
CPU on which a stop error occurs.
Because of this, CPU No. different from the one of initial error CPU may
be stored in the error data's common information category.
To restore the system, remove the error cause on the CPU that is
stopped by an error other than "MULTI CPU DOWN".
In the screen below, the cause of the CPU No.2 error that did not cause
the "MULTI CPU DOWN" error is to be removed.
The stop error can be checked on the PLC diagnostics screen in
GX Works2/GX Developer.

<Screen: GX Works2>

(c) Observe the following procedures to restore the system.


1) Confirm the error-detected CPU No. and error cause with the PLC
diagnostics on GX Works2/GX Developer.
2) If the error code occurred in Motion CPU 10000 to 10999, confirm the
error cause with monitor of MT Developer2.
3) Remove the error cause.
4) Either reset the PLC CPU No.1 or restart the power to the Multiple CPU
system (power ON OFF ON).

All CPUs on the entire Multiple CPU system will be reset and the system will
be restored when PLC CPU No.1 is reset or the power to the Multiple CPU
system is reapplied.

2-8
2 MULTIPLE CPU SYSTEM

(3) Operation at a Motion CPU error


Operations at a Motion CPU error are shown below.
Category Type of error Operation Remark
Does not operate from the • All actual output PY points turn OFF.
System setting error
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 may also stop depending on
Operation Self-diagnosis error Stops at a CPU DOWN error.
the parameter setting.
disable errors
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.
(Note-1)
Motion SFC error
Minor error
Operation • Only the applicable program stops (the
Major error Processing stops for each
continuous program may continue depending on the
Servo error program or axis instead of the
enable errors type of error).
Servo program setting Motion CPU stopping all the
(Note-1) • Actual output PY retains output.
error / processing.
• No effect on other CPUs.
Motion program setting
(Note-2)
error

(Note-1): SV13/SV22 use.


(Note-2): SV43 use.

2-9
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.

Selection of module Refer to the "Q173D(S)CPU/Q172D(S)CPU


Motion controller User's Manual"
Select the module to achieve the
function with the Multiple CPU system.
PLC CPU
Motion CPU
Installation of module Refer to the "Q173D(S)CPU/Q172D(S)CPU
Motion controller User's Manual"
Install the selected module on the main
base unit and extension base unit.

Start-up of GX Works2/GX Developer Refer to the GX Works2/GX Developer Manual.


Start-up GX Works2 (Ver.1.15R or later)
/GX Developer (Ver. 8.48A or later).

Creation of parameters, etc. Create the parameters for CPU No. 1 to 4 and
sequence programs.
Create the parameter such as Multiple
Refer to the "QnUCPU User's Manual" (Function
CPU setting and control CPU setting,
Explanation/Program Fundamentals)".
and the sequence program.

Connection of PC to the PLC CPU


module of CPU No. 1
Connect the PC that started GX Works2
/GX Developer to the PLC CPU module
PLC CPU of CPU No. 1 with the RS-232/USB/
Ethernet cable.

Multiple CPU system power ON


Turn ON the power of Multiple CPU
system in the following state of PLC
CPU module of CPU No.1.
RUN/STOP/RESET switch : STOP

Write of parameter and program


Write parameter and sequence program
in the PLC CPU of CPU No. 1.
For PLC CPU other than CPU No. 1,
select the applicable PLC CPU by
specifying the connection.

1)

2 - 10
2 MULTIPLE CPU SYSTEM

1)

Start-up of MT Developer2 Refer to the help for operation of MT Developer2.


Start-up MT Developer2.

Creation of system settings and Refer to Section 3.1 for system settings.
program, etc. Refer to the Programming Manual of each
Create the system settings, servo data operating system software for details of program.
Motion CPU and Motion SFC program (SV13/SV22)
/Motion program (SV43).

Write to the Motion CPU


Write the system settings, servo data
and Motion SFC program (SV13/SV22)
/Motion program (SV43).

Switch setting for all CPUs

PLC CPU Set RUN/STOP/RESET switch of PLC


Motion CPU CPU modules and RUN/STOP switch of
Motion CPU modules in CPU No.1 to 4
to RUN.

Reset PLC CPU module of CPU No.1


Set RUN/STOP/RESET switch of PLC
CPU module in CPU No.1 to RESET
to reset the entire system.
PLC CPU
Status check in all CPU modules
Check if all CPUs of the Multiple CPU
system are RUN status/error by
resetting the CPU module of CPU No. 1.

Check and correction of errors


An error is checked with the PC
diagnosis function of GX Works2/
GX Developer and monitor of
PLC CPU MT Developer2 for correction.
Motion CPU

Debug of each CPU module


Multiple CPU system is debugged for
each PLC CPU/Motion CPU.

Actual operation
Check in the automatic operation.

END

(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 "Q173D(S)CPU/Q172D(S)CPU Motion controller User's Manual" for
installation of the Motion CPU operating system software.

2 - 11
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 and by
which data are written or read between CPU modules of the Multiple CPU
system.
The CPU shared memory consists of four areas.
• Self CPU operation information area
• System area
• User setting area
• Multiple CPU high speed transmission area

The CPU shared memory configuration and the availability of the communication
from the self CPU using the CPU shared memory by program are shown below.
Self CPU Other CPU
CPU shared memory Write Read Write Read
(0H) 0
Self CPU operation (Note-2) (Note-2)
to to
information area
(1FFH) 511
(200H) 512
(Note-2)
to to System area
(7FFH) 2047
(800H) 2048
(Note-1) (Note-2) (Note-2)
to to User setting area

(FFFH) 4095
(1000H) 4096
to to Unusable
(270FH) 9999
(2710H) 10000 Multiple CPU high speed
transmission area Multiple CPU
to to (Note-3) (Note-3) (Note-3)
(Variable size in 0 to high speed
up to bus
(5F0FH) 24335 14k[points]: 1k words in unit)

: Communication allowed : Communication not allowed

REMARK
(Note-1): Use the MULTW instruction to write to the user setting area of the self
CPU in the Motion CPU.
Use the S. TO instruction to write to the user setting area of the self CPU in
the PLC CPU.
(Note-2): Use the MULTR instruction to read the shared memory of self CPU and
other CPU in the Motion CPU.
Use the FROM instruction/Multiple CPU area device (U \G ) to read the
shared memory of the Motion CPU from the PLC CPU.
(Note-3): Refer to Section 2.3.2(1) for the access method of Multiple CPU high
speed transmission area.

2 - 12
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
(Note) Corresponding
memory Name Detail Description
special register
address
The area to confirm if information is stored in the self CPU's
operation information area (1H to 1FH) or not.
Information availability • 0: Information not stored in the self CPU's operation information
0H Information availability —
flag area.
• 1: Information stored in the self CPU's operation information
area.
1H Diagnostic error Diagnostic error number An error No. identified during diagnosis is stored in BIN. SD0
The year and month that the error number was stored in the CPU
2H shared memory's 1H address is stored with two digits of the BCD SD1
code.
The date and time that the error number was stored in the CPU
Time the diagnostic error Time the diagnostic error
3H shared memory's 1H address is stored with two digits of the BCD SD2
occurred occurred
code.
The minutes and seconds that the error number was stored in the
4H CPU shared memory's 1H address is stored with two digits of the SD3
BCD code.
Stores an identification code to determine what error information
Error information Error information
5H has been stored in the common error information and individual SD4
identification code identification code error information.
The common information corresponding to the error number
6H to 10H Common error information Common error information SD5 to SD15
identified during diagnosis is stored.
Individual error Individual error The individual information corresponding to the error number
11H to 1BH SD16 to SD26
information information identified during diagnostic is stored.
1CH Empty — Cannot be used —
1DH Switch status CPU switch status Stores the CPU module switch status. SD200
1EH Empty — Cannot be used —
1FH CPU operation status CPU operation status Stores the CPU module's operation status. SD203

(Note): Refer to the corresponding special register for details.

2) The self CPU operation information area is refreshed every time the
applicable register has been changed in the main cycle.
3) Other PLC CPU can use FROM instruction to read data from the self
CPU operation information area.
However, because there is a delay in data updating, use the read data
for monitoring purposes only.

(b) System area


The area used by the operating systems (OS) of the PLC CPU/Motion CPU.

(c) User setting area


The area for communication between CPU modules in the Multiple CPU
system by MULTR/MULTW instruction of Motion CPU.
(PLC CPU use FROM/S.TO instruction or Multiple CPU area devices to
communicate between CPU modules.)
Refer to the Programming Manual of operating system software for
MULTR/MULTW instruction.

2 - 13
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 PLC 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.1 CPU No.2 CPU No.3 CPU No.4


(Note-2)
CPU No.1 CPU No.1 CPU No.1 CPU No.1
U3E0\G10000
Multiple CPU high Multiple CPU high Multiple CPU high Multiple CPU high
speed transmission speed transmission speed transmission speed transmission
to area area area area
(Transmission) (Reception) (Reception) (Reception)
(Note-1)
U3E0\G
(Note-2)
CPU No.2 CPU No.2 CPU No.2 CPU No.2
U3E1\G10000
Multiple CPU high Multiple CPU high Multiple CPU high Multiple CPU high
speed transmission speed transmission speed transmission speed transmission
to area area area area
(Reception) (Transmission) (Reception) (Reception)
(Note-1)
U3E1\G
(Note-2)
CPU No.3 CPU No.3 CPU No.3 CPU No.3
U3E2\G10000
Multiple CPU high Multiple CPU high Multiple CPU high Multiple CPU high
speed transmission speed transmission speed transmission speed transmission
to area area area area
(Reception) (Reception) (Transmission) (Reception)
(Note-1)
U3E2\G
(Note-2)
CPU No.4 CPU No.4 CPU No.4 CPU No.4
U3E3\G10000
Multiple CPU high Multiple CPU high Multiple CPU high Multiple CPU high
speed transmission speed transmission speed transmission speed transmission
to area area area area
(Reception) (Reception) (Reception) (Transmission)
(Note-1)
U3E3\G
(Note-1) : The final device is "10000+(A 1024-B-1)".
A : Data transmission size of each CPU (1k words in unit)
B : Size used in the automatic refresh of each CPU.
Refer to Section "2.3.2 Multiple CPU high speed transmission"
for the size setting of A and B.
(Note-2) : Transmission area to write/read in the self CPU.
Reception area from the other CPU can be read only.
It is updated every 0.88ms.

2 - 14
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 0.88[ms].).
Secure data transmission is possible without effecting the PLC CPU scan time or
Motion CPU main cycle because the data transmission and execution of
sequence program and Motion SFC program/Motion program can be executed
with parallel processing.
High speed response between multiple CPUs is realized by synchronizing the
Multiple CPU high speed transmission cycle with Motion CPU operation cycle.

The following methods of data transmission exist between Multiple CPUs for
Multiple CPU high speed transmission.
• Use the Multiple CPU area device
Set the Multiple CPU high speed transmission area by setting the Multiple CPU
area device (U \G ) in the program.
• Automatic refresh method
Refresh the internal devices of each CPU by automatic refresh via "Multiple
CPU high speed transmission area".

(a) Multiple CPU area device method


CPU No.1 (PLC CPU) CPU No.2 (Motion CPU)

Sequence program CPU shared memory CPU shared memory Motion SFC program
(User setting area (Note-1)) (User setting area (Note-1))
SM400
U3E0\
MOV W0 G10000
G0 G1
U3E0\ U3E0\G10000 U3E0\G10000 3) U3E0\G10010.1 U3E0\G10110.5
G10010.1 1)
U3E0\G10010 2) U3E0\G10010
F0 F1
SM400 CPU No.1 CPU No.1 W0=U3E0\G10000 W1=U3E0\G10100
U3E0\
MOV W1 G10100 transmitting transmitting
data data
U3E0\ 6)
G10110.5 4) U3E0\G10100 5) U3E0\G10100

END U3E0\G10110 U3E0\G10110

Multiple CPU high speed


transmission in 0.88ms cycle

1), 4) : Write data in the user setting area (Note-1) by the instruction that uses the Multiple CPU area device.
3), 6) : Read data from the user setting area (Note-1) by the instruction that uses the Multiple CPU area device.
2), 5) : Transmit the contents of user setting area (Note-1) to the other CPU with by Multiple CPU high speed transmission in 0.88ms cycle.
Note-1: The area composed in the Multiple CPU high speed transmission area.
(Refer to Section "(3) Memory configuration of Multiple CPU high speed transmission area".)

2 - 15
2 MULTIPLE CPU SYSTEM

1) Access to Multiple CPU high speed transmission area


a) SV13/SV22
• 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. CPU No.1 CPU No.2 CPU No.3 CPU No.4
First I/O number 3E0(H) 3E1(H) 3E2(H) 3E3(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. CPU No.1 CPU No.2 CPU No.3 CPU No.4
First I/O number 3E0(H) 3E1(H) 3E2(H) 3E3(H)

(Example)
• Multiple CPU high speed transmission memory address of CPU
No.2: 10002
U3E1\G10002
• Bit 14 of CPU No.3 Multiple CPU high speed transmission
memory address 10200
U3E2\G10200.E

• Example of access in the program


<Motion SFC program>
• Store K12345678 to the Multiple CPU high speed transmission
memory 10200,10201 of self CPU (CPU No.2).
U3E1\G10200L = K12345678
• Turn on bit 12 of the Multiple CPU high speed transmission
memory 10301 of self CPU (CPU No.3)
SET U3E2\G10301.C

<Servo program>
• Program which executes the positioning for Axis 1 to position set
in the Multiple CPU high speed transmission memory 10400,
10401 of CPU No.1 at the speed set in the 10402, 10403 of CPU
No.1, and uses bit 1 of CPU No.1 Multiple CPU high speed
transmission memory 10404 of CPU No.1 as a cancel signal.
ABS-1
Axis 1, U3E0\G10400
Speed U3E0\G10402
Cancel U3E0\G10404.1

2 - 16
2 MULTIPLE CPU SYSTEM

b) SV43
• Description of Multiple CPU area device
Word device : # Q \

CPU shared memory address (Decimal) (0 to up to 14335)(Note)


CPU No.
CPU No. CPU No.1 CPU No.2 CPU No.3 CPU No.4
Set value 0 1 2 3

Bit device :#Q \ .

Bit specification (0 to F : Hexadecimal)


CPU shared memory address (Decimal) (0 to up to 14335)(Note)
CPU No.
CPU No. CPU No.1 CPU No.2 CPU No.3 CPU No.4
Set value 0 1 2 3
(Note): Write the value that attracted 10000 from specified CPU
shared memory address.
(Accessible memory address : 10000 to 24335)

(Example)
• Multiple CPU high speed transmission memory address of CPU
No.2: 10002
#Q1\2
• Bit 14 of CPU No.3 Multiple CPU high speed transmission
memory address 10200
#Q2\200.E

• Example of access in the program


<Motion program>
• Store K12345678 to the Multiple CPU high speed transmission
memory 10200,10201 of self CPU (CPU No.2).
#Q1\200:L = K12345678;
• Turn on bit 12 of the Multiple CPU high speed transmission
memory 10301 of self CPU (CPU No.3)
SET #Q2\301.C;
• Program which executes the positioning for Axis X to position set
in the Multiple CPU high speed transmission memory 10400,
10401 of CPU No.1 at the speed set in the 10402, 10403 of CPU
No.1, and uses bit 1 of CPU No.1 Multiple CPU high speed
transmission memory 10404 of CPU No.1 as a skip signal.
G32 X#Q0\400:L F#Q0\402:L SKIP #Q\404.1;

POINT
This method can be used to access only the Multiple CPU high speed transmission
area of CPU shared memory. It cannot be used to access the CPU shared memory
(0 to 4095).

2 - 17
2 MULTIPLE CPU SYSTEM

(b) Example of using automatic refresh method


CPU No.1 (PLC CPU) CPU No.2 (Motion CPU)
CPU shared memory CPU shared memory
Sequence program
Device memory (Automatic refresh area (Note-1)) (Automatic refresh area (Note-1)) Device memory
SM400
INC D0
1)
Y0
D0 3)
Refresh at the CPU No.1 2) CPU No.1
timing of END transmitting transmitting D2000
processing data data
SM400 Refresh at the
INC D1 timing of Motion
CPU main cycle

Y0
Multiple CPU high speed
transmission in 0.88ms cycle
END

Parameter Parameter

CPU No.1 to CPU No.2 CPU No.1 to CPU No.2


Transmit D0 Receive D2000

1) Transmit the content of D0 to the automatic refresh area (Note-1) at the time of END processing by parameter setting.
2) Transmit the content of automatic refresh area (Note-1) to the other CPU by Multiple CPU high speed transmission at 0.88ms cycle.
3) Read the content of automatic refresh area (Note-1) at the time of Motion CPU main cycle and transmit it to D2000 by parameter setting.
Note-1: The area composed in the Multiple CPU high speed transmission area.
(Refer to Section "(3) Memory configuration of Multiple CPU high speed transmission area".)

(2) System configuration


Multiple CPU high speed transmission can be used only between CPU modules
for the Multiple CPU high speed transmission installed in the Multiple CPU high
speed main base unit (Q3 DB).
The system configuration specification is shown in Table 2.4.

Table 2.4 System configuration to use Multiple CPU high speed


transmission
Object Restrictions
Base unit Multiple CPU high speed main base unit (Q3 DB) is used.
QnUD(E)(H)CPU/QnUDVCPU is used for CPU No.1.
CPU module Q173D(S)CPU/Q172D(S)CPU and QnUD(E) (H)CPU/QnUDVCPU are
used for CPU No.2 to CPU No.4

"MULTI EXE. ERROR (error code: 7011) will occur if the power supply of Multiple
CPU system is turned on without matching the system configuration shown in
Table 2.4.

2 - 18
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) 2) 6)
Multiple CPU high speed CPU No.1 send area User setting area
transmission area
[Variable in 0 to 3) 7)
CPU No.2 send area Automatic refresh area
14k[points] (Note-1)]
4)
CPU No.3 send area

5)
CPU No.4 send area

(Note-1): Multiple CPU high speed transmission area;


14k[points]: Maximum value when constituted with two CPUs
13k[points]: Maximum value when constituted with three CPUs
12k[points]: Maximum value when constituted with four CPUs

Table 2.5 Description of area


Size
No. Name Description
Setting range Setting unit
• Area for data transmission between each CPU module
Multiple CPU high speed in the Multiple CPU system.
1) 0 to 14k 1k
transmission area • The area up to 14k [points] is divided between each
CPU module that constitutes the Multiple CPU system.
2) • Area to store the send data of each CPU module.
3) • Sends the data stored in the send area of self CPU to
CPU No. n send area
4) the other CPUs. 0 to 14k 1k
(n=1 to 4)
• Other CPU send area stores the data received from the
5)
other CPUs.
• Area for data communication with other CPUs using
the Multiple CPU area device.
6) User setting area • Can be accessed by the user program using the 0 to 14k 2
Multiple CPU area device.
• Refer to Section 2.3.2 (1) for details of this area.
• Area for communicating device data with other CPUs
by the communication using the automatic refresh.
Automatic refresh
7) • Access by user program is disabled. 0 to 14k 2
area
• Refer to Section "(4)(b) Automatic refresh setting" for
details of this area.

2 - 19
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 Target CPU
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.
All CPUs
Set the range to execute the data transmission by
Automatic refresh
the automatic refresh function among the user area
setting
in the Multiple CPU high speed transmission area.

(a) Multiple CPU high speed transmission area setting


Multiple CPU high speed transmission area setting screen and setting range
are shown below.

2 - 20
2 MULTIPLE CPU SYSTEM

Table 2.7 Parameter setting items of Multiple CPU high speed transmission area setting
Consistency
Item Setting description Setting/display value Restriction
check
CPU 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 • Set the total of all CPUs to be
below. the following points or lower.
Default value of CPU specific When constituted with two
send range [points] Range: 0 to 14k [points]
CPU specific Number of CPUs: 14k [points]
Unit: 1k [point] Provided
send range CPUs CPU CPU CPU CPU When constituted with three
(Points: Word in units)
No.1 No.2 No.3 No.4 CPUs: 13k [points]
2 7k 7k — — When constituted with four
3 7k 3k 3k — CPUs: 12k [points]
4 3k 3k 3k 3k

Used when communicating with the other CPU


Do not exceed the number of
Automatic using the automatic refresh. Range: 0 to 14336 [points]
points of the CPU specific send —
refresh Number of points that is set by the "automatic Unit: 2 [points]
range.
refresh setting" is displayed.
Used when communicating with the other CPU
using the program.
User setting Range: 0 to 14336 [points]
The value where the "number of points set in the — —
area Unit: 2 [points]
automatic refresh" is subtracted from the "CPU
specific send range setting" is displayed.

2 - 21
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.
Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22)
Programming Manual (Motion SFC)" for the Motion dedicated PLC instruction.

System area is
displayed by selecting
"Advanced settings".

Data size
Setting/display value
Item Setting description Restriction consistency
(Points: Word in units)
check
• Set the total of all CPUs to
be the following points or
lower.
When constituted with two
CPU specific Set the number of points of data Range: 0 to 14k [points]
CPUs: 14k [points] Provided
send range that each CPU module sends. Unit: 1k [points]
When constituted with
three CPUs: 13k [points]
When constituted with four
CPUs: 12k [points]
Set the number of points for a
system area to be assigned for
System area each CPU module. Range: 1k/2k [points] — Provided
(Default value of system area
size is 1k [point].)
Display the total of number of
points of the self CPU send area
Range: 1 to 16k [points] Set the total of all CPUs to
Total and the system area that are —
Unit: 1k [points] 16.0k points or lower.
assigned to the each CPU
module.

2 - 22
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


Data size
Item Setting description Setting range Restriction consistency
check
• CPU No. which exceeds the
CPU Select the CPU module for editing of the
CPU No.1 to No.4 number of CPU modules cannot —
selection CPU specific send range setting.
be selected.
The setting No. for transmission of each
CPU module is displayed. Automatic refresh
Setting No. is executed between devices set to the 1 to 32 — —
same setting No. for all CPUs that constitute
the Multiple CPU system.
• Setting which exceeds the
number of points of the self CPU
send area allocated to each CPU
Set the number of points for data Range: 2 to 14336 [points]
Points module (CPU specific send Provided
communication. Unit: 2 [points]
range) cannot be set.
• Bit device can be specified in
units of 32 points (2 words) only.
Specifies the device which performs the
data communication (automatic refresh).
Usable device ( X, Y, M, B,
Specifies the device sent by the self CPU • Bit device can be specified in
D, W, #, SM, SD)
when the "Send source CPU selection" is units of 16 points (1 word) only.
Start Note) Set "blank" when None
the self CPU, and specifies the device • Device number cannot be
automatic refresh is
received by the self CPU when the CPU duplicated.
not executed.
specific send range setting is the other
CPU.

2 - 23
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) 2 CPU modules (1 PLC CPU, 1 Motion CPU) use
• Parameter setting
The setting example of automatic refresh is shown below.
• CPU No.1 (PLC CPU) (GX Works2/GX Developer) <Screen: GX Works2> • CPU No.2 (Motion CPU) (MT Developer2)
Set the device transmitted to CPU No.2. Set the device received from CPU No.1.

Set the device received from CPU No.2. Set the device transmitted to CPU No.1.

(Note) : The operation example of automatic refresh is shown on the next page.

2 - 24
2 MULTIPLE CPU SYSTEM

• 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 Multiple CPU high speed
Internal relay transmission area transmission area Internal relay
M0 U3E0\G10000 U3E0\G10000 M0

CPU No.1 CPU No.1


M2399 transmitting data Transfer receiving data M2399
M2400 in 0.88ms M2400
cycle Axis status
Automatic Automatic
M3039 refresh area refresh area M3039
M3040 ng Ma M3040
si in
es c ycl
M3199 proc U3E1\G10000 U3E1\G10000 e M3199
D
M3200 EN M3200
EN

CPU No.2 CPU No.2

cle
Axis command
D

cy
receiving data transmitting data signal
pr
oc

M3839 M3839

n
ai
es

M
sin

M3840 M3840
Transfer
g

in 0.88ms
cycle
Automatic Automatic
refresh area refresh area M8191

Data register g Data register


ssin Main
roce cycle
D0
EN Dp D0
Axis monitor
device
D639 D639
D640 D640
Control change
register
D703
D704

D8191

2 - 25
2 MULTIPLE CPU SYSTEM

b) 3 CPU modules (1 PLC CPU, 2 Motion CPUs) use


• Parameter setting
The setting example of automatic refresh is shown below.
• CPU No.1 (PLC CPU) (GX Works2/GX Developer) <Screen: GX Works2> • CPU No.2 (Motion CPU) (MT Developer2)
Set the device transmitted to CPU No.2 and No.3. Set the device received from CPU No.1.

Set "blank" not


to refresh the
device of CPU
No.3.

Set the device received from CPU No.2. Set the device transmitted to CPU No.1 and No.3.

Set the device received from CPU No.3. Set the device received from CPU No.3.

Set "blank" not


to refresh the
device of CPU
No.3.

2 - 26
2 MULTIPLE CPU SYSTEM

• CPU No.3 (Motion CPU) (MT Developer2)


Set the device received from CPU No.1.

Set "blank" not


to refresh the
device of CPU
No.2.

Set the device received from CPU No.2.

Set "blank" not


to refresh the
device of CPU
No.2.

Set the device transmitted to CPU No.1 and No.2.

(Note): The operation example of automatic refresh is


shown on the next page.

2 - 27
2 MULTIPLE CPU SYSTEM

• 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 Multiple CPU high speed
Internal relay transmission area transmission area Internal relay
M0 U3E0\G10000 U3E0\G10000 M0
CPU No.1 CPU No.1
M1999 transmitting data receiving data M1999
M2000 Transfer M2000
END proseccng Monitor
in 0.88ms device
M3055 cycle M3055
Ma
M3056 in M3056
c yc
M3071 Automatic Automatic le M3071
M3072 refresh area refresh area M3072
Command
EN

le
device

cyc
D

M3839 M3839
pro

in
M3840 M3840
ce

Ma
essing
ssi
ng

M5999

Ma
U3E1\G10000 U3E1\G10000
END proc

essing

M6000 M8191

in
CPU No.2 CPU No.2

cy
receiving data transmitting data

cle
END proc

Data register
essing

M7055
M7056 Transfer D0
EN

in 0.88ms Monitor
END proc
D

M7071 Automatic cycle Automatic device


pr

D639
cycle
oc

refresh area refresh area


M7072
Main
es

D640
Command
sin

device
g

M7839 D757
M7840 D758
U3E2\G10000 U3E2\G10000
g
sin

CPU No.3 CPU No.3


es
oc

receiving data receiving data


pr
D
EN

Data register Transfer D8191


in 0.88ms
D0 cycle Automatic
Automatic
refresh area refresh area
D639
D640
g
D757 in
e ss Motion CPU (CPU No.3)
D758 oc
pr Multiple CPU high speed
D
D999 EN transmission area Internal relay (Note-1)
D1000 U3E0\G10000 M0
CPU No.1
D1639
receiving data M1999
D1640
M2000
D1757 Monitor
device
D1758 M3055
Transfer
M3056
in 0.88ms
cycle Ma i M3071
Automatic n cy
refresh area cle M3072
Command
device
M3839
(Note-1) : Internal relay of CPU No.3;
When 4000 is allocated in the Motion device as offset. M3840
(Note-2) : Data register of CPU No.3;
When 1000 is allocated in the Motion device as offset.
U3E1\G10000
M8191
CPU No.2
M
a in

receiving data Data register (Note-2)


cy

D0
cle

Monitor
Automatic device
D639
refresh area D640
cycle

Command
device
D757
Main

D758
U3E2\G10000
cle

CPU No.3
cy

transmitting data
in
Ma

D8191

Automatic
refresh area

2 - 28
2 MULTIPLE CPU SYSTEM

POINT
Set the following operation for automatic refresh setting using GX Works2/
GX Developer.
1) Select tab "Multiple CPU high speed transmission area setting".
2) Set "Use Multiple CPU high speed transmission".

1)

2)

<Screen: GX Works2>

(c) Data size consistency check


Whether the Multiple CPU setting parameters are the same for all CPUs or
not is automatically checked. A "PARAMETER ERROR (error code: 3012,
3015) " will occur if they do not match.

(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. Since
automatic refresh is set in units of 32 bits, 32-bit data does not separate.
• For word data
2 words data can be prevented from separating by using an even
number to set the first number of each device in automatic refresh
setting.
2) Data consistency for data exceeding 32 bits
In automatic refresh method, data is read in descending order of the
setting number in automatic refresh setting parameter.
Transfer data separation can be avoided by using a transfer number
lower than the transfer data as an interlock device.

2 - 29
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 Description Setting/display value Restriction
Setting No. which executes high speed 1 to 128
Setting No.
refresh is displayed. (Up to 128)
CPU No. set in the automatic refresh setting
is automatically displayed by setting devices.
Self CPU : Refresh from the internal device
Display
of Motion CPU to Multiple CPU
CPU CPU No. 1 to No.4
high speed transmission area.
Other CPU : Refresh form the Multiple CPU
high speed transmission area to
internal device of Motion CPU.
• The start device number must be a
multiple of 16 for the bit device.
• Do not set a device not setting also
set in the automatic refresh.
Device Set the device No. of Motion CPU to execute Usable device : D, W, #, • No. of "start device + number of
setting the high speed refreshes. SD, M, X, Y, B, SM points" cannot exceed setting range
of each setting No. in automatic
User setting
refresh setting.
• Do not overlap the device No.
between setting No..
Set the number of points to refresh data of
Range: 2 to 256 [points] • Sets the total of all CPUs to 256
Points each data in word unit. (Note-1)
Unit: 2 points points or lower.
(Note) Refresh is not executed when not set.
Refresh cycle Operation cycle (fixed) — —

(Note-1) : Point in word unit.

(1) Application example of Multiple CPU high speed refresh function


Multiple CPU high speed refresh function is used as in the following applications.
1) Read the data such as the real current value and synchronous encoder
current value with PLC CPU at high speed.
2) Exchange the FIN waiting signal at high speed.

2 - 30
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 Works2/GX Developer) <Screen: GX Works2> • CPU No.2 (Motion CPU) (MT Developer2)
Set the device transmitted to CPU No.2. 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.

(Note) : The operating example of Multiple CPU high speed refresh function is shown in "(b) Operation example".

2 - 31
2 MULTIPLE CPU SYSTEM

POINT
Set the following operation for automatic refresh setting using GX Works2/
GX Developer.
1) Select tab "Multiple CPU high speed transmission area setting".
2) Set "Use Multiple CPU high speed transmission".

1)

2)

<Screen: GX Works2>

2 - 32
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 Multiple CPU high speed
Internal relay transmission area transmission area Internal relay
M0 U3E0\G10000 U3E0\G10000 M0

CPU No.1 CPU No.1


M2399 transmitting data receiving data M2399
M2400 Transfer M2400
in 0.88ms Op M2495 Axis
cycle er
Automatic Automatic at M2496 status
ion
refresh area refresh area cy
M3039 cle M3039
g M
M3040
sin ain M3040
es cy
oc

cy ycle ion
M3199 U3E1\G10000 U3E1\G10000 cle M3199
pr

c rat
M3200 D M3200
EN

e
EN

Op
CPU No.2 CPU No.2

le
M3295
D

receiving data transmitting data

c
Axis command
pr

M3296
oc

signal

ain
es

M
sin

M3839 M3839
g

M3840 M3840

M8191
Op
Data register er atio Data register
n cyc
D0 le D0
Transfer
in 0.88ms D2,D3 1 axis monitor
Op D12,D13 device
cycle er
Automatic Automatic atio D19
n cyc
refresh area refresh area le D20
D22,D23 2 axis monitor
Op D32,D33 device
g er atio
ce ssin n cyc
D39
D p ro le D40
EN Ma D42,D43 3 axis monitor
in c D52,D53 device
Op ycle
e ra
tio n D59
cyc
le D60
D62,D63 4 axis monitor
D72, D73 device
D79
D80
5 to 32 axis
monitor
device
D639 D639
D640 D640 Control change
register
D703
D704

D8191

• The statuses of M2400 to M2495 for 1 axis to 4 axes among each axis
status M2400 to M3039 in automatic refresh are updated to Multiple CPU
high speed transmission area every operation cycle.
• The command signals of M3200 to M3295 for 1 axis to 4 axes among each
axis command signals M3200 to M3839 in automatic refresh are updated
from Multiple CPU high speed transmission area to positioning dedicated
device every operation cycle.
• The real current value for 1 axis to 4 axes and M-code among each axis
monitor devices D0 to D639 in automatic refresh are updated to Multiple
CPU high speed transmission area every operation cycle.
2 - 33
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) Synchronization of clock data


All clocks are synchronized with CPU No.1 immediately after turning
ON/resetting power and every 1-second interval thereafter.

(3) Information of clock


The clock data that CPU No. 1 transmits is year, month, day, day of week, hour,
minute and second.

(4) Error
Since CPU No.1 sets the clock data at 1-second intervals, an error of up to 1
second may occur to the clock of CPU No.2 to 4.

2 - 34
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.
With the Multiple CPU synchronous startup function, the startup is synchronized with
the slowest CPU module to startup; therefore, the system startup may be slow.

POINT
Multiple CPU synchronous startup function is for accessing each CPU module in a
Multiple CPU system without needing an interlock.
This function is not for starting an operation simultaneously among CPU modules
after startup.

(1) Multiple CPU synchronous startup setting


To use the Multiple CPU synchronous startup function, check No.1 to No.4 of
target CPU in Multiple CPU settings in system setting of MT Developer2. (Set it
in the Multiple CPU setting of PLC parameter setting of GX Works2/
GX Developer for PLC CPU.)
"Set Sync. startup setting of CPU " is set for No.1 to 4 at default.

Set the same Multiple CPU synchronous startup for all CPUs that constitute the
Multiple CPU system.
The self-diagnosis error "PARAMETER ERROR (error code: 3015)" will occur if
all CPU modules that constitute the Multiple CPU system do not have the same
setting.
When this function is not used (each CPU startup without synchronization),
startup of each CPU module can be confirmed by using special relays SM220 to
SM223 (CPU No.1 to 4 READY complete flag).

2 - 35
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 "Q173D(S)CPU/Q172D(S)CPU 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.)

Description
Instruction name
SV13/SV22 SV43
Start request of the Motion SFC
Start request of the Motion program
D(P).SFCS program (Program No. may be
(Control program)
specified.)
Start request of the specified servo Start request of the specified Motion
D(P).SVST
program program (Axis designation program)
Current value change request of the Home position return request of the
D(P).CHGA
specified axis specified axis
D(P).CHGAS Current value change request of the
QDS Ver.!
Unusable
specified command generation axis
D(P).CHGV Speed change request of the specified axis
D(P).CHGVS Speed change request of the
QDS Ver.!
Unusable
specified command generation axis
D(P).CHGT Torque control value change request of the specified axis
D(P).CHGT2 Torque control value individual
QDS
Unusable
change request of the specified axis
Execute request of an event task to
D(P).GINT Unusable
the other CPU (Motion CPU)
Write device data of the self CPU (PLC CPU) to the device of other CPU
D(P).DDWR
(Motion CPU)
Read device data of other CPU (Motion CPU) to the device of self CPU
D(P).DDRD
(PLC CPU)

For example, by using the D(P).SFCS instruction of Motion dedicated PLC instruction,
the Motion SFC of the Motion CPU can be started from the PLC CPU.

<Example>
PLC CPU Motion CPU
Start request Motion SFC

D(P). SFCS instruction

Ver.! : Refer to Section 1.5 for the software version that supports this function.

2 - 36
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 following are set in the individual parameter setting.


• System basic setting
3
• SSCNET setting QDS
• CPU name setting
• Built-in Ethernet port setting
• CPU setting
• Manual pulse generator/synchronous encoder setting QDS
• Servo amplifier setting
• High-speed read setting
• Optional data monitor setting
• Mark detection setting QDS

(3) The data setting and correction can be performed in dialog form using
MT Developer2.

3-1
3 COMMON PARAMETERS

3.1.1 System data settings

Table 3.1 lists the system data items to be set.

Table 3.1 System data setting list


Item Setting range Initial value Remark
Main base 5/8/12 slots Main base: 8 slots Set the number of slots in the main
Base setting
Extension base Stage 1 to 7: Nothing/2/3/5/8/10/12 slots Stage 1 to 7:Nothing base or extension base.
Set the total number of Multiple
No. of CPU 2/3/4 modules 2 modules
CPUs including PLC CPU(s).
Stop/do not stop all CPUs upon an error in
Set whether or not to stop the entire
Error operation mode at the CPU No. 1 to 4. Stop all CPUs upon error
system when a CPU stop error
stop of CPU (The setting range varies depending on the in CPU Nos. 1 to 4
occurs in each CPU.
number of Multiple CPUs.)
Common system parameters

CPU specific Varies depending on the


0 to 14k points
Multiple CPU Multiple CPU send range number of CPUs.
setting high speed System area 1 to 2k points 1
Refer to Section 2.3.2.
transmission Automatic
Point: 2 to 14336 points
area setting refresh None
Start: Set target device for automatic refresh.
setting
Set/do not set CPU No. 1 to 4 as the
Multiple CPU synchronous synchronized startup. Set CPU No. 1 to 4 as
Refer to Section 2.3.5.
startup setting (The setting range varies depending on the the synchronized startup.
number of Multiple CPUs.)
Install the modules controlled by the
Within the main base and extension base
Module arrangement None self CPU in the main base and/or
Motion slot slots
extension base(s).
setting
Varies depending on the Set detailed items for each module
Individual module Varies depending on the module.
module. controlled by the self CPU.
0.2ms QDS /0.4ms/0.8ms/1.7ms/3.5ms/7.1ms/ Set the operation cycle of motion
Operation cycle Default setting
14.2ms QD /Default setting control.
M2000 is turned on by switching from STOP
M2000 is turned on by
to RUN./M2000 is turned on by switching from Set the condition in which the PLC
Operation at STOP to RUN switching from STOP to
STOP to RUN and setting 1 in the set ready flag (M2000) turns on.
RUN.
register.
Set whether or not to output error to
Error setting on servo
Output error/Not output error Output error motion error history or self-diagnosis
warning QDS
error on servo warning.
System basic
Perform battery check/Not perform battery Set whether or not to check the
setting Error check QDS Perform battery check
check battery of Motion CPU.
Set the bit device to use forced stop
in the program.
(Note-1) However, the forced stop input by
Forced stop Nothing/X (PX) (0 to 1FFF)/M (0 to 8191) Nothing
Individual parameters

EMI terminal of Motion CPU module


cannot be invalidated using
parameter setting.
M (0 to 8191)/B (0 to 1FFF)/F (0 to 2047)/ Set the latch range of device
Latch range None
D (0 to 8191)/W (0 to 1FFF) memory.
SSCNET Set the communication type for
Communication type SSCNET /H / SSCNET SSCNET /H
setting QDS every line.
CPU name Label Up to 10 characters None Set the label (name application) and
setting Comment Up to 64 characters None comment of Motion CPU.
Input format Decimal/Hexadecimal Decimal
Decimal : 0.0.0.1 to 223.255.255.254
IP address 192.168.3.39
Hexadecimal : 00.00.00.01 to DF.FF.FF.FE
IP address
Subnet mask Decimal : 192.0.0.0 to 255.255.255.252
setting None
Built-in pattern Hexadecimal : C0.00.00.01 to FF.FF.FF.FC
Ethernet port Default router Decimal : 0.0.0.1 to 223.255.255.254 Refer to Section 4.13.
None
setting IP address Hexadecimal : 00.00.00.01 to DF.FF.FF.FE
Communication data code Binary code/ASCII code Binary code
Enable online change
Enable online change/Disable online change Disable online change
(MC protocol)
Open setting — None

3-2
3 COMMON PARAMETERS

Table 3.1 System data setting list (Continued)


Item Setting range Initial value Remark
Set self CPU/other CPU/CPU (empty) for
Self CPU installation slots 0/1/2. (The setting range varies Set the installation position of the
None
position setting depending on the number of Multiple CPUs self CPU in the main base.
installed.)
Input setting QDS Used/Unused Unused
First input No. 0000 to 0FF0 (in units 16 points) 0000
Set the input signal of built-in
High-speed read setting
(Note-2) Used/Unused Unused interface in Motion CPU (DI)/mark
detection input signal.
Input signal detection Valid on leading edge (Normal open)/ Valid on leading edge
CPU setting
direction QDS Valid on trailing edge (Normal close) (Normal open)
Multiple CPU synchronous
(Note-3) Independent CPU/master CPU/slave CPU for
control setting Independent CPU
self CPU.
QDS Ver.!

Set device to "Synchronous controlling", Set the Multiple CPU synchronous


"Status for each CPU", and "Error status for control setting in each CPU.
Status device setting each CPU and axis". None
Bit device : X, Y, M, B, F
Word device : D, W, #, U \G
Manual pulse CPU built-in Manual pulse
generator/ generator/incremental Used/Not used Not used
Set the manual pulse generator/
incremental synchronous encoder (INC)
synchronous encoder of built-in
synchronous
Differential output type/ interface in Motion CPU.
encoder Input type setting Differential output type
Voltage output/open collector type
setting QDS
<Communication type "SSCNET /H" use>
MR-J4(W)-B(-RJ)
MR-J4(W)-B(-RJ)/VC (Nikki Denso)
Individual parameters

Amplifier <Communication type "SSCNET " use>


model MR-J3(W)-B/MR-J3-B(S) Fully closed/
Amplifier MR-J3(W)-B
MR-J3(W)-B Linear/MR-J3(W)-B DD motor/
information
FR-A700/VC (Nikki Denso)
Amplifier
<Communication type "SSCNET /H" use>
operation Standard
Amplifier Standard/Fully closed/Linear/DD motor
mode
setting
Q173DSCPU: Up to 2 lines, 32 axes
QDS Axis Axis No. None
Q172DSCPU: Up to 1 line, 16 axes
information
Axis label Up to 32 characters None
External synchronous
(Note-3) Invalid/ABS/INC Invalid
encoder input Ver.!

Input filter setting Nothing/0.8ms/1.7ms/2.6ms/3.5ms 3.5ms


Allowable travel during <Communication type "SSCNET " use>
10
Power-Off 0 to 8191 revolution Set the model name, axis No. and
(Note-4)
ABS/INC setting Ver.!
INC/ABS INC other details for the servo amplifiers.
MR-J3(W)-B/MR-J3-B(S) Fully closed/
Amplifier type MR-J3(W)-B Linear/MR-J3(W)-B DD motor/ MR-J3(W)-B
FR-A700/VC (Nikki Denso)
Q173DCPU(-S1): Up to 2 lines, 32 axes
Axis No. None
Q172DCPU(-S1): Up to 1 line, 8 axes
Q173DCPU(-S1): X/Y/Z/U/V/W/A/B/CX/CY/
CZ/CU/CV/CW/CA/CB/DX/
Amplifier
Axis name DY/DZ/DU/DV/DW/DA/DB/
setting None
(SV43) EX/EY/EZ/EU/EV/EW/EA/
QD
EB
Q172DCPU(-S1): X/Y/Z/U/V/W/A/B/C
External signal input setting Amplifier input invalid/Amplifier input valid Amplifier input invalid
Input filter setting Nothing/0.8ms/1.7ms/2.6ms/3.5ms 3.5ms
Allowable travel during
0 to 8191 revolution 10
Power-Off
(Note-4)
ABS/INC setting Ver.!
INC/ABS INC

Ver.! : Refer to Section 1.5 for the software version that supports this function.

3-3
3 COMMON PARAMETERS

Table 3.1 System data setting list (Continued)


Item Setting range Initial value Remark
Either of Q172DEX and Q173DPX.
Pulse/synchronous encoder
Q172DEX: Up to 2 points
I/F module
Q173DPX: Up to 3 points
High-speed
Either of one input module and built-in
reading data None Refer to Section 4.3.
(Note-2) interface in Motion CPU QDS
PLC input module Input module: Up to 8 points
Built-in interface in Motion CPU (DI):
Up to 4 points
Individual parameters

<Communication type "SSCNET /H" use>


Set 1 to 6 for each axis.
Optional data monitor setting <Communication type "SSCNET " use>
QDS Set 1 to 3 for each axis.
Q173DSCPU: Up to 32 axes None Refer to Section 4.10.
Q172DSCPU: Up to 16 axes
Set 1 to 3 for each axis.
Optional data monitor setting
Q173DCPU(-S1): Up to 32 axes
QD
Q172DCPU(-S1): Up to 8 axes
Mark detection setting QDS Set 1 to 32. None Refer to Section 4.14.
(Note-3)
High-speed input request signal
QDS Ver.!
Set 1 to 32. None Refer to Section 4.15.

Set module 1 to 4 for each line.


Head module
Q173DSCPU: 2 lines (Up to 8 modules) None Refer to Section 4.18
QDS Ver.!
Q172DSCPU: 1 line (Up to 4 modules)

(Note-1): The forced stop can also be executed by the EMI forced stop terminal of Motion CPU module or forced stop terminal of
servo amplifier besides the forced stop input setting.
(Note-2): This cannot be set in SV22 advanced synchronous control. QDS
(Note-3): This can be set only in SV22 advanced synchronous control. QDS
(Note-4): This can be set only when "VC (Nikki Denso)" is selected in amplifier model.

Ver.! : Refer to Section 1.5 for the software version that supports this function.

3-4
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.

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

QnUD QnUD Q173D(S) Q172D(S)


CPU CPU CPU CPU

3-5
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. Therefore, the parameters are checked only during
initialization.)
The parameter No. of unmatched parameter is set in the error individual
information (SD16) by this error occurrence.
The parameters of the other CPUs via "Multiple CPU parameter utilization" can
be used in MT Developer2/GX Works2/GX Developer. The common parameters
must be set for each Motion CPU.

Table of Parameters cross-Multiple CPU system


Type of parameter Parameter
Verification item Remark
Name in Motion CPU Name in PLC CPU number
No. of CPU No. of PLC Number of CPUs 0E00H
Operation mode for CPU
Operating mode Operating mode 0E01H
stop error
CPU specific CPU specific Points of CPU specific
E008H Refer to Section 2.3.2.
send range send range send range
Refer to Section 2.3.2.
Multiple CPU Multiple Multiple CPU This parameter can be
Multiple System area System area System area size E008H
high speed CPU high speed set when "Advanced
CPU setting
transmission settings transmission setting" is selected.
area setting area setting Refer to Section 2.3.2.
Automatic Automatic Points of automatic (Automatic refresh using
E009H
refresh setting refresh setting refresh Multiple CPU high speed
transmission area)
Multiple CPU synchronous Multiple CPU synchronous Synchronize Multiple CPU
E00BH Refer to Section 2.3.5.
startup setting startup setting startup or not

Verify module only set in


Motion slot setting Detailed settings Control PLC Control CPU No. 0406H the system settings in the
Motion CPU side.
I/O
assignment
Total number of bases
Not verified if base
Base No.
Base setting Basic setting Slots 0401H settings are omitted in
Base Number of base the PLC CPU side.
slots

3-6
3 COMMON PARAMETERS

(a) Multiple CPU settings


Set the following items identically in Multiple CPU Settings (Motion CPU) in
MT Developer2 and in Multiple CPU Settings (PLC CPU) in GX Works2/
GX Developer.
• Number of CPU modules (Included CPU empty slots)
• Operation mode when a CPU stop error occurred
• Multiple CPU high speed transmission area setting (Must be set the same
for all CPUs)
• Multiple CPU synchronous startup setting

Multiple CPU Settings (Motion CPU) in MT Developer2


Number of CPU
modules

Error operation mode


at the stop of CPU

Multiple CPU high


speed transmission
area setting

Multiple CPU
synchronous startup
setting

Multiple PLC Setting (PLC CPU setting) in GX Works2/GX Developer


<Screen: GX Works2>

Select tab "Multiple


CPU high speed
transmission area
setting"

Set "Use multiple


CPU high speed
transmission".

3-7
3 COMMON PARAMETERS

(b) Motion slot settings


Set the modules controlled by the self CPU by the Motion Slot Settings
(Motion CPU) in MT Developer2. In GX Works2/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 Developer2

Control CPU No.

I/O Assignment Setting (PLC CPU setting) in GX Works2/GX Developer


<Screen: GX Works2>

(Note): Motion slot setting items are different depending on the operating system software.

3-8
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 Developer2 and I/O Assignment
Settings (PLC CPU) in GX Works2/GX Developer. In GX Works2/
GX Developer, the detailed settings may be omitted by setting the base
mode "Auto".

Base Settings (Motion CPU) in MT Developer2

Total number of bases


and number of slots in
each base

I/O Assignment Settings (PLC CPU setting) in GX Works2/GX Developer


<Screen: GX Works2>

(Note) : Only the Motion CPU


may be set without
setting the PLC CPU.

3-9
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 Basic
Setting (base setting) of MT Developer2.
<Example>
When the "2nd stage" of extension base is set as connection with GOT.
(Set "10 Slots/GOT(Bus connection)" as "2nd stage" of extension base in
the base setting.)

3 - 10
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 0.2ms QDS /0.4ms/0.8ms/1.7ms/3.5ms/7.1ms/
14.2ms QD /Default setting.

2) The default value is "Default Setting". When "Default Setting" is selected,


the operation cycle is set according to the table below based on the
number of axes for servo amplifier set in the System Settings.
Number of axes
Operating Operation cycle Actual operation
Q173DSCPU/ Q173DCPU(-S1)/
system setting cycle
Q172DSCPU Q172DCPU(-S1)/
1 to 4 axes — 0.2 ms 0.222...ms
5 to 10 axes 1 to 6 axes 0.4 ms 0.444...ms
SV13
11 to 24 axes 7 to 18 axes 0.8 ms 0.888...ms
25 to 32 axes 19 to 32 axes 1.7 ms 1.777...ms
1 to 6 axes 1 to 4 axes 0.4 ms 0.444...ms
7 to 16 axes 5 to 12 axes 0.8 ms 0.888...ms
SV22
17 to 32 axes 13 to 28 axes 1.7 ms 1.777...ms
— 29 to 32 axes 3.5 ms 3.555...ms
— 1 to 4 axes 0.4 ms 0.444...ms
— 5 to 12 axes 0.8 ms 0.888...ms
SV43
— 13 to 28 axes 1.7 ms 1.777...ms
— 29 to 32 axes 3.5 ms 3.555...ms

3 - 11
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: s) is stored in SD522, and the current setting
of operation cycle (unit: s) is stored in SD523. 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.)

(b) Operation at STOP to RUN


Set the condition in which the PLC ready flag (M2000) turns ON. Select the
following either.
1) M2000 turns ON by switching from STOP to RUN. (Default)
Condition in which the M2000 turns from OFF to ON.
• Move the RUN/STOP switch from STOP to RUN.
• Turn ON the Multiple CPU system's power supply with the RUN/STOP
switch set to RUN.

Condition in which the M2000 turns from ON to OFF


• Move the RUN/STOP switch from RUN to STOP.

2) M2000 turns ON by switching from STOP to RUN and by setting "1" in


the setting register.
Condition in which the M2000 turns from OFF to ON
• Set "1" in the setting register (D704) of the PLC ready flag or turn ON
the PLC ready flag (M3072) with the RUN/STOP switch set to RUN.
(The Motion CPU detects the change from "0" to "1" in the lowest bit of
D704.)
Condition in which the M2000 turns from ON to OFF
• Set "0" in the setting register (D704) of the PLC ready flag or turn OFF
the PLC ready flag (M3072) with the RUN/STOP switch set to RUN.
(The Motion CPU detects the change from "1" to "0" in the lowest bit of
D704.)
• Move the RUN/STOP switch from RUN to STOP.

(c) Forced stop


Set the bit device used for executing a forced stop in which all servo-
amplifier axes are stopped immediately in the program.
Either X (PX) or 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.)
The forced stop input by EMI terminal of Motion CPU module cannot be
invalidated using parameter setting.

3 - 12
3 COMMON PARAMETERS

(d) Error setting on servo warning QDS


Set whether or not to output error on servo warning.
Error setting on servo warning
Device No. Signal name
Output error Not output error
M2039 Motion error detection flag
(Note-1)
D8+20n Servo error code
(Note-1)
#8008+20n Servo amplifier display servo error code
(Note-2)
#8640+12n Error Motion SFC program No.
(Note-2)
#8641+12n Error type
(Note-2)
#8642+12n Error program No.
(Note-2) Error block No./Motion SFC list/
#8643+12n
Line No./Axis No.
(Note-2)
#8644+12n Error code
(Note-2) Motion Error occurrence time
#8645+12n
error (Year/month)
(Note-2) history Error occurrence time
#8646+12n
(Day/hour)
(Note-2) Error occurrence time
#8647+12n
(Minute/second)
(Note-2)
#8648+12n Error setting data information
(Note-2)
#8650+12n
(Note-2) Error setting data
#8651+12n
SM0 Diagnostic error
SM1 Self-diagnostic error
SD0 Diagnostic errors
SD1
SD2 Clock time for diagnostic error occurrence
SD3
SD4 Error information categories
SD5 to SD15 Error common information
SD16 to SD26 Error individual information

: Device is updated on servo warning.


: Device is not updated on servo warning.
(Note-1): "n" in the device No. indicates the numerical value (axis No.1 to 32 : n= 0 to 31) which correspond
to axis No.
(Note-2): "n" in the device No. indicates the numerical value (n=0 to 7) which correspond to motion error
history.

(e) Error check QDS


Set whether or not to check the battery of Motion CPU. The default value is
set to "Perform battery check". If "Perform battery check" is not set, a self-
diagnosis error (error code: 1600) will not occur and the 7-segment LED
"BT1" or "BT2" is not also displayed. And, a detection of motion error
detection flag (M2039) and update of motion error history are restricted.
However, the devices (SM51, SM52, SM58, SM59) for detection of battery
level turn ON/OFF.

3 - 13
3 COMMON PARAMETERS

POINT
(1) Use this setting to restrict the output of battery error in the incremental system
configuration using ROM operation.
(2) The battery is necessary to use the absolute position system or latch data. Be
sure to set "Perform battery check".

(f) 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) SSCNET setting QDS

The following explains item to be set in SSCNET setting.

(a) Communication type


Set the communication type to communicate with the servo amplifier for
every line.
• SSCNET /H : MR-J4(W)- B
• SSCNET : MR-J3(W)- B

3 - 14
3 COMMON PARAMETERS

(3) CPU setting


The following explains item to be set in CPU setting.
• SV22 advanced synchronous control use • SV13/SV22 virtual mode use

(a) Self CPU installation position setting


Set the installation position of the self CPU installed to the main base.
• Self CPU : Set the self CPU.
• Other CPU : Set the other CPU.
• CPU (Empty) : Set as empty slot.

(b) Input setting QDS


Set to use the input signal.
There are two kinds of applications of the input and mark detection for the
Built-in interface in Motion CPU (DI).
The same signal can be used simultaneously by the input and mark
detection.
Input setting Input signal Mark detection
Usable as the real input device Usable as the real input device (PX) or
Used
(PX) mark detection signal (DI)
Unused Unusable Usable as the mark detection signal (DI)

1) First input No.


Set the first input No. of real input device (PX).
The case of "real input device (PX): units of 16 points" is as follows.
• Real input (PX): 4 points + Dummy (Unusable: Fixed at 0) 12 points
(Example) When the first input No. is set to 0(H).
• PX0 to PX3 (Real input), PX4 to PXF (Unusable: Fixed at 0)
2) High-speed read setting
Set to use the built-in interface in Motion CPU as input signal in the high-
speed reading function.
• Used : Use built-in interface in Motion CPU (DI).
• Unused : Not use built-in interface in Motion CPU (DI).
Refer to Section 4.3 for the High-speed reading function.
(Note): This cannot be set in SV22 advanced synchronous control.
QDS

3 - 15
3 COMMON PARAMETERS

(c) Input signal detection direction QDS


Set the detection direction of mark detection signal when the built-in
interface in Motion CPU (DI) is used in the mark detection function.
• Valid on leading edge : Mark detection is executed by turning OFF to ON
the mark detection signal.
• Valid on trailing edge : Mark detection is executed by turning ON to OFF
the mark detection signal.
Refer to Section 4.14 for the mark detection function.

(d) Multiple CPU synchronous control setting QDS Ver.!


When setting self CPU, set the master CPU and slave CPU that constitute
the multiple CPU synchronous control system.
(Note): This can be set only in SV22 advanced synchronous control.
• Independent CPU : Operate as independent CPU
• Master CPU : Operate as master CPU
• Slave CPU : Operate as slave CPU
1) Status device setting
When setting the master CPU and slave CPU, set the status devices to
monitor the information of other CPUs. The following items are set with
word device (D, W, #, U \G), or bit device (X, Y, M, B, F).
Multiple CPU synchronous control
Item setting
Master CPU Slave CPU
Synchronous controlling
Status for each CPU
Error status for each CPU and axis
Transfer information
Master CPU input axis
Error information

: Settable : Unsettable

Refer to "Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming


Manual (Advanced Synchronous Control)" for Multiple CPU synchronous
control.

Ver.! : Refer to Section 1.5 for the software version that supports this function.

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3 COMMON PARAMETERS

(4) Individual module settings


The setting items for each module are shown below.
(a) Setting items for each Motion module
Module Number of usable modules
Item Setting range Initial value
name Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1)
Normal open/Normal close
DOG signal contact
(Set the DOG signal for 8 Normal open
QDS
points.)
Q172DLX
Set the number of axes for
Servo External signal setting
which the 8 axes input is Unused
external QD
used. 4 2 4 1
signals
DOG signal detection Valid on leading edge/ Valid on
module
(Note-1) direction QD Valid on trailing edge leading edge
0.4/0.6/1 ms
I/O response time
(DOG/CHANGE response 0.4 ms
setting
time)
Synchronous encoder
Used/Unused Unused
setting
Q171ENC-W8 (4194304
Synchronous encoder Q171ENC-W8
(Note-2) [PLS])/Q171ENC-W8
selection (4194304
(262144[PLS])/ MR-HENC
QDS [PLS])
(16384[PLS])
Q172DEX
Synchronous encoder
Synchronous Q170ENC/MR-HENC Q170ENC
selection QD 6 (SV22) 4 (SV22)
encoder
Normal open/Normal close
input module TREN signal contact
QDS
(Note-3) (Set the TREN signal for 2 Normal open
points.)
I/O response time 0.4/0.6/1 ms
0.4 ms
setting (TREN response time)
High-speed read
(Note-4) Used/Unused Unused
setting
Manual pulse
generator setting Used only Used
(SV13/SV43)
Q173DPX Manual pulse
Manual generator/ P
Used/Unused 1 (SV13) 1 (SV13/SV43) 1 (SV13/SV43)
pulse Synchronous encoder Used
4 (SV22) 4 (SV22) 3 (SV22)
generator setting (SV22)
input module I/O response time 0.4/0.6/1 ms
0.4 ms
setting (TREN response time)
High-speed read
(Note-4) Used/Unused Unused
setting

(Note-1): Set the external signals used in each axis in the servo external signal parameter of servo data setting when using
Q173DSCPU/Q172DSCPU. (Refer to Section 3.4.) QDS
(Note-2): Select the encoder resolution of Q171ENC-W8 from 4194304[PLS] or 262144[PLS] depending on the synchronous encoder
selection setting.
(Note-3): This can be set only in SV22 advanced synchronous control. QDS
(Note-4): This cannot be set in SV22 advanced synchronous control. QDS

3 - 17
3 COMMON PARAMETERS

(b) Setting items for each PLC module


Number of usable modules
Module name Item Setting range Initial value Q173DSCPU/ Q173DCPU(-S1)/
Q172DSCPU Q172DCPU(-S1)
0000 to 0FF0 (in units of 16
First I/O No. 0000
points)
Point 16/32/48/64/128/256 16
High-speed read
Input module (Note-4) Used/Unused Unused
setting
QX /
I/O response time
QX -
setting
1/5/10/20/70 ms 10 ms
(setting for high-speed
(0.1/0.2/0.4/0.6/1 ms) (0.2 ms)
input module in
parentheses)
I/O
Output 0000 to 0FF0 (in units of 16
module First I/O No. 0000
module points)
QY /
Point 16/32/48/64/128/256 16
QY -
0000 to 0FF0 (in units of 16
First I/O No. 0000
Input/Output points)
composite Point 16/32/48/64/128/256 16
module I/O response time
1/5/10/20/70 ms 10 ms
QH / setting
QX Y High-speed read Total 256 points Total 256 points
(Note-4) Used/Unused Unused (Note-3)
setting or less or less
0000 to 0FF0 (in units of 16
First I/O No. 0000
points)
4 to 20mA/0 to 20mA/1 to 5V/
Analogue Input range 0 to 5V/-10 to 10V/0 to 10V/ 4 to 20mA
input module User range
Q6 AD / Temperature drift
Used/None Used
Q6 AD- compensation
Resolution mode Normal/High Normal
Intelligent Normal (A/D conversion)/ Normal
Operation mode
function Offset gain setting (A/D conversion)
module 0000 to 0FF0 (in units of 16
(Note-1) First I/O No. 0000
points)
4 to 20mA/0 to 20mA/1 to 5V/
Analogue Output range 4 to 20mA
0 to 5V/-10 to 10V/User range
output
HOLD/CLEAR function CLEAR only CLEAR
module
Normal (Asynchronous)/ Normal
Q6 DA / Output mode
Synchronous output (Asynchronous)
Q6 DA-
Resolution mode Normal/High Normal
Normal (D/A conversion)/ Normal
Operation mode
Offset gain setting (D/A conversion)

3 - 18
3 COMMON PARAMETERS

Setting items for each PLC module (Continues)


Number of usable modules
Module name Item Setting range Initial value Q173DSCPU/ Q173DCPU(-S1)/
Q172DSCPU Q172DCPU(-S1)
0000 to 0FF0 (in units of 16
First I/O No. 0000
points)
Intelligent 16 points/32 points/48 points/
General
function (Note-2) Points 64 points/128 points/ 16 points Total 256 points
(Note-3) —
module 256 points/ or less
(Note-1) QDS Ver.!
Switch Input format Binary/Decimal/Hexadecimal Hexadecimal
setting Switch 1 to 5 0000 to FFFF 0000
Error time output mode Clear/Maintain Clear
Interrupt module I/O response time
0.1/0.2/0.4/0.6/1 ms 0.2 ms 1 (SV13/SV22)
QI60 setting
(Note-1): A maximum of 4 intelligent function modules can be used.
(Note-2): Refer to Section 4.17 for corresponding intelligent function module.
(Note-3): Number of I/O points is total of "Built-in interface in Motion CPU (Input 4 points) + I/O module +
intelligent function module". QDS
(Note-4): This cannot be set in SV22 advanced synchronous control. QDS

Ver.! : Refer to Section 1.5 for the software version that supports this function.

3 - 19
3 COMMON PARAMETERS

(5) 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 methods.
(a) Q172DLX Servo external signals interface module use
• Q173DSCPU/Q172DSCPU
Select "Q172DLX signal" for every axis with signal type in the servo
external signal parameter of servo data setting, and set the module No.
and signal No.
• Q173DCPU(-S1)/Q172DSCPU(-S1)
Set the servo external signals interface module (Q172DLX) in the Motion
Slot Setting of the System Setting, and then set axis No. in the External
signal setting of the Detailed Setting.

(b) Servo amplifier input device use (Servo amplifier use only)
• Q173DSCPU/Q172DSCPU
Set "Amplifier input" for every axis with signal type in the servo external
signal parameter of servo data setting.
• Q173DCPU(-S1)/Q172DSCPU(-S1)
Set "Amplifier input valid" as the external signal input setting in the
"Amplifier setting" of system setting.

1) There are following restrictions to use.


• Stop signal (STOP) cannot be used.
• When the Q173DCPU(-S1)/Q172DSCPU(-S1) is used, count type
home position return or speed/position switching control cannot be
used depending on the operating system software's version. (Refer to
Section 1.5 for the software version that supports this function.)
• The variation for ON/OFF timing of the external input signal (DOG) of
servo amplifier may occur according to the input filter setting value of
external signal input setting.
Review the input filter setting value compatible with the applications.
Use the Q172DLX or built-in interface in Motion CPU (DI) QDS to
execute the high-accuracy control.
2) The correspondence of external signal and input device is shown below.
(Note)
External signals Input device (CN3)
Upper stroke limit (FLS) DI1
Lower stroke limit (RLS) DI2
Proximity dog (DOG) DI3
(Note): Refer to the "Servo Amplifier Instruction Manual" for pin configurations.

3) Set the external signal setting in the "Input Filter Setting".


(Note): The setting value set by "Input Filter Setting" of system setting is
valid even if the input filter setting is set by servo parameter
"Input filter setting (PD11)".

(c) Input device use QDS


Select "Bit device" for every axis with signal type in the servo external signal
parameter of servo data setting, and set the device No.

3 - 20
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.

(1) Position of I/O number "0H"


(a) The number of slots set with the Multiple CPU settings are occupied by the
PLC CPU/Motion CPU on the Multiple CPU system.

(b) I/O modules and intelligent function modules are installed from the right of the
slots occupied by PLC CPU/Motion CPU.

(c) I/O number of Motion CPU control module can be assigned independently for
each CPU.
The I/O number of PLC CPU control module for an I/O module or intelligent
function module mounted to the next slot to those occupied by CPU modules
is set as "0H" and consecutive numbers are then allocated sequentially to the
right.

(d) Notation of I/O number


• Receiving of ON/OFF data by Motion CPU is deemed input (PX), while
outputting of ON/OFF data from Motion CPU is deemed output (PY).
• I/O number is expressed in hexadecimal.

REMARK
1) If the number of CPU modules installed on the main base unit is less than the
number set at the "Multiple CPU setting", set the open slot(s) to "PLC (Empty)".
Refer to Section 2.1.2 for the "PLC (Empty)" setting.
2) The I/O numbers for the Multiple CPU system can be confirmed with the system
monitor of GX Works2/GX Developer.

3 - 21
3 COMMON PARAMETERS

(2) I/O number assignment of Motion CPU control module


Mitsubishi recommends that I/O No. assignment be set as consecutive No. that
are common throughout all CPUs.
However, the I/O number of input modules, output modules, input/output
composite modules, and intelligent function modules controlled with the Motion
CPU can also be set with no relation to the I/O number of PLC CPU.
(I/O number of the Motion CPU control modules is indicated as PX/PY.)
I/O number of the Motion CPU control modules cannot be assigned by I/O
assignment settings of PLC CPU.
I/O assignment

0 1 2 3 4 5
Q03UD Q173D(S) QX41 QY41P QX41 QY41P
Power supply

CPU CPU
PX0 to PX1F PY20 to PX3F X40 to X5F Y60 to Y7F
module

(X0 to X1F) (Y20 to Y3F)

CPU No. 1 CPU No. 2 CPU No. 2 CPU No. 2 CPU No. 1 CPU No. 1
control control control control
module module module module

(3) Setting of the Motion CPU control modules by the PLC CPU
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 Q172DLX,
Q172DEX and Q173DPX as intelligent function modules having 32 occupied
points.) Type and number of points may be left unset.
Module name Type Number of points Remarks
Input module Input
QX -S1 Hi, Input
QX H Hi, Input/Interrupt
Output module Output
Input/Output composite
I/O Mix Selected according to
module • For the control CPU, set the
the module.
Analogue input CPU that corresponds to
Intelligent
module the Motion CPU (required).
function
Analogue output Intelligent • Type and number of points
module
(Note-1) module may be left unset.
General
Interrupt module (QI60) Interrupt 16 points
Q172DLX
Q172DEX Intelligent 32 points
Q173DPX

(Note-1): Refer to Section 4.17 for corresponding intelligent function module.

POINT
(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 Q172DLX, Q172DEX, Q173DPX and QI60 are not
included in the number of real I/O points.

3 - 22
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.
CPU module
CPU slot Slot 0 Slot 1 Slot 2
installation position
First I/O number 3E00H 3E10H 3E20H 3E30H

The I/O number of PLC CPU/Motion CPU are used in the following cases.
• When writing data to the CPU shared memory of self CPU using the S. TO instruction.
• When reading data from the CPU shared memory of other CPU using the FROM
instruction.
• When reading data from the CPU shared memory of other CPU using an intelligent
function module device (U \G )
• When reading device data directly from the Motion CPU from the PLC CPU using the
"D(P).DDRD" instruction.
• When writing device data directly to the Motion CPU from the PLC CPU using the
"D(P).DDWR" instruction.

Refer to Section 2.3.6 or the "Q173D(S)CPU/Q172D(S)CPU Motion controller


(SV13/SV22) Programming Manual (Motion SFC)" for the Motion dedicated PLC
instruction.

3 - 23
3 COMMON PARAMETERS

3.2.3 I/O number setting

Set the modules installed in each slot of the main base or extension base and assign
the control CPU of applicable slot as the self CPU in the Motion Slot setting of the
system setting for Motion CPU.
Set the I/O No. of modules controlled with the Motion CPU module.
The following modules must be set the I/O No.
• Input module
• Output module
• Input/Output composite module
(Note-1)
• Intelligent function module

(Note-1): Refer to Section 4.17 for corresponding intelligent function module.

Select the applicable module in the Motion slot setting, and set I/O No. in "First I/O
No." of the Detail setting.
Refer to the help of MT Developer2 for details.

Set "First I/O No."

POINT
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.

3 - 24
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 .

Servo amplifier Instruction Manual list is shown below.


Servo amplifier type Instruction manual name
MR-J4- B SSCNET /H interface MR-J4- B Servo amplifier Instruction Manual (SH-030106)
SSCNET /H interface Multi-axis AC Servo MR-J4W- B Servo amplifier Instruction
MR-J4W- B
Manual (SH-030105)
MR-J3- B SSCNET interface MR-J3- B Servo amplifier Instruction Manual (SH-030051)
SSCNET interface 2-axis AC Servo Amplifier MR-J3W- B Servo amplifier Instruction
MR-J3W- B
Manual (SH-030073)
MR-J3- B-RJ004 SSCNET Compatible Linear Servo MR-J3- B-RJ004 Instruction Manual (SH-030054)
SSCNET Compatible Fully Closed Loop Control MR-J3- B-RJ006 Servo amplifier
MR-J3- B-RJ006
Instruction Manual (SH-030056)
SSCNET interface Direct Drive Servo MR-J3- B-RJ080W Servo amplifier Instruction
MR-J3- B-RJ080W
Manual (SH-030079)
SSCNET interface Drive Safety integrated MR-J3- B Safety Servo amplifier Instruction
MR-J3- B Safety
Manual (SH-030084)

POINTS
When the parameter that should turn on servo amplifier power supply again is
changed, make the Multiple CPU system reset or power supply OFF to ON. And,
once turn OFF the servo amplifier's power supply and then turn ON it again.

3 - 25
3 COMMON PARAMETERS

3.4 Servo External Signal Parameters QDS

This parameter is used to the servo external signal (Upper stroke limit (FLS), Lower
stroke limit (RLS), Stop signal (STOP), Proximity dog/Speed-position switching
(DOG/CHANGE)) used for each axis.
The setting items for servo external signal are shown below.

Servo external signal parameter list


Setting range Default
Item
Invalid Q172DLX signal Amplifier input DI signal Bit device value
Signal type 0: Invalid 1: Q172DLX signal 2: Amplifier input 4: Bit device 0: Invalid
Q172DLX module No. — 1 to 4 — — —
FLS Q172DLX signal No. — 1 to 8 — — —

signal Device — — — Bit device —
0: Normal open 0: Normal open 0: Normal open
Contact — —
1: Normal close 1: Normal close 1: Normal close
Signal type 0: Invalid 1: Q172DLX signal 2: Amplifier input 4: Bit device 0: Invalid
Q172DLX module No. — 1 to 4 — — —
RLS Q172DLX signal No. — 1 to 8 — — —

signal Device — — — Bit device —
0: Normal open 0: Normal open 0: Normal open
Contact — —
1: Normal close 1: Normal close 1: Normal close
Signal type 0: Invalid 1: Q172DLX signal 4: Bit device 0: Invalid
Q172DLX module No. — 1 to 4 — —
STOP Q172DLX signal No. — 1 to 8 — —
— —
signal Device — — Bit device —
0: Normal open 0: Normal open
Contact — —
1: Normal close 1: Normal close
Signal type 0: Invalid 1: Q172DLX signal 2: Amplifier input 3: DI signal 4: Bit device 0: Invalid
Q172DLX module No./
— 1 to 4 — 1 to 4 — —
DI signal name
DOG
Q172DLX signal No. — 1 to 8 — — — —
signal
Device — — — — Bit device —
(Note-1) 0: Normal open (Note-2) 0: Normal open
Contact — — — —
1: Normal close 1: Normal close

(Note-1): Select "Q172DLX" in the motion slot setting of system setting, and set the contact in the detail setting.
(Note-2): Set the contact in the "CPU setting" of system setting.

(1) Signal type


Set the signal type to use as the servo external signal.
(a) Invalid
The servo external signal is invalid.
(b) Q172DLX signal
The signal (FLS/RLS/STOP/DOG) of Q172DLX is used as the external
signal.

3 - 26
3 COMMON PARAMETERS

(c) Amplifier input


The input signal of servo amplifier is used as the following servo external
signals.
Input signal Servo external signal
DI1 Upper stroke limit (FLS)
DI2 Lower stroke limit (RLS)
DI3 Proximity dog (DOG)

(d) DI signal
The built-in interface in Motion CPU (DI1 to DI4) is used as the proximity
dog/speed-position switching (DOG/CHANGE)).
Set the DOG signal only.

(e) Bit device


The optional bit device is used as the servo external signal.

(2) Q172DLX module No.


Set the module No. of Q172DLX.
From the Q172DLX installed in the smallest number is set to No.1 to 4.
Set this item when only "Q172DLX signal" is selected with the signal type.
Module No. setting range
1 to 4

(3) Q172DLX signal No.


Set the signal No. of servo external signal.
Set this item when only "Q172DLX signal" is selected with the signal type.
Signal No. setting range
1 to 8

(4) Device
Usable devices are shown below.
Item Device No. setting range
(Note-1)
Input relay X0 to X1FFF
Output relay Y0 to Y1FFF
Internal relay M0 to M8191
Link relay B0 to B1FFF
Annunciator F0 to F2047
Special relay SM0 to SM1999
(Note-2)
Multiple CPU area device U \G10000.0 to U \G (10000+p-1).F

(Note-1): The range of "PXn+4 to PXn+F" cannot be used (fixed at 0) for the input device
(PXn+0 to PXn+F) allocated to the built-in interface in Motion CPU (DI).
(n: First input No.)
(Note-2): "p" indicates the user setting area points of the Multiple CPU high speed
transmission area for each CPU.
Refer to Chapter 2 for the user setting area points of the Multiple CPU high
speed transmission area.

3 - 27
3 COMMON PARAMETERS

(5) Contact
Set the signal contact used as the servo external signal.
For Q172DLX signal, select "Q172DLX" in the motion slot setting of system
setting, and set this item in the details setting.
For DI signal, set this item in the "CPU setting" of system setting
(a) Normal open
• FLS signal ON : The upper stroke limit is detected, and "operation of
direction that the feed current value increase" cannot
be executed.
• RLS signal ON : The lower stroke limit is detected, and "operation of
direction that the feed current value decrease" cannot
be executed.
• STOP signal ON : The stop signal is detected, and an operation stops.
• DOG signal ON : The proximity dog/speed-position switching signal is
detected, and the home position return operation and
speed-position control switching is executed.

(b) Normal close


• FLS signal OFF : The upper stroke limit is detected, and "operation of
direction that the feed current value increase" cannot
be executed.
• RLS signal OFF : The lower stroke limit is detected, and "operation of
direction that the feed current value decrease" cannot
be executed.
• STOP signal OFF : The stop signal is detected, and an operation stops.
• DOG signal OFF : The proximity dog/speed-position switching signal is
detected, and the home position return operation and
speed-position control switching is executed.

3 - 28
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.

POINT
For SV22 advanced synchronous control, specifications are different from those of
the conventional limit switch output function and a maximum output device of 64
points can be set. (Refer to Section 4.1.3 and Section 4.1.4 for details.) QDS

4
4.1.1 Operations

(1) ON output to an output device is made while the watch data value is in the ON
output region set with (ON Value) and (OFF Value) in the limit switch output
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)  (watch data value) < (OFF Value)
(ON Value)  (watch data value)
(ON Value) > (OFF Value)
(Watch data value) < (OFF Value)
(ON Value) = (OFF Value) Output OFF in whole region

1) (ON Value) < (OFF Value)

ON
Output device OFF OFF

OFF Value
ON section setting
ON Value

Watch data value

(ON Value) < (Watch data value) < (OFF Value)

4-1
4 AUXILIARY AND APPLIED FUNCTIONS

2) (ON Value) > (OFF Value)


ON ON
Output device OFF

OFF Value
ON section setting
ON Value

Watch data value

(Watch data value) < (OFF Value) (ON Value) < (Watch data value)

3) (ON Value) = (OFF Value)

Output device OFF in whole region

ON section setting ON Value OFF Value

Watch data value

(b) The limit switch outputs are controlled based on each watch data during the
PCPU READY complete status (SM500: ON) by the PLC ready flag (M2000)
from OFF to ON.
When the PCPU READY complete flag (SM500) 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 section settings have been made to the same output device,
the logical add of the output results in the regions is output.
ON ON
Output device OFF OFF OFF

OFF Value
ON section setting No.1 ON Value

OFF Value
ON section setting No.2 ON Value

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.

4-2
4 AUXILIARY AND APPLIED FUNCTIONS

(3) Forced output bit can be set and turned the forcibly 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.

(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.
SM500 ON

1) Without output enable/disable bit/forced output settings

Output device

OFF Value
ON section setting
ON Value

Watch data value

2) With output enable/disable bit/forced output settings

Output device
Output control based on Output ON
Output OFF ON Value and OFF Value (Forced output) Output OFF

Enable/disable bit Output control based on


Output OFF ON Value and OFF Value Output OFF

Forced output bit Output ON


(Forced output)

4-3
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.)
Refresh
No. Item Setting range Fetch cycle Remarks
cycle
Operation
1 Output device Bit device (X, Y, M, B, U \G) —
cycle
Motion control data/ word device (D, W, #, U \G)
2 Watch data (16-bit integer type/32-bit integer type/ —
64-bit floating-point type)
ON section ON Value
3 Word device (D, W, #, U \G)/constant (K, H)
setting OFF Value
Operation
— ON : Enable
Output enable/disable cycle
4 Bit device (X, Y, M, B, F, SM, U \G)/none (default) OFF : Disable
bit
None : Always enable
None : No forced outputs
5 Forced output bit Bit device (X, Y, M, B, F, SM, U \G)/none (default) are always made
(OFF status)

(1) Output device


(a) Set the bit device which outputs the ON/OFF signal toward the preset watch
data.

(b) As the output device, the following devices can be used.


Item Device No. setting range
(Note-1) (Note-4)
Input relay X0 to X1FFF
(Note-2)
Output relay Y0 to Y1FFF
(Note-3)
Internal relay M0 to M8191
Link relay B0 to B1FFF
(Note-5), (Note-6)
Multiple CPU area device U \G10000.0 to U \G (10000+p-1).F

(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.
(Note-4): The range of "PXn+4 to PXn+F" cannot be used (fixed at 0) for the input
device (PXn+0 to PXn+F) allocated to the built-in interface in Motion CPU
(DI). (n: First input No.) QDS

(Note-5): "p" indicates the user setting area points of the Multiple CPU high speed
transmission area for each CPU.
(Note-6): Only device of the self CPU can be used.

4-4
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 section setting.

(b) As the watch data, motion control data or optional word device data can be
used.
1) Motion control data
a) SV13/SV22
Axis No. setting range
Item Unit Data type Remarks
Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1)
Feed current value Position
32-bit
Real current value command
integer type
Deviation counter value PLS

16-bit
Motor current 0.1%
integer type
(Note-1)
Motor speed 0.1r/min 1 to 32 1 to 16 1 to 32
Cam axis 1 revolution
current value 1 to 8
Valid in
Feed current value (Virtual)
SV22
Current value after 32-bit
virtual
differential gear (Virtual) PLS integer type
mode only
Encoder current value after
differential gear (Virtual)
1 to 12
Valid in
Encoder current value
SV22 only

(Note-1): The motor speed ( 0.1[mm/s]) is stored at linear servo use.

b) SV43
Axis No. setting range
Item Unit Data type Remarks
Q173DCPU(-S1) Q172DCPU(-S1)
Machine value Position
32-bit
Real machine value command
integer type
Deviation counter value PLS
16-bit
Motor current 0.1% 1 to 32 1 to 8 —
integer type
(Note-1)
Motor speed 0.1r/min
32-bit
Position
Current value integer type
command

(Note-1): The motor speed ( 0.1[mm/s]) is stored at linear servo use.

4-5
4 AUXILIARY AND APPLIED FUNCTIONS

2) Word device data


Item Device No. setting range
Data register D0 to D8191
Link register W0 to W1FFF
Motion register #0 to #9215
(Note-1)
Multiple CPU area device U \G10000 to U \G (10000+p-1)

(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed
transmission area for each CPU.

3) The following data type is set as the data type to be compared.


Data type Remarks
16-bit integer type —
32-bit integer type
Set the device No. as an even No.
64-bit floating-point type

(3) ON section 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. setting range
Data register D0 to D8191
Link register W0 to W1FFF
Motion register #0 to #9215
(Note-1)
Multiple CPU area device U \G10000 to U \G (10000+p-1)
Constant Hn/Kn

(Note-1) : "p" indicates the user setting area points of the Multiple CPU high speed
transmission area for each CPU.

(4) Output enable/disable bit


(a) Set the status of output enable/disable bit when the limit switch output is
forbidden during operation.
The following control is exercised.
Output enable/disable bit Control description
Without setting
Limit switch output is turned ON/OFF based on the
(always enable)
ON section setting (ON Value, OFF Value).
ON (enable)
With setting
OFF (disable) Limit switch output is turned OFF.

4-6
4 AUXILIARY AND APPLIED FUNCTIONS

(b) Usable devices


Item Device No. setting range
(Note-1) (Note-2)
Input relay X0 to X1FFF
(Note-3)
Output relay Y0 to Y1FFF
Internal relay M0 to M8191
Link relay B0 to B1FFF
Annunciator F0 to F2047
Special relay SM0 to SM1999
(Note-4)
Multiple CPU area device U \G10000.0 to U \G (10000+p-1).F

(Note-1): The real input range(PX) is included.


(Note-2): The range of "PXn+4 to PXn+F" cannot be used (fixed at 0) for the input
device (PXn+0 to PXn+F) allocated to the built-in interface in Motion CPU
(DI). (n: First input No.) QDS

(Note-3): The real input range(PY) is included.


(Note-4): "p" indicates the user setting area points of the Multiple CPU high speed
transmission area for each CPU.

(5) Forced output bit


(a) Set the "forced output bit" when you want to forcibly provide the limit switch
outputs during operation.
The following control is exercised.
Output enable/disable bit Control description
Without setting Limit switch outputs are turned ON/OFF on the basis
of the "output enable/disable bit" and ON section
OFF
With setting setting (ON Value, OFF Value).
ON Limit switch outputs are turned ON.

(b) Usable devices


Item Device No. setting range
(Note-1)
Input relay X0 to X1FFF
Output relay Y0 to Y1FFF
Internal relay M0 to M8191
Link relay B0 to B1FFF
Annunciator F0 to F2047
Special relay SM0 to SM1999
(Note-2)
Multiple CPU area device U \G10000.0 to U \G (10000+p-1).F

(Note-1): The range of "PXn+4 to PXn+F" cannot be used (fixed at 0) for the input
device (PXn+0 to PXn+F) allocated to the built-in interface in Motion CPU
(DI). (n: First input No.) QDS

(Note-2): "p" indicates the user setting area points of the Multiple CPU high speed
transmission area for each CPU.

POINT
Refer to Chapter 2 for the user setting area points of the Multiple CPU high speed
transmission area.

4-7
4 AUXILIARY AND APPLIED FUNCTIONS

4.1.3 Operations (SV22 advanced synchronous control only) QDS Ver.!

(1) ON output to an output device is made while the watch data value is in the ON
region set with lower limit value and upper limit value in the limit switch output
function.
Up to two ON regions can be set for each limit output setting data.
(a) Lower limit value, upper limit 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 lower limit value and upper
limit value as indicated below.
Relationship between lower limit value and
ON output region
upper limit value
Lower limit value < Upper limit value Lower limit value  (watch data value) < Upper
limit value
Lower limit value  (watch data value)
Lower limit value > Upper limit value
(Watch data value) < Upper limit value
Lower limit value = Upper limit value Output OFF in whole region

1) Lower limit value < Upper limit value


ON
Output device OFF OFF

Upper limit value


ON section setting
Lower limit value

Watch data value

Lower limit value < (Watch data value) < Upper limit value

2) Lower limit value > Upper limit value


ON ON
Output device OFF

Upper limit value


ON section setting
Lower limit value

Watch data value

(Watch data value) < Upper limit value Lower limit value < (Watch data value)

3) Lower limit value = Upper limit value


Output device OFF in whole region

ON section setting Lower limit value Upper limit value

Watch data value

Ver.! : Refer to Section 1.5 for the software version that supports this function.

4-8
4 AUXILIARY AND APPLIED FUNCTIONS

(b) The limit switch outputs are controlled based on each watch data during the
READY complete status (SM500: ON) by the PLC ready flag (M2000) from
OFF to ON.
With the setting of "M2000 keep the output device when turns OFF" invalid,
when the READY complete flag (SM500) turns OFF by turning the PLC ready
flag (M2000) from ON to OFF, all points turn OFF.
With the setting of "M2000 keep the output device when turns OFF" valid for
output devices other than Y devices, the output devices do not turn OFF even
when the PLC ready flag (M2000) turns from ON to OFF. The setting is valid
for all the output devices.
Y devices always turn OFF when the PLC ready flag (M2000) turns from ON
to OFF.
When lower limit value and upper limit 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 64 points) can be also set to one watch data. In each
setting, the output device may be the same.
If both of the two regions of the ON section setting are used or if the same
output device is designated by multiple output settings (regardless of whether
or not the watch data is the same), the logical add of the output results in the
regions is output.

ON ON
Output device OFF OFF OFF

Upper limit value


ON section setting No.2 Lower limit value

Upper limit value


ON section setting No.1 Lower limit value

Watch data value

(2) Forced OFF bit can be set to forcibly turn off the output of the output device point-
by-point.
When the forced OFF bit is ON, the output is OFF.

(3) Forced ON bit can be set to forcibly turn on the output of the output device point-
by-point.
When the forced ON bit is ON, the output is ON.
Priority is given to control of this setting over ON of the "forced OFF bit" (forced
output OFF).

4-9
4 AUXILIARY AND APPLIED FUNCTIONS

4.1.4 Limit output setting data (SV22 advanced synchronous control only) QDS Ver.!

Limit output data list are shown below.


Up to 64 points of output devices can be set.
(The following items of No.2 to No.7 are set together as one point.)
Refresh
No. Item Setting range Fetch cycle Remarks
cycle
M2000 keep the output device
1 Invalid (default)/valid —
when turns OFF
Operation
Output device Bit device (X, Y, M, B, U \G) —
cycle
2
16 point unit batch output
Invalid (default)/valid
setting
-5000000 to 5000000[µs]
3 Limit output compensation time
Word device (D, W, #, U \G)
Operation
Motion control data/word device (D, W, #, U \G)/
cycle
Watch data word device (ring counter) (D, W, #, U \G)

(16-bit integer type/32-bit integer type)
4
Ring counter value 16-bit integer type: K1 to K32767, H0001 to H7FFF

(At word device (ring 32-bit integer type: K1 to K2147483647, —
counter) selection) H00000001 to H7FFFFFFF
ON section Upper limit value
setting 1 Lower limit value
5 Word device (D, W, #, U \G)/constant (K, H)
ON section Upper limit value Operation
setting 2 Lower limit value cycle
6 Forced OFF bit Bit device (X, Y, M, B, F, SM, U \G)/none (default)
7 Forced ON bit Bit device (X, Y, M, B, F, SM, U \G)/none (default)

(1) M2000 keep the output device when turns OFF


With this setting valid for output devices other than Y devices, the output devices
do not turn OFF even when the PLC ready flag (M2000) turns from ON to OFF.
The setting is valid for all the output devices. Y devices always turn OFF when
the PLC ready flag (M2000) turns from ON to OFF.

(2) Output device


(a) Set the bit device which outputs the ON/OFF signal toward the preset watch
data.

Ver.! : Refer to Section 1.5 for the software version that supports this function.

4 - 10
4 AUXILIARY AND APPLIED FUNCTIONS

(b) As the output device, the following devices can be used.


Item Device No. setting range
(Note-1) (Note-4)
Input relay X0 to X1FFF
(Note-2)
Output relay Y0 to Y1FFF
(Note-3)
Internal relay M0 to M8191
Link relay B0 to B1FFF
(Note-5), (Note-6)
Multiple CPU area device U \G10000.0 to U \G (10000+p-1).F

(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): Be careful because it affect a positioning operation, when the positioning
dedicated devices are set.
(Note-4): The range of "PXn+4 to PXn+F" cannot be used (fixed at 0) for the input
device (PXn+0 to PXn+F) allocated to the built-in interface in Motion CPU
(DI). (n: First input No.) QDS

(Note-5): "p" indicates the user setting area points of the Multiple CPU high speed
transmission area for each CPU.
(Note-6): Only device of the self CPU can be used.

(c) When the 16 point unit batch output setting is valid, the batch output of the
sequential 16 point unit devices has less effect on the operation cycle as
compared with the output of each output device point-by-point.
When the 16 point unit batch output setting is valid, it is recommended to set
multiple output devices as sequential 16 point unit output devices.
The sequential devices to be output in a 16 point unit batch is counted as
one set and up to 4 sets can be set.
When the 16 point unit batch output setting is valid, among the 16 point unit
devices, the devices that are not used as the output devices are always OFF.
16 point unit batch
Control description
output setting
Invalid The output device is output point-by-point.
Valid The sequential 16-point output devices are output in a batch.

4 - 11
4 AUXILIARY AND APPLIED FUNCTIONS

(3) Limit output compensation time


(a) Compensate the output timing of the output device.
Set it to compensate for output signal delays. (Set a positive value to
compensate for a delay.)
The timing is compensated as "-5000000" when the compensation time is
set to less than -5000000, and it is compensated as "5000000" when it is set
to more than 500000.
1) Direct designation
Setting range
-5000000 to 5000000[µs]

2) Indirect designation
(Note-1)
Item Device No. setting range
Data register D0 to D8191
Link register W0 to W1FFF
Motion register #0 to #9215
(Note-2)
Multiple CPU area device U \G10000 to U \G (10000+p-1)

(Note-1): Set an even number as the first device.


(Note-2): "p" indicates the user setting area points of the Multiple CPU high speed
transmission area for each CPU.

4 - 12
4 AUXILIARY AND APPLIED FUNCTIONS

(4) 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 section setting.

(b) As the watch data, motion control data, word device data or word device
data (ring counter) can be used.
1) Motion control data
Axis No. setting range
Item Unit Data type Remarks
Q173DSCPU Q172DSCPU
Feed current value
Real current value Control unit
Motor real current value 32-bit
Servo command value integer type
Position feed back PLS
Absolute position encoder single revolution position
16-bit —
Absolute position encoder multiple revolution position —
integer type
1 to 32 1 to 16
Deviation counter value PLS
32-bit
Servo command speed PLS/s
integer type
Motor speed 0.01r/min
16-bit
Motor current value 0.1%
integer type
Command generation axis feed current value
Command generation axis cumulative current value Control unit
Command generation axis current value per cycle Valid in
32-bit
Synchronous encoder axis current value Encoder axis synchronous
integer type 1 to 12
Synchronous encoder axis current value per cycle unit control
Cam axis current value per cycle Cam axis
1 to 32 1 to 16
Cam axis current value per cycle (Actual) cycle unit

2) Word device data/word device data (ring counter)


Item Device No. setting range
Data register D0 to D19823
Link register W0 to W1FFF
Motion register #0 to #9215
(Note-1)
Multiple CPU area device U \G10000 to U \G (10000+p-1)

(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed
transmission area for each CPU.

3) The following data type is set as the data type to be compared.


Data type Remarks
16-bit integer type —
32-bit integer type Set the device No. as an even No.

4 - 13
4 AUXILIARY AND APPLIED FUNCTIONS

(c) Ring counter value


When the watch data is the word device data (ring counter), the ring counter
value is set.
Data type Remarks
16-bit integer type H0001 to H7FFF
32-bit integer type K1 to K2147483647, H00000001 to H7FFFFFFF

ON
Without output device
compensation time OFF OFF

Ring counter value

ON section Upper limit setting


setting Lower limit setting

POINT
For the word device data updated as ring counter, when the output timing is
compensated without setting the correct ring counter value or when the output
timing is compensated by setting the ring counter for the word device data that is
not updated as ring counter, the output device may not be output at the correct
timing.

(5) ON section setting


(a) The data range which makes the output device turn ON/OFF toward the
watch data.
Up to two ON regions can be set for each limit output setting data.

(b) The following devices can be used as the lower limit value and upper limit
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. setting range
Data register D0 to D8191
Link register W0 to W1FFF
Motion register #0 to #9215
(Note-1)
Multiple CPU area device U \G10000 to U \G (10000+p-1)
Constant Hn/Kn

(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed
transmission area for each CPU.

4 - 14
4 AUXILIARY AND APPLIED FUNCTIONS

(6) Forced OFF bit


(a) Set the "forced OFF bit" when forced OFF of the output device is desired
during operation.
The following control is exercised.
Forced OFF bit Control description
Without setting Output device is turned ON/OFF based on the ON
OFF section setting.
With setting
ON Output device is turned OFF.

(b) Usable devices


Item Device No. setting range
(Note-1) (Note-2)
Input relay X0 to X1FFF
(Note-3)
Output relay Y0 to Y1FFF
Internal relay M0 to M12287
Link relay B0 to B1FFF
Annunciator F0 to F2047
Special relay SM0 to SM1999
(Note-4)
Multiple CPU area device U \G10000.0 to U \G (10000+p-1).F

(Note-1): The real input range(PX) is included.


(Note-2): The range of "PXn+4 to PXn+F" cannot be used (fixed at 0) for the input
device (PXn+0 to PXn+F) allocated to the built-in interface in Motion CPU
(DI). (n: First input No.)
(Note-3): The real input range(PY) is included.
(Note-4): "p" indicates the user setting area points of the Multiple CPU high speed
transmission area for each CPU.

4 - 15
4 AUXILIARY AND APPLIED FUNCTIONS

(7) Forced ON bit


(a) Set the "forced ON bit" when forced ON of the output device is desired
during operation.
The following control is exercised.
Forced ON bit Control description
Without setting Output device is turned ON/OFF based on the ON
OFF section setting .
With setting
ON Output device is turned ON.

(b) Usable devices


Item Device No. setting range
(Note-1)
Input relay X0 to X1FFF
Output relay Y0 to Y1FFF
Internal relay M0 to M8191
Link relay B0 to B1FFF
Annunciator F0 to F2047
Special relay SM0 to SM1999
(Note-2)
Multiple CPU area device U \G10000.0 to U \G (10000+p-1).F

(Note-1): The range of "PXn+4 to PXn+F" cannot be used (fixed at 0) for the input
device (PXn+0 to PXn+F) allocated to the built-in interface in Motion CPU
(DI). (n: First input No.)
(Note-2): "p" indicates the user setting area points of the Multiple CPU high speed
transmission area for each CPU.

POINT
Refer to Chapter 2 for the user setting area points of the Multiple CPU high speed
transmission area.

4 - 16
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 (SV13/SV22)/Motion program (SV43) or MT Developer2.
(1) Conditions of the absolute position system start
Perform a home position return after machine adjustment at the absolute position
system start.

(2) In the absolute positioning system, the absolute position may be lost in the
following cases:
Set the absolute position with a home position return.
(a) The battery unit is removed or replaced.

(b) The battery error of the servo amplifier occurs. (It is detected at the servo
amplifier power on).

(c) The machine system is disturbed by a shock.

(d) The cable between servo amplifier and encoder is removed, or the servo
amplifier or encoder is replaced.

(3) The current value history can be monitored using of the "System setting allowable
travel during power off" or "Monitor" using a MT Developer2.
(Refer to the help of MT Developer2 or details.)

4 - 17
4 AUXILIARY AND APPLIED FUNCTIONS

(4) If a major error (error code: 1202, 12020) occurs because of a communication
error between the servo amplifier and encoder, home position return request
(M2409+20n) turns ON, and absolute data is erased.
However, the erasing of the absolute data can be avoided with the following
combinations.
Operating system software Servo amplifier Operation of home position
Q173DSCPU/ Q173DCPU(-S1)/ Software return request (M2409+20n)
Model name
Q172DSCPU Q172DCPU(-S1) version when error occurs
MR-J3- B
MR-J3- B-RJ006 C3 or later
MR-J3- B Safety
MR-J3- B-RJ004 Home position return request
C5 or later
00B or later 00S or later MR-J3- B-RJ080W (M2409+20n: OFF) does not
(Note-1)
MR-J3W- B B1 or later turn ON.
MR-J4- B
MR-J4- B-RJ —
MR-J4W- B
Home position return request
Others (M2409+20n: ON) turns ON.
(absolute data is lost)

—: There is no restriction by the version.


(Note-1): The history for the number of times a major error (error code: 1202, 12020) occurred is not
displayed in the current value history for MT Developer2 that does not support the display of the
current value history of the past 10 times. Use a version of MT Developer2 that supports the display
of the current value history of the past 10 times. (Refer to Section 1.5.)

CAUTION
After removing or replacing the battery unit, correctly install the new unit and set the absolute
position.
After a servo amplifier battery error occurs, eliminate the cause of the error and ensure
operation is safe before setting the absolute position.
After the mechanical system is disturbed by a shock, make the necessary checks and repairs,
and ensure operation is safe before setting the absolute position.

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.
(2) Even when the current value address is changed by a current value change
instruction, the restored data for the current value after a power interruption is
the value based on the status prior to execution of the current value change
instruction.
(3) When home position return has not been completed (home position return
request is ON), restoration of the current value after a power interruption is not
possible.

4 - 18
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.)

(2) The following values can be monitored by the current value history monitor of
MT Developer2.
Monitor conditions Monitor value
Multiple CPU system power ON/OFF Encoder current value,
Servo command value,
Home position return completion
Monitor current value

(a) Current value history monitor


Month/day/hour/minute
The time such as at the completion of home position return and servo
amplifier power supply ON/OFF is indicated.

(b) Encoder current value


When using the servo amplifier, the multiple revolution data and within-one-
revolution data read from the encoder is indicated.

(c) Servo command value


The command value issued to the servo amplifier is indicated.

(d) Monitor current value


The current value controlled in the Motion CPU is indicated.
(Note): A value near the feed current value is indicated. However, because
the monitor current value and feed current value are different data, it
is not abnormal even if a different value is indicated.

(e) Alarms
When an error for current value restoration occurs at the servo amplifier
power on, an error code is indicated.

(3) By setting of the "Allowable travel during power off", if the encoder data changes
exceeding the setting range during power-off, it checks at servo amplifier power-
on. (An error is displayed at the abnormal.)
"Allowable travel during power off" cannot be set when using the linear servo
motor and direct drive motor.

(4) The current value history of the past 10 times is indicated at the servo amplifier's
power ON/OFF. Ver.!

Ver.! : Refer to Section 1.5 for the software version that supports this function.

4 - 19
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 Developer2.

POINT
High-speed reading function cannot be used in the SV22 advanced synchronous
control. QDS

(1) Positioning data that can be set


(a) SV13/SV22
Setting data Word No. Unit Remarks
-1 -5 -5
Feed current value 2 10 [µm], 10 [inch], 10 [degree], [PLS]
-1 -5 -5
Real current value 2 10 [µm], 10 [inch], 10 [degree], [PLS]
Deviation counter value 2 [PLS]
M-code 1 —
Torque limit value 1 [%]
Motor current 1 [%]
(Note-1)
Motor speed 2 [r/min]
Servo command value 2 [PLS]
Feed current value (Virtual) 2 [PLS]
(Note-2)
Encoder current value 2 [PLS]
M-code (Virtual) 1 —
Current value after differential gear Valid in
2 [PLS]
(Virtual) SV22
Encoder current value after differential virtual
2 [PLS]
gear mode only
Cam axis 1 revolution current value 2 [PLS]
Execute cam No. 1 —
Execute stroke amount 2 10-1[µm], 10-5[inch] [PLS]
Optional address (Fixed to 4 bytes) 2 —

(Note-1): The motor speed (unit [mm/s]) is stored at linear servo use.
(Note-2): It is also valid in real mode for the version (Refer to Section 1.5) that supports "synchronous
encoder current value in real mode".

(b) SV43
Setting data Word No. Unit Remarks
-4 -5 -5
Machine value 2 10 [mm], 10 [inch], 10 [degree]
-4 -5 -5
Real machine value 2 10 [mm], 10 [inch], 10 [degree]
Deviation counter value 2 [PLS]
M-code 1 —
Torque limit value 1 [%]
Motor current 1 [%]
(Note-1)
Motor speed 2 [r/min]
Servo command value 2 [PLS]
Optional address (Fixed to 4 bytes) 2 —

(Note-1): The motor speed (unit [mm/s]) is stored at linear servo use.

4 - 20
4 AUXILIARY AND APPLIED FUNCTIONS

POINT
If the wrong address is set in the absolute address, the WDT error will occur.
Explain to our sales representative before setting the absolute address.

(2) Modules and signals to be used


Input module Signal Read timing Number of settable points
Q172DEX 2
TREN
Q173DPX 3
Built-in interface in Motion CPU 0.8[ms]
QDS (Note-2) 4
PX device
(Note-1)
PLC input module 8

(Note-1): Only one PLC input module can be used.


(Note-2): Either of the input signal of built-in interface in Motion CPU (DI) and PLC input module can be used.

(3) Usable devices


Word devices Usable devices
D 0 to 8191
W 0 to 1FFF
(Note-1), (Note-2)
U \G 10000 to (10000 + p-1)
(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed
transmission area for each CPU.
(Note-2): Only device of the self CPU can be used.

POINT
(1) Set an even numbered device No. in the two word data.
(2) Refer to Chapter 2 for the user setting area points of the Multiple CPU high
speed transmission area.

4 - 21
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

Q172DCPU No. Items Functions


1) 1) 7-segment LED • Indicate the operation state and error information.
F01 F01
SW
2) Rotary switch 1 (SW1) • Set the operation mode (Normal mode, Installation
2) 3)
CDE

AB E
23 6

23 6
CD
45

45
AB

1 2 mode and mode operated by ROM, etc.)


789 789

STOP RUN
3) Rotary switch 2 (SW2)
CAUTION
• Each switch setting is 0 to F.
EMI
CN1

FRONT
BAT

(1) Operation mode


"Operation mode" of the Motion CPU is set by the rotary switch setting of Motion
CPU module at the power supply ON of the Multiple CPU system.
The rotary switch setting, operation mode and operation mode overview are
shown below.

(a) Rotary switch setting and operation mode


(Note-1)
Rotary switch setting
Operation mode
SW1 SW2
A Any setting (Except C) Installation mode
0 0 Mode operated by RAM
0 6 Mode operated by ROM
0 8 Ethernet IP address display mode
(Note-2)
Any setting C SRAM clear
(Note-1): Do not set other than the above setting.
(Note-2): The programs, parameters, motion devices (#), devices of latch data and
absolute position data of SRAM built-in Motion CPU module are cleared.

4 - 22
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 " . " display in the second
digit of 7-segment LED.
• Operation starts after the user programs and parameters stored in the FLASH
ROM built-in Motion CPU module are read to the SRAM built-in Motion CPU
module at power supply on or reset of the Multiple CPU system.
If the ROM writing is not executed, even if the user programs and parameters
Mode operated
are changed using the MT Developer2 during mode operated by ROM,
by ROM
operation starts with the contents of the FLASH ROM built-in Motion CPU
module at next power supply on or reset.
Also, If the ROM writing is not executed, even if the auto tuning data are
reflected on the servo parameter of Motion CPU by operation in the auto-
tuning setting, operation starts with the contents of the FLASH ROM built-in
Motion CPU module at next power supply on or reset.

POINT
(1) Be sure to turn OFF the Multiple system's power supply before the rotary
switch setting change.
(2) It is recommended to shift to the mode operated by ROM after the programs
and parameters are fixed. The erasing of the programs and parameters can be
avoided even if the battery decrease. (The ROM writing cannot be executed
for the current position of the servo motor in the absolute position system,
home position and latch device. Back up them beforehand using
MT Developer2.)

4 - 23
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 Developer2, 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.

The programs and parameters created by the MT Developer2 must be written


beforehand to the FLASH ROM built-in Motion CPU module at the ROM operation.
The following methods for ROM writing are shown below.
• Write the programs and parameters written in the SRAM built-in Motion CPU module
to the FLASH ROM built-in Motion CPU module.
• Write the programs and parameters of the MT Developer2 to the SRAM built-in
Motion CPU module, and then write them to the FLASH ROM built-in Motion CPU
module.

The data batch written to the FLASH ROM built-in Motion CPU module by ROM writing
are shown below. Backup data except the following (current position of servomotor in
absolute position system, home position and latch device.) cannot be written to the
FLASH ROM.
SV13 SV22 SV43
System setting data
Each parameter for servo control
Servo program —
Motion SFC parameter Motion parameter
Motion SFC program Motion program
— Mechanical system program —
— Cam data —

POINT
(1) "Backup • load" operation of the MT Developer2 targets the SRAM built-in
Motion CPU module. (The FLASH ROM built-in Motion CPU module is not
targeted.)
Set to "Mode operated by ROM" after ROM writing to execute the ROM
operation after "Backup • load" operation at the Motion CPU module exchange.
(2) The FLASH ROM built-in Motion CPU module serves as a life in 100000 times
writing. Make the ROM writing within 100000 times. If it passes over a life,
"writing error" will occur, replace the Motion CPU module.
(3) The online change of Motion SFC program executes the Motion SFC program
performed the online change from the next scanning at the mode operated by
ROM. Operation starts with the contents of the Motion SFC program written in
the FLASH ROM built-in Motion CPU module at next power supply on or reset.
(4) It needs to meet the following conditions for the ROM writing.
(a) PLC ready flag (M2000) OFF
(b) Not installation mode

4 - 24
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.

<ROM writing>
Mode operated by RAM/Mode operated by ROM
Motion CPU module
Be sure to write the programs and parameters beforehand
SRAM to the SRAM built-in Motion CPU module at the ROM
operation.
Personal computer
Programs
Parameters, etc. MT Developer2

1) ROM writing request Programs


FLASH ROM Parameters, etc.

Programs
Parameters, etc.
2) ROM writing

<ROM operation>
Mode operated by ROM
Motion CPU module

SRAM
Read at
starting
Programs
Parameters, etc.

FLASH ROM

Programs
Parameters, etc.

4 - 25
4 AUXILIARY AND APPLIED FUNCTIONS

(a) Writing procedure for the data of SRAM built-in Motion CPU module to the
ROM.
Execute the ROM writing to the FLASH ROM built-in Motion CPU module by
selecting the [Execute] button on the Export to ROM Format screen
displayed by the menu bar [Online] - [Export to ROM Format].

Select "Execute" button.

Refer to the help of MT Developer2 for details of the operation procedures.

POINT
Be sure to write the all data beforehand to SRAM built-in Motion CPU module at the
ROM writing.

4 - 26
4 AUXILIARY AND APPLIED FUNCTIONS

(2) Write the programs and parameters of the MT Developer2 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.

<Data writing + ROM writing>


Mode operated by RAM/Mode operated by ROM
Motion CPU module Personal computer

SRAM 1) Write data MT Developer2


(ROM writing request)

Programs Programs
Parameters, etc. Parameters, etc.

2) ROM writing request


FLASH ROM after write data

Programs
Parameters, etc.
3) ROM writing

<ROM operation>
Mode operated by ROM
Motion CPU module

SRAM
Read at
starting
Programs
Parameters, etc.

FLASH ROM

Programs
Parameters, etc.

4 - 27
4 AUXILIARY AND APPLIED FUNCTIONS

(a) Writing procedure for the data of MT Developer2 to the ROM.


Check the data written in the Motion CPU by selecting the [Program memory
+ CPU ROM] of target memory on the Write to CPU screen displayed by the
menu bar [Online] - [Write to CPU].

Select "Program memory + CPU ROM".

Select "Execute" button.

(Note): The display of selectable data are different depending on the operating software.

Refer to the help of MT Developer2 for details of the operation procedures.

POINT
Be sure to write the all data beforehand to SRAM built-in Motion CPU module at the
ROM writing.

4 - 28
4 AUXILIARY AND APPLIED FUNCTIONS

4.4.3 Operating procedure of the ROM operation function

(1) ROM operation procedure

The ROM operation procedure is shown below.

Preparation for ROM operation

Set the "Mode operated by RAM" by setting


the rotary switch 1 (SW1) and 2 (SW2) to "0".

Turn ON the power supply of Multiple CPU


system.

Create or correct the system setting,


parameters and programs using the
MT Developer2, and write them to the
Motion CPU module.

Execute the trial run and adjustment.

NO
Is the operation normal ?

YES
Mode operated Write the system setting, parameters, and
by RAM programs of SRAM built-in Motion CPU
(ROM writing) module to the FLASH ROM built-in Motion
CPU module by the ROM writing request
using the MT Developer2.

Turn OFF the power supply of Multiple CPU


system.

Set the "Mode operated by ROM" by setting


the rotary switch 1 (SW1) to "0" and rotary
switch 2 (SW2) to "6".

Turn ON the power supply of Multiple CPU


system.

Mode operated
ROM operation start
by ROM

4 - 29
4 AUXILIARY AND APPLIED FUNCTIONS

(2) Operation at the "Mode operated by ROM"

Mode operated by ROM start

(Data (programs and parameters) are


not written to the FLASH ROM built-in
Is the data written Motion CPU module.)
NO
to the FLASH ROM built-in
Motion CPU module ?

YES

Read the following of the FLASH ROM The system setting error (" AL" flashes 3
built-in Motion CPU module to the SRAM times steady "L01" display) in the 7-
built-in Motion CPU module. segment LED at the front side of Motion
System setting data CPU module.
Parameter for servo control
Servo program (SV13/SV22)
Motion SFC parameter (SV13/SV22) Wait for restart of Multiple
Motion SFC program (SV13/SV22) CPU system.
Mechanical system program (SV22)
Cam data (SV22) After that, it cannot be operated because of
Motion parameter (SV43) stop state.
Motion program (SV43) Retry the operation for "ROM writing"
"Mode operated by ROM" after confirm the
contents for programs and parameters of the
SRAM built-in Motion CPU module.
Normal operation start

After that, it is same operation as the


RAM operation.

POINT
(1) Change the operation mode using the rotary switch of Motion CPU module.
(2) Confirm the operation mode by the 7-segment LED of Motion CPU module.

4 - 30
4 AUXILIARY AND APPLIED FUNCTIONS

4.5 Security Function

4.5.1 Protection by password

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.
(1) Operating procedure password
[Register/Change Password] or [Delete Password] screen is used to
register/change/delete a password. Select from a menu bar or each screen of MT
Developer2 to display these screen.
• Select from a menu bar

• Select from each screen of Write to CPU/Read from CPU/Verify with CPU

4 - 31
4 AUXILIARY AND APPLIED FUNCTIONS

(2) User data protected by password


The user data protected in this function are shown below.
"Write Protection" or "Read/Write Protection" can be set every user data.
Operating
User data Protected contents
system software
Motion SFC programs (Control code, text)
Motion SFC program
and motion SFC parameters
SV13/SV22 Servo program Servo programs and program allocation
Safety observation function Safety signal comparison parameter and
(Note-1) Ver.!
parameter speed monitoring parameter
Mechanical system program
(Note-2) Mechanical system programs

SV22 Synchronous control Input axis parameter and synchronous


(Note-3) QDS Ver.!
parameter parameter
(Note-4)
Cam data Cam data (Converted data, edit data )
SV43 Motion program Motion programs and motion parameters

(Note-1): Q173DSCPU/Q172DSCPU/Q173DCPU-S1/Q172DCPU-S1 only.


(Note-2): Virtual mode only.
(Note-3): Advanced synchronous control only.
(Note-4): Cam edit data "Read from CPU/Write to CPU/Verity with CPU" is possible for the
MT Developer2 version "1.09k or later".

Ver.! : Refer to Section 1.5 for the software version that supports this function.

4 - 32
4 AUXILIARY AND APPLIED FUNCTIONS

(3) Password registration/change


Execute the password registration/change on the "Register/Change password"
screen of MT Developer2.
Refer to the help of MT Developer2 for details of the operation procedures.

<SV13/SV22 use>

<SV43 use>

Items Details
Type Type of user data
Registration " " is displayed when a password is registered in the Motion CPU.
Enter initial registration/change password.
Alphanumeric character (ASCII) of 6 or less
Password Match case (Not full-size character)
(Note-1): Make the item an empty column when a password is not
registered.
A registration condition set in the Motion CPU is displayed.
• Write Protection
Registration condition
• Read/Write Protection
New registration condition can be selected by password input.

4 - 33
4 AUXILIARY AND APPLIED FUNCTIONS

POINT
(1) If a user has forgotten a registration password, clear a password of Motion
CPU by the all clear function. However, the all password data and user data
are cleared by the all clear function. Re-write the user data to the Motion CPU.
(Refer to Section 4.6 for details.)
(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) The password data is not saved in a project without project save.
Be sure to save project.
(4) If an operation stops by reset or power OFF of the Multiple CPU system while
a password registration/change, the user data may not be registered.
Register/change a password again to restore the user data.

4 - 34
4 AUXILIARY AND APPLIED FUNCTIONS

(4) Password delete


Execute the password delete on the "Delete password" screen of
MT Developer2.
Refer to the help of MT Developer2 for details of the operation procedures.

<SV13/SV22 use>

<SV43 use>

Items Details
Type Type of user data
Registration " " is displayed when a password is registered in the Motion CPU.
Enter old password.
Password (Note-1): Make the item an empty column when a password is not
registered.

POINT
(1) The password data is not saved in a project without project save.
Be sure to save project.
(2) If an operation stops by reset or power OFF of the Multiple CPU system while
delete of password, the data may not be deleted. Delete a password again to
restore the user data.

4 - 35
4 AUXILIARY AND APPLIED FUNCTIONS

(5) Password check


When operating the user data that sets password, the check password screen is
displayed automatically.

Protection by the password temporarily released by success of password check.


A password is memorized until MT Developer2 ends. (Since protection by
password is automatically released temporarily at the user data operation, a
check password screen is not displayed.)
Refer to the help of MT Developer2 for details of the operation procedure.

<SV13/SV22 use>

<SV43 use>

Items Details
Type Type of user data
Password Enter old password.

4 - 36
4 AUXILIARY AND APPLIED FUNCTIONS

(6) Password save


Registered/changed/deleted password or password read with user data from
"Read from CPU" screen displayed by reading operation of the data 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].

Select menu [Project] [Save] to save the updated password data in a project.

(a) Status of password data for each operation

Operation Status of password data


When a password is set in the call source Motion CPU, the password contents are
Read
called and the password data in a project are updated.
When a password data is set in a project, if a password is not set in the write
Write
designation Motion CPU, the password contents are also written.
Verification Password data in a project are not updated.
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.
(SV13/SV22)
It is saved in backup data including also the password contents registered in the
Backup
call source Motion CPU. The password data in a project is not updated.
Load Password contents in backup data are written in the write designation Motion CPU.
Register/change New password contents are written in the write designation Motion CPU.
password Password data in a project is also updated to new password contents.
A password is deleted from the write designation Motion CPU.
Delete password
A password is deleted also from the password data in a project.
Project diversion The password data in diverting source project is not diverted.

POINT
(1) The password data is not saved in a project without project save.
(2) Save a project after delete of password to delete the password data in a
project. Or, create a project without password data by creating new project
and diverting user data from a project with password data.

4 - 37
4 AUXILIARY AND APPLIED FUNCTIONS

4.5.2 Protection by software security key QDS

This function is used to protect the user data by setting the software security key to the
project, operating system software, and MT Developer2 to limit the computer which
operates the project and Motion CPU which runs the project.
The software security key is created in MT Developer2 and registered to the operating
system software when the operating system software is installed to Motion CPU. It is
also registered to the user program when the project is created.
The software security key verify is executed between MT Developer2 and Motion CPU
during communication of the computer and Motion CPU. If the keys are not matched,
the communication is not possible.
Only the enabled computer can communicate with Motion CPU. When the user data
are leaked, copying and analyzing the data are prevented.
Computer 1 Motion CPU
MT Developer2 Reading/writing project
data is possible. Operating system software
Software security Software security
key A key A
Editing
Executing
project data
project data
is possible.
is possible.
Due to unmatched
Project
software security Project
Software security keys, reading/
Software security
key A writing project
key A
data is not
possible.
Computer 2
MT Developer2
Illegal leak
of project Software security
data key B
Due to unmatched
software security
keys, editing project
data is not possible.
Project
Software security
key A

POINT
Even when the communication between MT Developer2 and Motion CPU is not
possible due to the unmatched software security keys, monitoring and servo
parameter reading/writing are possible in MR Configurator .

CAUTION
If the software security key set in the project data or operating system software cannot be
imported to MT Developer2, the software security key cannot be released even in repair or
maintenance, and the project data cannot be referred to permanently. Mitsubishi Electric
Corporation cannot be held responsible for any damage which may occur as a result of not being
able to refer to the project data for our customers or other individuals and organizations. Please
be aware of this when using the software security key.

4 - 38
4 AUXILIARY AND APPLIED FUNCTIONS

(1) Overview of software security key


The software security key is controlled with the software security key name. Eight
software security key names can be registered to MT Developer2.
Key function level (Administrator/Developer/User) is set in the software security
key, and some operations are restricted depending on the key function level.
The software security key can be exported/imported and used in computers other
than the computer where it is created.
Key expiration date can be set when exporting the key. When the expiration date
is expired, re-export/import the key since the communication with Motion CPU is
not possible. (Even when the expiration date is expired, the operation of Motion
CPU continues.)
The exported software security key cannot be imported and re-exported.
When replacing computers, delete the software security key from the project and
Motion CPU and create the software security key again in the new computer.

The details of key function level are shown below.


Items Details
• Set when creating the software security key.
Software security key • Alphanumeric character of 16 or less (symbols such as "!" ' #$%&()+,-
name /:;<=>?@[\]^_`{|}~" and space can be also used.)
• The characters are case-sensitive.
• Any of "Administrator", "Developer" or "User"
• Set when exporting the software security key.
• The level of newly created software security key is "Administrator".
<Prohibited operation function>
Key function level Prohibited operation function
Administrator • None
Developer • Deleting the key from the project
• Deleting the key from the project
Key function level • External output of program data
• Exporting the project verify
• Copying data among projects of Motion SFC
User • Exporting cam data
• Copying and exporting device comments
• Exporting the servo program list
• Printing project data
(Note-1)
• Saving sampling data of the digital oscilloscope

• "Not Specified" or the period from the date when the key is exported to the
Key expiration date expiration date (1 to 365 days)
• Set when exporting the software security key.

(Note-1): Enabled/disabled can be set for saving sampling data of the digital oscilloscope.

4 - 39
4 AUXILIARY AND APPLIED FUNCTIONS

(2) Start-up procedure of software security key


The operation of software security key function is executed on the software
security key management screen of MT Developer2.
Select the menu bar [Tools]-[Software Security Key Management].
Refer to the help of MT Developer2 for details of the operation procedures.

Operation details of software security key function are shown below


Items Details
Software security key creation Create the software security key in MT Developer2.
Write the software security key that can be used in
Software security key export
MT Developer2 of other computers to the file.
Register the exported software security key to
Software security key import
MT Developer2.
Software security key embedding
Embed the software security key to Motion CPU at
(Installation of operating system
installation of the operating system software.
software)
Software security key embedding
Embed the software security key to the project.
(Project)
Software security key delete
Delete the software security key from the project.
(Delete from the project)
Software security key delete
Delete the software security key from MT Developer2.
(Delete from MT Developer2)
Software security key information Confirm the software security key information registered
confirmation to the operating system software.

4 - 40
4 AUXILIARY AND APPLIED FUNCTIONS

(3) Operating procedure of software security key function


(a) Using procedure of software security key

START

Create the software security key.

Export the software security key.

Will communication
and project management be NO
executed in another
computer?

YES

Import the software security key to


another computer. (Execute the
following operations in the computer
where the software security key is
imported.)

At installation of operating system


software, embed the software security
key to Motion CPU. (Motion CPU is all
cleared.)

Create the project and embed the


software security key to the project.

Write the project to Motion CPU.

END

POINT
(1) Backup the exported data after exporting the software security key. Be sure to
store the data in a safe place.
(2) If the software security key of the operating system software already installed
in Motion CPU is different from that embedded to the operating system
software to be installed, "Clear all" is executed at installation. It is
recommended to backup the data in advance using MT Developer2. If the
software security keys are matched, the programs, parameters and absolute
position data that are written to Motion CPU are not re-written.

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4 AUXILIARY AND APPLIED FUNCTIONS

(b) Delete procedure of software security key

START

Install the operating system software


without setting the software security
key. (Motion CPU is all cleared.)

Delete the software security key from


the project.

Write the project to Motion CPU.

Is the deleted YES


software security key used
on another project?

NO

Delete the software security key from


MT Developer2.

END

4 - 42
4 AUXILIARY AND APPLIED FUNCTIONS

4.6 All Clear Function

This function is used to clear the all user data, password setting, device memory,
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) Execute the all clear.


Select the menu bar [Online]-[Clear CPU Memory].

Refer to the help of MT Developer2 for details of the operation procedure.

POINT
(1) Set the Motion CPU module to installation mode to clear all.
Be sure to set a rotary switch after power supply OFF.
(2) The user data area of FLASH ROM built-in Motion CPU module is also
cleared.
(3) All user data and password setting are cleared at the "Clear all".
It is recommended to be backup them in advance using MT Developer2.
(4) When all clear is executed for user data created by the operating system
software type "SV22" of Q173DSCPU/Q172DSCPU, the operation method
becomes "virtual mode switching method".

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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 (CC-LinkIE, CC-Link, MELSECNET/10(H), Ethernet and
etc.) in the Motion CPU module.
Refer to the PLC manuals for the specifications of each network modules of
CC-LinkIE, CC-Link, MELSECNET/10(H), Ethernet and Serial communication, the
handling method.

4.7.1 Specifications of the communications via network

(1) Communications via network enables using MT Developer2 in the Motion CPU.

(2) Access range of the communications via network of the Motion CPU is an access
range equivalent to connection PLC CPU using GX Works2/GX Developer.
Refer to the operating manual of GX Works2/GX Developer for details.

(3) 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.

(4) 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.

(5) 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

Ethernet Ethernet

Intranet

Power QnUD Q173 D(S) Ethernet Power QnUD Q173 D(S) Ethernet
supply CPU CPU module supply CPU CPU module

4 - 44
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, normal task of Motion SFC
program (SV13/SV22) and Motion program (SV43) 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. (SV13/SV22)
(c) Reduce the number of normal task programs to execute simultaneously in
the Motion SFC program. (SV13/SV22)
(d) Reduce the number of automatic refresh points of CPU shared memory.
(e) Reduce the number of Motion programs to execute simultaneously. (SV43)

(4) When a main cycle is lengthened (more than 1.0[s]), a WDT error may occur in
the Motion CPU.

(5) Details of main cycle monitor register is shown below.

No. Name Meaning Details


Current scan time • Current scan time is stored in the unit 1[ms].
SD520 Scan time
(1ms units) • Range (0 to 65535[ms])
Maximum scan time • Maximum main cycle is stored in the unit 1[ms].
SD521 Maximum scan time
(1ms units) • Range (0 to 65535[ms])

4 - 45
4 AUXILIARY AND APPLIED FUNCTIONS

4.9 Servo Parameter Read/Change 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.

POINT
If the power supply of Multiple CPU system 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 MT Developer2, read the servo parameters from
the Motion CPU and save data.

(3) The servo parameters can be changed or displayed individually from Motion CPU.
QDS

Store the value in the following special registers to change or display the servo
parameter.
(a) "Servo parameter write/read request" device

No. Name Meaning Details Set by


System
Servo parameter • The read value of servo parameter which executed
SD552 (At reading
read value "2: Read request" in SD804 is stored.
request)
• The "write/read request" is executed after setting of
the axis No. and servo parameter No.
Servo parameter 1: Write request
SD804 User/
(Note-1) write/read request 2: Read request
System
flag • "0" is automatically set by Motion CPU after
completion of servo parameter write/read request.
("-1" is stored by Motion CPU at write/read error.)
• The axis No. to write/read servo parameter is stored.
SD805 Servo parameter Axis No. Q173DSCPU: 1 to 32
write/read request Q172DSCPU: 1 to 16
• The servo parameter No. to be written/read is stored
in hexadecimal.
H
Parameter No.
Servo parameter Parameter group No. User
SD806 0: PA 5: PF
No.
1: PB 9: Po
2: PC A: PS
3: PD B: PL (MR-J4(W)- B only)
4: PE C: PT (MR-J4(W)- B only)
Fixed at 0

Servo parameter • The setting value of servo parameter to be written is


SD807
setting value stored when "1: Write request" is set in SD804.

(Note-1): Do not execute the automatic refresh.

4 - 46
4 AUXILIARY AND APPLIED FUNCTIONS

(b) Procedure to servo parameter write/read


1) Procedure to write
1. Set the axis No., servo parameter No. and servo parameter setting
value in SD805 to SD807.

2. Set "1: Write request" in SD804.

3. Check that "0" is set in SD804.


(Completion of write)

2) Procedure to read
1. Set the axis No. and servo parameter No. in SD805 and SD806.

2. Set "2: Read request" in SD804.

3. Check that "0" is set in SD804.


(Completion of read)

4. Stores the read value in SD552.

POINT
(1) New servo parameter is reflected to Motion CPU, therefore, the servo
parameter of Motion CPU side does not need to change.
(2) When the axis No., servo parameter No. or servo parameter setting value is
outside the setting range, "-1: write/read error" is stored in the servo
parameter write/read request flag. The setting value of servo parameter is
reflected to Motion CPU even when the write error occurred. Be sure to set
within the setting range.

4 - 47
4 AUXILIARY AND APPLIED FUNCTIONS

4.10 Optional Data Monitor Function

This function is used to store the data (MR-J4(W)- B: 1 to 6 per axis, MR-J3(W)- B:
1 to 3 per axis) to the specified devices (D, W, #, U \G) and monitor them.
It can be set by the system setting of MT Developer2.
(1) Data that can be set
(a) Q173DSCPU/Q172DSCPU use
Set the total of number of communication data points per 1 axis as shown
below.
MR-J4(W)- B: Up to 6 points
MR-J3(W)- B: Up to 3 points
When setting an axis of servo amplifier (MR-J4- B-RJ) selected as "101:
Synchronous encoder via servo amplifier" by [Pr.320] Synchronous encoder
axis type, set the number of communication data points so that the total
comes to 2 points or less per axis.
Number of Servo amplifier
Number of
Data type Unit communication Remark
words MR-J3(W)- B MR-J4(W)- B
data points
Effective load ratio [%] 1 1
Regenerative load ratio [%] 1 1
Peak load ratio [%] 1 1
Position feed back [PLS] 2 0
Absolute position encoder single
revolution position
[PLS] 2 0
Motor side encoder single
Fully closed control use
revolution position
Absolute position encoder multiple
revolution counter
[rev] 1 1
Motor side encoder multiple
Fully closed control use
revolution counter
Load inertia moment ratio
[ 0.1] 1 1
Load mass ratio Linear servo motor use
Position loop gain 1 [rad/s] 1 1
Main circuit bus voltage [V] 1 1
[Position
Cumulative current value command] 2 0
(Note-1)

Servo motor speed [r/min]


1 1
Servo motor speed [mm/s] Linear servo motor use
Selected droop pulse [PLS] 2 2
Module power consumption
(Note-2) [W] 1 1

Unit integral power consumption


(Note-2) [Wh] 2 2

Instantaneous torque
[0.1%] 1 1
Instantaneous thrust Linear servo motor use
Load-side encoder information 1 [PLS] 2 2 Fully closed control or
synchronous encoder
Load-side encoder information 2 — 2 2
via servo amplifier use
Z-phase counter [PLS] 2 2 Linear servo motor use
Motor thermistor temperature [°C] 1 1

4 - 48
4 AUXILIARY AND APPLIED FUNCTIONS

Number of Servo amplifier


Number of
Data type Unit communication Remark
words MR-J3(W)- B MR-J4(W)- B
data points
Disturbance torque
[0.1%] 1 1
Disturbance thrust Linear servo motor use
Overload alarm margin [0.1%] 1 1
Error excessive alarm margin [16PLS] 1 1
Settling time [ms] 1 1
Overshoot amount [PLS] 1 1
Motor side/load-side position
[PLS] 2 2
deviation
Fully closed control use
Motor side/load-side speed
[0.01r/min] 2 2
deviation

: Settable : Unsettable
(Note-1): The position command is command unit set in the servo data setting.
(Note-2): In the servo amplifier for multiple axes, the measured value of whole unit is monitored. When these values set to each axis of
MR-J4 multi-axis servo amplifier, the same value can be monitored in each axis. Use the monitored value of not each axis but
each module to calculate the module power consumption power consumption and unit integral power consumption of multiple
modules.

(b) Q173DCPU(-S1)/Q172DCPU(-S1) use

Number of Servo amplifier


Data type Unit Remark
words MR-J3(W)- B
Effective load ratio [%] 1
Regenerative load ratio [%] 1
Peak load ratio [%] 1
Position feed back [PLS] 2
Absolute position encoder single
revolution position
[PLS] 2
Motor side encoder single
Fully closed control use
revolution position
Load inertia moment ratio
[ 0.1] 1
Load mass ratio Linear servo motor use
Position loop gain 1 [rad/s] 1
Main circuit bus voltage [V] 1

: Settable : Unsettable

(2) Devices that can be set


Word device Device that can be set
D 0 to 8191
W 0 to 1FFF
# 0 to 7999
(Note-1), (Note-2)
U \G 10000 to (10000+p-1)

(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed transmission area
for each CPU.
(Note-2): Only device of the self CPU can be used.

4 - 49
4 AUXILIARY AND APPLIED FUNCTIONS

POINT
(1) The updating cycle of data is every operation cycle.
(2) Set an even numbered device No. in the two word data.
(3) Refer to Chapter 2 for the user setting area points of the Multiple CPU high
speed transmission area.

4 - 50
4 AUXILIARY AND APPLIED FUNCTIONS

4.11 SSCNET Control Function

The following controls are possible in the SSCNET control function.


Function Application
Temporarily connect/disconnect of SSCNET communication is executed during Multiple
Connect/disconnect of SSCNET
CPU system's power supply ON.
communication
This function is used to exchange the servo amplifiers or SSCNET cables.
Start/release of amplifier-less Start/release of amplifier-less operation is requested.
operation This function is used to confirm the operation without connection of the servo amplifies.

(1) Device list


Set the request in SD803, and the process status is stored in SD508.
(a) SSCNET control status devices
Device No. Overview Set by
The execute status (Note) of the SSCNET control is stored.

Monitoring value Status Contents


Connect/disconnect command of SSCNET communication or
Command accept
0 start/release command of amplifier-less operation is in the status
waiting
that can be accepted.
SD508 System
SD508 is waiting for connect/disconnect execute command after
-1 Execute waiting accepting the connect/disconnect command of SSCNET
communication or start/release of amplifier-less operation.
Connect/disconnect of SSCNET communication or start/release of
-2 Executing
amplifier-less operation is in process.

(Note): The status for amplifier-less operation status is set in the amplifier-less operation status flag (SM508). (Refer to Section 4.11.2.)

(b) SSCNET control command devices


Device No. Overview Set by
Set the SSCNET control command.
Amplifier-
Setting Connect/
Command Contents less
value disconnect
operation
0 No command Set "0" if there is no command.
Disconnect command of
1 to 32 Set axis No. "1 to 32" to be disconnected.
SSCNET communication
Connect command of Set "-10" to connect axis while
-10
SSCNET communication disconnecting.
Set "-20" to change from the normal
Start command 1 of operation to amplifier-less operation.
-20 amplifier-less operation EMI signal is invalid during amplifier-less
SD803 (EMI invalid) operation, and the wiring of EMI signal is User
not necessary.
Set "-21" to change from the normal
Start command 2 of operation to amplifier-less operation.
-21 amplifier-less operation EMI signal is valid during amplifier-less
(EMI valid) operation, and the wiring of EMI signal is
necessary.
Release command of Set "-25" to change from the amplifier-less
-25
amplifier-less operation operation to normal operation.
Set "-2" to execute the processing when
-2 Execute command the status (SD508) is execute waiting after
setting the value of each command

4 - 51
4 AUXILIARY AND APPLIED FUNCTIONS

4.11.1 Connect/disconnect function of SSCNET communication

Temporarily connect/disconnect of SSCNET communication is executed during


Multiple CPU system's power supply ON.
This function is used to exchange the servo amplifiers or SSCNET cables.
Set the request for the connect/disconnect of SSCNET communication in SSCNET
control command (SD803), and the status for the command accept waiting or execute
waiting is stored in SSCNET control status (SD508).
Use this device to connect the servo amplifiers disconnected by this function.
When the power supply module of head axis of each SSCNET line (servo amplifier
connected directly to the Motion CPU module) turns OFF/ON, this function is not
necessary.

POINT
(1) Confirm the LED display of the servo amplifier for "AA" after completion of
SSCNET communication disconnect processing. And then, turn OFF the servo
amplifier's power supply.
(2) The SSCNET control status device (SD508) only changes into the execute
waiting status (-1) even if the disconnect command of SSCNET
communication (1 to 32) or connect command of SSCNET communication
(-10) is set in SSCNET control command device (SD803). The actual
processing is not executed. Set the execute command (-2) in SSCNET control
command device (SD803) to execute.
(3) When the disconnect command of SSCNET communication (1 to 32) is set to
axis not disconnect, the SSCNET control status device (SD508) returns the
command accept waiting status (0) without entering the execute waiting status
(-1).
(4) Operation failure may occur in some axes if the servo amplifier's power
supply is turned OFF without using the disconnect function. Be sure to turn
OFF the servo amplifier's power supply by the disconnect function.
(5) When the connect/disconnect command is executed to the axis allocated to B-
axis and C- axis of MR-J4W- B or B- axis of MR-J3W- B, it can be
disconnected, however it cannot be reconnected. Execute the
connect/disconnect command to the A-axis.
(6) Only the release command of amplifier-less operation can be accepted
during amplifier-less operation. The connect/disconnect command cannot be
accepted.

4 - 52
4 AUXILIARY AND APPLIED FUNCTIONS

(1) Procedure to connect/disconnect of SSCNET communication


Procedure to connect/disconnect at the exchange of servo amplifiers or
SSCNET cables is shown below.
(a) Procedure to disconnect
1) Set the axis No. to disconnect in SD803. (Setting value: 1 to 32)

2) Check that "-1: Execute waiting" is set in SD508.


(Disconnect execute waiting)

3) Set "-2: Execute command" in SD803.

4) Check that "0: Command accept waiting" is set in SD508.


(Completion of disconnection)

5) Turn OFF the servo amplifier's power supply after checking the LED
display "AA" of servo amplifier to be disconnected.
Disconnect command
(Axis No. of servo amplifier Disconnect execute Disconnect
to be disconnected) command command clear

SSCNET control command


0 1 to 32 -2 0
(SD803)
Completion of disconnection

SSCNET control status


0 -1 -2 0
(SD508)
Command accept Disconnect execute Disconnect Command accept
waiting waiting processing execute waiting

(b) Procedure to connect


1) Turn ON the servo amplifier's power supply.

2) Set "-10: Connect command of SSCNET communication" in SD803.

3) Check that "-1: Execute waiting" is set in SD508.


(Connect execute waiting)

4) Set "-2: Execute command" in SD803.

5) Check that "0: Command accept waiting" is set in SD508.


(Completion of connection)

6) Resume operation of servo amplifier after checking the servo ready


(M2415+20n) ON.
Connect command Connect execute command Connect command clear

SSCNET control command


0 -10 -2 0
(SD803)
Completion of connection

SSCNET control status


0 -1 -2 0
(SD508)
Command accept Command accept
waiting Connect execute waiting Connect processing execute waiting

4 - 53
4 AUXILIARY AND APPLIED FUNCTIONS

(2) Program
(a) Program to connect/disconnect the servo amplifiers after Axis 5 of self CPU
Disconnect procedure : Turn OFF the servo amplifier's power supply after
checking the LED display "AA" of servo amplifier.
Connect procedure : Resume operation of servo amplifier after checking
the servo ready (M2415+20n) ON.

System configuration

Q61P QnUD Q172D QY40P QY40P Q172D QY40P


CPU CPU LX

Disconnection (After Axis 5)

AMP AMP AMP AMP AMP AMP AMP AMP

Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8


M M M M M M M M

(a) Motion SFC program (SV13/SV22)


Disconnect operation Connect operation

Disconnect processing Connect processing

[G10] Check the disconnect [G10] Check the connect


SD508==0 SD508==0
command accept status. command accept status.
Set "5: Disconnect command
Set "-10: Connect command
[F10] of SSCNET communication" [F11]
SD803=5 SD803=-10 of SSCNET communication"
(Disconnect after Axis 5)
in SD803.
in SD803.

[G20] [G20]
SD508==-1 Disconnect execute waiting SD508==-1 Connect execute waiting

[F20] Set "-2: Execute command" [F20] Set "-2: Execute command"
SD803=-2 SD803=-2
in SD803. in SD803.

[G30] Check the completion of [G30] Check the completion of


SD508==0 SD508==0
disconnect processing. connect processing.

END END

(b) Motion program (SV43)


Disconnect operation Connect operation

N10 IF[#SD508 EQ 0] GOTO20; Check the disconnect command accept N10 IF[#SD508 EQ 0] GOTO20; Check the connect command accept
status. status.
GOTO10; GOTO10;
N20 #SD803=5; Set "5: Disconnect command of SSCNET N20 #SD803=-10; Set "-10: Connect command of
communication" (Disconnect after Axis 5) SSCNET communication" in SD803.
in SD803.
N30 IF[#SD508 EQ -1] GOTO40; Disconnect execute waiting N30 IF[#SD508 EQ -1] GOTO40; Connect execute waiting
GOTO30; GOTO30;
N40 #SD803=-2; Set "-2: Execute command" in SD803. N40 #SD803=-2; Set "-2: Execute command" in SD803.
N50 IF[#SD508 EQ 0] GOTO60; Check the completion of disconnect N50 IF[#SD508 EQ 0] GOTO60; Check the completion of connect
processing. processing.
GOTO50; GOTO50;
N60; N60;

4 - 54
4 AUXILIARY AND APPLIED FUNCTIONS

(b) Program to connect/disconnect the servo amplifiers after Axis 5 connected


to the Motion CPU (CPU No.2) by the PLC CPU (CPU No.1).
Disconnect procedure : Turn OFF the servo amplifier's power supply after
checking the LED display "AA" of servo amplifier by
turning X0 from OFF to ON.
Connect procedure : Resume operation of servo amplifier after checking
the servo ready (M2415+20n) of servo amplifier by
turning X1 from OFF to ON.

System configuration

Q61P QnUD Q172D QY40P QY40P Q172D QY40P


CPU CPU LX

Disconnection (After Axis 5)

AMP AMP AMP AMP AMP AMP AMP AMP

Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8


M M M M M M M M

(a) Sequence program

SM400
0 MOV K1 D51

MOV K-2 D104 Set "-2: Execute command" in D104.

M100 M101 M102 X0


5 MOV K5 D102 Set "5: Disconnect command of SSCNET
communication" (Disconnect after Axis 5)
in D102.
SET M100

X1
MOV K-10 D102 Set "-10: Connect command of SSCNET
communication" in D102.
SET M100

M100 M10
18 DP.DDRD H3E1 D50 SD508 D100 M10 Read the data of SD508 for Multiple CPU
system (CPU No.2) by turning M100 ON, and
M10 M11 store them to data area (D100) of self CPU.
= D100 K0 RST M100

SET M101

M101 M12
39 DP.DDWR H3E1 D50 D102 SD803 M12 Write D102 to the data of SD803 for Multiple
CPU system (CPU No.2) by turning M101 ON.
M12 M13 (Disconnect/Connect command)
RST M101

SET M102

M102 M10
57 DP.DDRD H3E1 D50 SD508 D100 M10 Read the data of SD508 for Multiple CPU
system (CPU No.2) by turning M102 ON, and
M10 M11 store them to data area (D100) of self CPU.
= D100 K-1 RST M102

SET M103

M103 M12
78 DP.DDWR H3E1 D50 D104 SD803 M12 Write D104 to the data of SD803 for Multiple
CPU system (CPU No.2) by turning M103 ON.
M12 M13 (Disconnect/connect execute command)
RST M103

SET M104

M104 M10
96 DP.DDRD H3E1 D50 SD508 D100 M10 Read the data of SD508 for Multiple CPU
system (CPU No.2) by turning M104 ON, and
M10 M11 store them to data area (D100) of self CPU.
= D100 K0 RST M104

4 - 55
4 AUXILIARY AND APPLIED FUNCTIONS

4.11.2 Amplifier-less operation function Ver.!

This function is used to confirm for the operation without connecting the servo
amplifiers at the starting or debugging.
The start/release request of amplifier-less operation is set in SSCNET control
command (SD803), and status of the command accepting waiting or execute waiting
is stored in SSCNET control status (SD508).
Confirm the amplifier-less operation status by the amplifier-less operation status flag
(SM508).

POINT
(1) The SSCNET control status device (SD508) only changes into the execute
waiting status (-1) even if the start command of amplifier-less operation
1/2 (-20/-21) or release command of amplifier-less operation (-25) in SSCNET
control command device (SD803). The actual processing is not executed. Set
the execute command (-2) in SSCNET control command device (SD803) to
executed.
(2) Only the release command of amplifier-less operation can be accepted
during amplifier-less operation. The start command for the other amplifier-less
operation cannot be accepted.
(3) The operation of servo motor or the timing of operation cycle, etc. at the
amplifier-less operation is different from the case where the servo amplifiers
are connected. Confirm the operation finally with a real machine.
(4) The amplifier-less operation becomes invalid immediately after the Multiple
CPU system's power supply ON or reset.

(1) Amplifier-less operation status flag


Device No. Signal name Overview Set by
The amplifier-less operation status is stored.
Amplifier-less operation
SM508 OFF : During normal operation System
status flag
ON : During amplifier-less operation

Ver.! : Refer to Section 1.5 for the software version that supports this function.

4 - 56
4 AUXILIARY AND APPLIED FUNCTIONS

(2) Control details


Operation during amplifier-less operation is shown below.
Item Operation
All axes set in the system setting are connected with the following type regardless of the setting details of
system setting.
(1) Q173DSCPU/Q172DSCPU use
(a) For communication type "SSCNET /H"
• Servo amplifier : MR-J4-10B
• Servo motor : HF-KR053
Servo amplifier type
(b) For communication type "SSCNET "
• Servo amplifier : MR-J3-10B
• Servo motor : HF-KP053
(2) Q173DCPU(-S1)/Q172DCPU(-S1) use
• Servo amplifier : MR-J3-10B
• Servo motor : HF-KP053
• Deviation counter value : Always 0
• Motor speed : Motor speed for the command
• Motor current value : At the amplifier-less operation start: "0"
(The motor current value can be simulated during amplifier-less operation by
changing the motor current (#8001+20n) using the user program.)
• Servo ready signal : This signal changes depending on the status of all axes servo ON command
Servo amplifier status (M2042) or servo OFF command (M3215+20n).
• Torque limiting signal : This signal turns ON by the following condition.
|Motor current value|  Torque limit value
(Note): When the positive direction and negative direction of torque limit value is
set individually using CHGT2 instruction is as follows. QDS
|Motor current value|  Positive direction torque limit or Negative direction torque limit value
• Zero pass signal : Always ON
Each signals is shown below at the amplifier-less operation start.
(1) Q173DSCPU/Q172DSCPU use
• FLS signal (M2411+20n) : Normal open: OFF/Normal close: ON
• RLS signal (M2412+20n) : Normal open: OFF/Normal close: ON
Servo amplifier external • DOG signal (M2414+20n) : Normal open: OFF/Normal close: ON
signal (2) Q173DCPU(-S1)/Q172DCPU(-S1) use
(At the setting valid) • FLS signal (M2411+20n) : ON
• RLS signal (M2412+20n) : ON
• DOG signal (M2414+20n) : OFF
The servo amplifier external signals can be operated during amplifier-less operation by turning ON/OFF the
FLS signal (M2411+20n), RLS signal (M2412+20n) or DOG signal (M2414+20n) using the user program.
Home position return All home position return methods can be used.
The absolute position is controlled as the normal servo amplifier connection.
(1) At the amplifier-less operation start
The absolute position is restored by the saved absolute position data. The absolute position is restored as
the travel value "0" during the servo amplifier's power supply OFF.
(2) During amplifier-less operation
Suppose the servo motor operated during amplifier-less operation, and the absolute position data is
Absolute position system refreshed.
(3) The servo amplifiers are connected after amplifier-less operation
The absolute position is restored by the refreshed absolute position data during amplifier-less operation.
When the distance between the motor position of saved absolute position data and actual motor
position is the allowable travel during Power-Off or more away, the minor error (Error code: 901 (real
mode)/9010 (virtual mode)) will occur. If the distance is "2147483648[PLS]" or more away, the absolute
position is restored normally.
Operation using
Online operation and monitor of the servo amplifiers cannot be executed.
MR Configurator
Only "position feed back" and "absolute position encoder single revolution position" are possible.
Optional data monitor
The other monitor values are "0".
Cannot change to amplifier-less operation when connected and not connected servo amplifier axes are mixed.
Driver communication
Change to amplifier-less operation when all axes are connected, or disconnect all axes of the servo amplifier.

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4 AUXILIARY AND APPLIED FUNCTIONS

(3) Procedure to start/release of amplifier-less operation


(a) Procedure to start
1) Set "-20: Start command 1 of amplifier-less operation (EMI invalid)" in
SD803.

2) Check that "-1: Execute waiting" is set in SD508.


(Start processing execute waiting of amplifier-less operation)

3) Set "-2: Execute command" in SD803.

4) Check that "0: Command accept waiting" is set in SD508.


(Start processing completion of amplifier-less operation)

5) Check that "ON: During amplifier-less operation" is set in SM508.


Resume operation of servo amplifier after checking the servo ready
(M2415+20n) ON.
Start command of
amplifier-less operation Execute command Execute command clear

SSCNET control command


0 -20 -2 0
(SD803)
Start completion of amplifier-less operation

SSCNET control status


0 -1 -2 0
(SD508)
Command accept Start execute wating of Start processing execution of Command accept
waiting amplifier-less operation amplifier-less operation waiting

ON
Amplifier-less operation
status (SM508) OFF
During amplifier-less
During normal operation operation

(b) Procedure to release


1) Set "-25: Release command of amplifier-less operation" in SD803.

2) Check that "-1: Execute waiting" is set in SD508.


(Release processing execute waiting of amplifier-less operation)

3) Set "-2: Execute command" in SD803.

4) Check that "0: Command accept waiting" is set in SD508.

5) Check that "OFF: During normal operation" is set in SM508.


(Release processing completion of amplifier-less operation. When the
servo amplifiers are connected, they are automatically reconnected.)
Release command of
amplifier-less operation Execute command Execute command clear

SSCNET control command


0 -25 -2 0
(SD803)
Release completion of amplifier-less operation

SSCNET control status


0 -1 -2 0
(SD508)
Command accept Release execute waiting of Release processing execution Command accept
waiting amplifier-less operation of amplifier-less operation waiting

ON
Amplifier-less operation
status (SM508) OFF
During normal
During amplifier-less operation operation

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4 AUXILIARY AND APPLIED FUNCTIONS

(4) Program
Program to start/release of amplifier-less operation for the self CPU

(a) Motion SFC program (SV13/SV22)


Operation start (EMI input invalid) Operation release

Start processing of amplifier-less Release processing of


operation amplifier-less operation

[G40] Check the normal [G41] Check the amplifier-less


!SM508 SM508
operation. operation.

[G10] [G10] Check the connect


SD508==0 Check the accept status. SD508==0
command accept status.

Set "-20: Start command 1 Set "-25: Release command


[F12] SD803=-20 of amplifier-less operation" [F11] SD803=-25 1 of amplifier-less operation"
in SD803. in SD803.

[G20] [G20]
SD508==-1 Execute waiting SD508==-1 Execute waiting

[F20] Set "-2: Execute command" [F20] Set "-2: Execute command"
SD803=-2 SD803=-2
in SD803. in SD803.

[G41] Check the amplifier-less [G40] Check the normal


SM508 !SM508
operation. operation.

END END

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4 AUXILIARY AND APPLIED FUNCTIONS

4.12 Remote Operation

This function is used to control the following operation of Motion CPU using
MT Developer2.
• Remote RUN/STOP
• Remote latch clear

POINT
Latch clear can be executed only using the remote control of MT Developer2.

4.12.1 Remote RUN/STOP

The PLC ready flag (M2000) is turned ON/OFF using MT Developer2 with RUN/STOP
switch of Motion CPU module set to RUN.

(1) Operation procedure


Select [RUN] or [STOP] on "CPU remote operation" screen displayed by menu
[Online] – [Remote Operation], and click [Execute] button.

Refer to the help of MT Developer2 for details of the operation procedure.

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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 STOP
Execute remote RUN RUN STOP
Remote operation
Execute remote STOP STOP STOP

(2) The following parameters are read by turning on the PLC ready flag (M2000).
• Fixed parameter
• Home position return data
• JOG operation data
• Parameter block
• Work coordinate data (SV43)
• Servo parameter
• Mechanical system program (SV22 virtual mode)
• Motion SFC parameter (SV13/SV22)
• Motion parameter (SV43)
• Limit switch output data
• Cam data (SV22 advanced synchronous control)

REMARK
The PLC ready flag (M2000) can also be turned ON/OFF (PCPU READY complete
flag (SM500) ON/OFF) in the following methods.
• RUN/STOP switch change
• PLC ready flag (M2000) ON/OFF

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4 AUXILIARY AND APPLIED FUNCTIONS

4.12.2 Remote latch clear

Device data of Motion CPU that latched are cleared by MT Developer2 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.

(b) Select [Latch clear (1)] or [Latch clear (1)(2)] on "CPU remote operation"
screen displayed by menu [Online] – [Remote Operation], and click
[Execute] button.

(Note): Execute remote RUN to turn ON the PLC ready flag (M2000) after
remote latch clear.

Refer to the help of MT Developer2 for details of the operation procedure.

POINT
(1) Remote latch clear cannot be operated while the PLC ready flag (M2000) is ON
(PCPU READY complete flag (SM500) is ON) or test mode.
(2) The following latch area are cleared in the remote latch clear operation.
• Latch clear (1) : Clear the range set in latch area (1)
• Latch clear (1)(2) : Clear the range set in latch area (1) and (2)
(3) The user area (#0 to #7999) of motion device are also cleared by executing
remote latch clear.
(4) All of the user device not latched are cleared by the remote latch clear operation
of latch area (1) and (2).
(5) Set the range of latch area (1) and (2) in the system basic setting of system
setting. (Refer to Section 3.1.3.)

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4 AUXILIARY AND APPLIED FUNCTIONS

4.13 Communication Function via PERIPHERAL I/F Ver.!

The built-in Ethernet Motion CPU (Q173DSCPU /Q172DSCPU/Q173DCPU-S1/


Q172DCPU-S1) can communicate data by connecting built-in PERIPHERAL I/F of the
Motion CPU with personal computers and/or display devices, etc. using an Ethernet
cable.
There are following three ways to communicate between the Motion CPU and
MT Developer2.
• "Direct connection" connected with the Ethernet cable
• "Connection via HUB" connected via HUB
• MC protocol communication

Ver.! : Refer to Section 1.5 for the software version that supports this function.

4.13.1 Direct connection

Between the Motion CPU and MT Developer2 can be connected using one Ethernet
cable without HUB.
The direct connection enables communication with only specifying connection target.
IP address setting is not required.

Ethernet cable (Crossover cable)

PERIPHERAL I/F

MT Developer2

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4 AUXILIARY AND APPLIED FUNCTIONS

(1) Communication setting in MT Developer2 side


Set the items on the Transfer Setup screen in MT Developer2 as shown below.

1)

2)

3)

1) Select [Ethernet Board] for PC side I/F.


2) Select [PLC Module] for CPU side I/F.
Select the "Ethernet Port Direct Connection" on the CPU side I/F Detailed
Setting of PLC Module screen.

Select "Ethernet Port


Direct Connection"

3) Make the setting for Other Station Setting.


Select it according to the operating environment.

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4 AUXILIARY AND APPLIED FUNCTIONS

(2) Precautions
Precautions for direct connection are shown below.
(a) Connection to LAN line
When the Motion CPU is connected to LAN line, do not perform
communication using direct connection. If performed, the communication
may put a load to LAN line and adversely affect communications of other
devices.
(b) Connection not connected directly
• The system configuration that connects a Motion CPU with an external
device using a hub as shown below is not regarded as direct connection.

HUB

• When two or more Ethernet ports are enables in the network connections
setting on the personal computer, communication by direct connection is
not possible. In the setting, leave only one Ethernet port enabled for direct
connection and disable the other Ethernet ports.

(c) Condition in which direct connection communication may not be available


Under the following conditions, direct connection communication may not be
available. In that case, check the setting of the Motion CPU and/or personal
computer.
• In the Motion CPU IP address, bits corresponding to "0" in the personal
computer subnet mask are all ON or all OFF.
(Example) Motion CPU IP address : 64. 64. 255. 255
Personal computer IP address : 64. 64. 1. 1
Personal computer subnet mask : 255.255. 0. 0
• In the Motion CPU IP address, bits corresponding to the host address for
each class in the personal computer IP address are all ON or all OFF.
(Example) Motion CPU IP address : 64. 64. 255. 255
Personal computer IP address : 192.168. 0. 1
Personal computer subnet mask : 255. 0. 0. 0

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4 AUXILIARY AND APPLIED FUNCTIONS

4.13.2 Connection via HUB

Between the Motion CPU and MT Developer2 can be connected via HUB.

Ethernet cable
(Straight cable)
Ethernet cable
PERIPHERAL I/F (Straight cable)

MT Developer2

HUB

Panel computer

(1) Setting in Motion CPU side


Set the items on the Built-in Ethernet Port Setting in Basic Setting as shown
below.

1)

2)

1) Set the Motion CPU IP address.


(Default IP address: 192.168.3.39)
Change the IP address if required.
No need to set "Subnet Mask Pattern" and "Default Router IP Address".

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4 AUXILIARY AND APPLIED FUNCTIONS

2) Select the protocol ("TCP" or "UDP") to be used, in accordance with the


external device on the Built-in Ethernet Port Open Setting screen.
Select "TCP" to emphasize communication reliability.

• Enabling the parameters of Motion CPU


Using Ethernet direct connection or USB/RS-232 connection, write the
settings in parameter to the Motion CPU by selecting [Online] - [Write to
CPU] in MT Developer2. After writing the parameter settings, power the
Multiple CPU system OFF to ON or reset using the RUN/STOP/RESET
switch so that the parameters become valid.

Connect directly with an Ethernet cable (crossover cable) between the


personal computer and Motion CPU to write the parameters using the
Ethernet cable. Refer to Section 4.13.1 for details.

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4 AUXILIARY AND APPLIED FUNCTIONS

(2) Communication setting in MT Developer2 side


Set the items on the Transfer Setup screen in MT Developer2 as shown below.

1)

2)

3)

1) Select [Ethernet Board] for PC side I/F.


2) Select [PLC Module] for CPU side I/F.
Select the "Connection via HUB" on the CPU side I/F Detailed Setting of PLC
Module screen, and set the Motion CPU IP address.

Select the "Connection


via HUB"

Set the Motion CPU


IP address

3) Make the setting for Other Station Setting.


Select it according to the operating environment.

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4 AUXILIARY AND APPLIED FUNCTIONS

POINT
The Find CPU function can be used for specifying the IP address for Motion CPU side in
the connection via HUB.
This function can be activated in [Find CPU (Built-in Ethernet port) on Network] of CPU
side I/F Detailed Setting of PLC Module screen, finds the Motion CPU connected to the
same HUB as MT Developer2, and displays a list. Select the connecting Motion CPU
and click [Select IP Address Input] button to set the IP address for Motion CPU side.

Found Motion CPU


is displayed.

[Selection IP Address
Input] button
[Find CPU (Built-in
Ethernet port) on
Network] button

• Set the label and comment of the Motion CPU in [CPU Name Setting] of Basic Setting.
The label and comment set in [CPU Name Setting] are displayed on the CPU side I/F
Detailed Setting of PLC Module screen.

Item Description Setting range


Label Enter a label (name and/or purpose) of the Motion CPU. Up to 10 characters
Comment Enter comments regarding the Motion CPU. Up to 64 characters

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4 AUXILIARY AND APPLIED FUNCTIONS

(3) Precautions
Precautions for connection via HUB are shown below.
(a) When the personal computer that can connect to LAN line is used, set the
same value for Motion CPU IP address as the following personal computer
IP address.
Motion CPU
192 168 3 39
IP address

Set the same value as the


personal computer IP address

(Example) Personal computer IP address: "192.168.3.1"

<Setting for Motion CPU side>


Set the same value as the personal
computer IP address.
(Example) 192.168.3.
Set the IP address not used with devices
connected to network.
(Example) . . .39

<Setting for MT Developer2 side>

Set the same value as the Motion CPU


IP address.
(Example) 192.168.3.39

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4 AUXILIARY AND APPLIED FUNCTIONS

(b) The maximum number of devices that can access to one Motion CPU
simultaneously is 16.

(c) Hubs with 10BASE-T or 100BASE-TX ports can be used.


(The ports must comply with the IEEE802.3 100BASE-TX or IEEE802.3
10BASE-T standards.)

(d) The Ethernet cables must to be installed away from power cabling/lines.

(e) The module operation is not guaranteed if any of the following connection is
used. Check the module operation on the user side.
• Connections using the Internet (general public line)
• Connections using devices in which a firewall is installed
• Connections using broadband routers
• Connections using wireless LAN

(f) When multiple Motion CPUs are connected to MT Developer2, beware of the
below cautions:
• IP addresses must be different for each Motion CPU.
• Different projects must be used for each Motion CPUs on MT Developer2.

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4 AUXILIARY AND APPLIED FUNCTIONS

4.13.3 MC protocol communication

PERIPHERAL I/F of the Motion CPU enables communication using the


(Note-1)
MC protocol .
External devices such as personal computers and display devices read/write device
data from/to the Motion CPU using the MC protocol.
External devices monitor the operation of the Motion CPU, analyze data, and manage
production by reading/writing device data.

REMARK
(Note-1): The MC protocol is an abbreviation for the MELSEC communication
protocol.
The MELSEC communication protocol is a name of the communication
method used to access CPU modules from external devices in accordance
with the communication procedure of Q-series programmable controllers
(such as serial communication modules, Ethernet modules).
For details on the MC protocol, refer to the "MELSEC-Q/L Communication
Protocol Reference Manual".

POINT
External devices such as personal computers and display devices can
communicate with only the Motion CPU connected by Ethernet using the MC
protocol.
An access to any of the following CPU modules is not available.
• CPU modules on other stations, via CC-Link or others.

(1) Setting for MC protocol communication


Setting for communication using the MC protocol is described below.
Set the items of following (a) to (c) in the Built-in Ethernet Port Setting of the
Basic Setting of MT Developer2.

(c)

(a)

(b)

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4 AUXILIARY AND APPLIED FUNCTIONS

(a) Communication data code


Select a communication data code used for the MC protocol, "Binary code"
or "ASCII code".

(b) Enable online change (MC protocol)


Check the checkbox to enable online change when writing data to the
Motion CPU from the external device that communicates using the MC
protocol.
For details on the available functions with this setting, refer to this section (2).

(c) Open Setting


Set the following items.
1) Protocol
Select a connection used as MC protocol. (Up to 16 CPU modules can
be connected.)
2) Open System
Select "MC protocol".
3) Host Station Port No. (Required)
Set the host station port number (in hexadecimal).
• Setting range : 0401H to 1387H, 1392H to FFFEH
1) 2) 3)

POINT
When the "Enable online change (MC protocol)" box is unchecked, if a data write
request is sent from an external device to the Motion CPU which is in the RUN
status, data will not be written to the Motion CPU and the module returns the NAK
message.

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4 AUXILIARY AND APPLIED FUNCTIONS

(2) Command list


When the PERIPHERAL I/F of the Motion CPU communicates using the MC
protocol, commands listed in table below can be executed.
Status of Motion CPU
Command
Number of RUN
Function (Subcommand) Description
(Note-1) processed points STOP Write Write
enabled disabled
In units 0401 ASCII : 3584 points
Reads bit devices in units of one point.
of bits (0001) BIN : 7168 points
Batch read 960 words
In units 0401 Reads bit devices in units of 16 points.
(15360 points)
of words (0000)
Reads word devices in units of one point. 960 points
In units 1401 ASCII : 3584 points
Writes bit devices in units of one point.
of bits (0001) BIN : 7168 points
Batch write 960 words
In units 1401 Writes bit devices in units of 16 points.
(15360 points)
of words (0000)
Writes word devices in units of one point. 960 points
Reads bit devices in units of 16 or 32 points
by randomly specifying a device or device
Random read In units 0403 number.
(Note-2) 192 points
of words (0000) Reads word devices in units of one or two
points by randomly specifying a device or
Device
device number.
memory
Sets/resets bit devices in units of one point by
In units 1402
randomly specifying a device or device 188 points
of bits (0001)
number.
Sets/resets bit devices in units of 16 or 32
Test
points by randomly specifying a device or
(Random write) In units
1402 device number. (Note-5)
of words
(Note-2) (0000) Writes word devices in units of one or two
points by randomly specifying a device or
device number.
Monitor Registers bit devices to be monitored in units
registration In units 0801 of 16 or 32 points.
(Note-2), (Note-3), 192 points
of words (0000) Registers word devices to be monitored in
(Note-4), (Note-6)
units of one or two points.
(Note-6) In units 0802 Number of
Monitor Monitors devices registered.
of words (0000) registered points

: Available, : Not available


(Note-1): Subcommand is for the QnA-compatible 3E frame.
(Note-2): Devices such as TS, TC, SS, SC, CS, and CC cannot be specified in units of words.
For the monitor registration, an error (4032H) occurs during the monitor operation.
(Note-3): During monitor registration, monitor condition cannot be set.
(Note-4): Do not execute monitor registration from multiple external devices. If executed, the last monitor registration becomes valid.
(Note-5): Set the number of processed points so that the following condition is satisfied.
(Number of word access points) 12 + (Number of double-word access points) 14  1920
• Bit devices are regarded as 16 bits during word access and 32 bits during double-word access.
• Word devices are regarded as 1 word during word access and 2 words during double-word access.
(Note-6): Only Motion CPU module connected by Ethernet can be used.

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4 AUXILIARY AND APPLIED FUNCTIONS

(3) Available devices


The devices available in commands used in the MC protocol communication
function is shown below.
(a) PLC CPU
Device code
Classification Device ASCII code Device number range (Default) Remarks
(Note-1) Binary code

Internal system Special relay SM 91h 000000 to 002047 Decimal


device Special register SD A9h 000000 to 002047 Decimal

Input X 9Ch 000000 to 001FFF Hexadecimal
Output Y 9Dh 000000 to 001FFF Hexadecimal
Internal relay M 90h 000000 to 008191 Decimal
Latch relay L 92h 000000 to 008191 Decimal
Annunciator F 93h 000000 to 002047 Decimal
Edge relay V 94h 000000 to 002047 Decimal
Link relay B A0h 000000 to 001FFF Hexadecimal
Data register D A8h 000000 to 012287 Decimal
Link register W B4h 000000 to 001FFF Hexadecimal
Contact TS C1h
Coil TC C0h
Timer 000000 to 002047 Decimal • When the device number range is
Current
TN C2h changed, access is possible up to
value
Internal user the largest device number after the
Contact SS C7h
device change.
Retentive Coil SC C6h • Local devices cannot be accessed.
000000 to 002047 Decimal
timer Current
SN C8h
value
Contact CS C4h
Coil CC C3h
Counter 000000 to 001023 Decimal
Current
CN C5h
value
Link special relay SB A1h 000000 to 0007FF Hexadecimal
Link special register SW B5h 000000 to 0007FF Hexadecimal
Step relay S 98h 000000 to 008191 Decimal
Direct input DX A2h 000000 to 000FFF Hexadecimal Devices of DX/DY1000 or later are not
available. Use X/Y devices to access
Direct Output DY A3h 000000 to 000FFF Hexadecimal
devices of DX/DY1000 or later.
Index register Index register Z CCh 000000 to 000019 Decimal
R AFh 000000 to 032767 Decimal —
File register File register
ZR B0h 000000 to 3FD7FF Hexadecimal
If the number of points is set on the
• Binary: PLC file tab of PLC parameter, access
000000 to 4184063 is possible up to the largest device
Extended data (4086k points maximum) number after the setting.
Extended data register D A8h Decimal
register • ASCII: However, in the ASCII code
000000 to 999999 communication, the number of points
(976.6k points maximum) described on the left is the access
limit.
If the number of points is set on the
Extended link 000000 to 3FD7FF PLC file tab of PLC parameter, access
Extended link register W B4h Hexadecimal
register (4086k points maximum) is possible up to the largest device
number after the setting.

(Note-1): When data is communicated in ASCII code, the second character " " can be designated a blank space (code: 20H).

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4 AUXILIARY AND APPLIED FUNCTIONS

(b) Motion CPU


Device code
Classification Device ASCII code Device number range (Default) Remarks
(Note-1) Binary code

Internal system Special relay SM 91h 000000 to 002255 Decimal



device Special register SD A9h 000000 to 002255 Decimal
Input X 9Ch 000000 to 001FFF Hexadecimal Including actual input device PX.
Output Y 9Dh 000000 to 001FFF Hexadecimal Including actual input device PY.
Internal relay M 90h 000000 to 012287 Decimal
Internal user Annunciator F 93h 000000 to 002047 Decimal
device Link relay B A0h 000000 to 001FFF Hexadecimal
(Note-2) —
Data register D A8h 000000 to 008191 Decimal
Link register W B4h 000000 to 001FFF Hexadecimal
Motion register # E0h 000000 to 012287 Decimal

(Note-1): When data is communicated in ASCII code, the second character " " can be designated a blank space (code: 20H).
(Note-2): The range of 000000 to 019823 is valid in the SV22 advanced synchronous control.

(4) Precautions
(a) Number of connected modules
In the connection with external devices using the MC protocol, the number
of Motion CPUs set as "MELSOFT Connection" in the Open Setting on Built-
in Ethernet Port Setting of Basic Setting can be connected simultaneously.

(b) Data communication frame


Table below shows the frames available in the communication function
using the MC protocol with PERIPHERAL I/F.
Communication function using the MC protocol
Communication frame
with PERIPHERAL I/F
4E frame
QnA-compatible 3E frame
A-compatible 1E frame

: Available, : Not available

(c) Access range


1) Only Motion CPU connected by Ethernet can be accessed.
Accessing a Motion CPU not connected by Ethernet results in an error.
2) Accessing a Motion CPU on another station in CC-Link IE controller
network, MELSECNET/H, Ethernet or CC-Link via a connected Motion
CPU is not possible.

(d) Precautions when UDP protocol is selected


1) If a new request message is sent to the same UDP port while the port
waits for a response message, the new request message is discarded.
2) Setting same host station port number to multiple UDP ports is regarded
as one setting. When communicating with multiple external devices
using the same host station port number, select TCP protocol.

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4 AUXILIARY AND APPLIED FUNCTIONS

(e) Response message receive processing


Figure below shows an example of the response message receive
processing on the external device side.

Communication processing
on the external device side

Request message send processing

Response message receive processing

TCP connection is closed.


Is TCP connection open?

Receive the rest of


response messages.
Has the data The monitoring timer has run over.
been received other than the
monitoring timer?

The receive data exceeds


the size limit.
Check the receive data size.

The response message


for the following request
has been received.
Processing for response messages

Has processing
for all received messages
completed?

END Error processing

REMARK
Personal computers use the TCP socket functions internally for Ethernet
communication.
These functions do not have boundary concept. Therefore, when data is sent by
executing the "send" function once, the "recv" function needs to be executed once or
more to receive the same data. (One execution of the "send" function does not
correspond to one execution of the "recv" function.)
For this reason, receive processing described above is required on the external
device side. If the "recv" function is used in blocking mode, data may be read by
executing the function once.

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4 AUXILIARY AND APPLIED FUNCTIONS

(5) Error codes for communication using MC protocol


Table below shows the error codes, error descriptions, and corrective actions
that will be sent from the Motion CPU to an external device when an error occurs
during communication using the MC protocol.
Error code
No. Description Corrective action
(Hexadecimal)
Refer to the QCPU User's Manual (Hardware Design,
Motion CPU detected error (Error that occurred in
1 4000H to 4FFFH Maintenance and Inspection) and take corrective
other than communication using the MC protocol)
action.
When the setting for online change is disabled on the
• When enabling online change, write data.
Built-in Ethernet Port Setting of Basic Setting in
2 0055H • Change the status of the Motion CPU to STOP and
MT Developer2, an external device requested online
write data.
change to the Motion CPU.
When the communication data code setting is set to • Set the communication data code to binary code and
ASCII code in the Built-in Ethernet Port Setting, ASCII restart the Motion CPU for communication.
3 C050H
code data that cannot be converted to binary code was • Correct the send data on the external device side and
received. resend the data.
The number of device points for reading/writing is Correct the number of device points for reading/writing
4 C051H to C054H
outside the allowable range. and resend the data to the Motion CPU.
Correct the start address or the number of device
The read/write request data exceeds the allowable points for reading/writing, and resend the data to the
5 C056H
address range. Motion CPU.
(Do not exceed the allowable address range.)
The request data length after the ASCII to binary
Correct the text data or the request data length of the
6 C058H conversion does not match the data size of the
header data, and resend the data to the Motion CPU.
character area (a part of text data).
• The command and/or subcommand are specified
• Check the request data.
incorrectly.
7 C059H • Use commands and/or subcommands supported in
• The command and/or subcommand not supported in
the Motion CPU.
the Motion CPU are specified.
The Motion CPU cannot read/write data from/to the
8 C05BH Check the device for reading/writing data.
specified device.
The request data is incorrect. (ex. specifying data in Correct the request data (such as subcommand
9 C05CH
units of bits for reading/writing of word devices) correction) and resend the data to the Motion CPU.
Perform the monitor registration before monitor
10 C05DH Monitor registration is not performed.
operation.
• Correct the network number, PC number, request
The external device sent a request that cannot be destination module I/O number, and request
11 C05FH
executed in the Motion CPU. destination module station number.
• Correct the read/write request data.
The request data is incorrect. (ex. incorrect Correct the request data and resend the data to the
12 C060H
specification of data for bit devices) Motion CPU. (ex. data correction)
The request data length does not match the data size Correct the text data or the request data length of the
13 C061H
of the character area (a part of text data) header data, and resend the data to the Motion CPU.
The device memory extension cannot be specified for Read/Write data to the device memory without
14 C070H
the target station. specifying the extension.
Data that cannot communicate in the Motion CPU is • Check the request data.
15 C0B5H
specified. • Stop the current request.

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4.14 Mark Detection Function QDS

Any motion control data and all device data can be latched at the input timing of the
mark detection signal. Also, data within a specific range can be latched by specifying
the data detection range.
The following three modes are available for execution of mark detection.

1) Continuous Detection mode


The latched data is always stored at mark detection.
Operation is the same as the high-speed reading function.
Mark detection signal

Mark detection data


storage device
+0n

2) Specified Number of Detection mode


The latched data from a specified number of detections is stored.

Example) Number of detections: 3


Mark detection signal

Mark detection data


storage device
+0n The 4th detection
and later are ignored.
+1n

+2n
The 3rd detection
+3n

3) Ring Buffer mode


The latched data is stored in a ring buffer for a specified number of detections.
The latched data is always stored at mark detection.

Example) Number of detections: 4


Mark detection signal

Mark detection data


storage device
+0n

+1n The 5th detection


replaces the previous
+2n first detection.

+3n
The 4th detection

(Note): "n" in above figure is different depending on the data type storage device.
• 16-bit integer type :1
• 32-bit integer type :2
• 64-bit floating-point type : 4

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4 AUXILIARY AND APPLIED FUNCTIONS

(1) Operations
Operations done at mark detection are shown below.
• Calculations for the mark detection data are estimated at leading edge/trailing
edge of the mark detection signal.
However, when the Specified Number of Detection mode is set, the current
mark detection is checked against the counter value for number of mark
detections and then it is determined whether or not to latch the current detection
data.
• When a mark detection data range is set, it is first confirmed whether the mark
detection data is within the range or not. Data outside the range are not
detected.
• The mark detection data is stored in the first device of the mark detection data
storage area according to the mark detection mode, and then the number of
mark detections counter is updated.

Operation examples for each mode are shown in the table below.

(a) Continuous Detection mode


Confirmation of mark detection data range
(Upper/lower value setting: Valid)
Mark detection signal
(Leading edge detection
setting) Data outside range are not latch.
Mark detection data current Real current value
value (Continuous update)

Mark detection data storage Detected real current value Detected real current value
device

Number of mark detections


0 1 2
counter

"0 clear" by user program

(b) Specified Number of Detection mode (Number of detections: 2)


Mark detection is not executed
because the counter for number of
Confirmation of mark detection data range
mark detections is already 2 (More
(Upper/lower value setting: Valid)
than the number of detections).
Mark detection signal
(Leading edge detection
setting)
Mark detection data current Real current value
(Continuous update)
value

Mark detection data storage Detection real current value (1st)


device

Mark detection data storage Detection real current value (2nd)


device (2nd area)

Number of mark detection


0 1 2
counter

"0 clear" by user program

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4 AUXILIARY AND APPLIED FUNCTIONS

(2) Mark detection setting


The mark detection setting parameters are shown below.
Up to 32 mark detections setting can be registered.
No. Item Setting range
Built-in interface in Motion CPU (DI)/Q172DLX (DOG/CHANGE)/Device (Bit device (X, Y, M,
Mark detection signal
B, SM, U \G))
1
Mark detection signal detection
(Note-1) Valid on leading edge/Valid on trailing edge
direction
Mark detection signal compensation
2 (Note-2) -5000000 to 5000000[µs]/Word device (D, W, #, U \G)
time
Mark detection data Motion control data/Device (Word device (D, W, #, SD, U \G))
Data type 16-bit integer type/32-bit integer type/64-bit floating-point type
Estimate
Valid (Normal data)/Valid (Ring counter)/Invalid
3 At device calculation
selection 16-bit integer type : K1 to K32767, H001 to H7FFF
Ring counter
32-bit integer type : K1 to K2147483647, H00000001 to H7FFFFFFF
value
64-bit floating-point type : K2.23E-308 to K1.79E+308
4 Mark detection data storage device Word device (D, W, #, U \G)
Direct designation (K, H)/Word device (D, W, #, U \G)
Upper value
Mark detection data 16-bit integer type : K-32768 to K32767, H0000 to HFFFF
5
range 32-bit integer type : K-2147483648 to K2147483647, H00000000 to HFFFFFFFF
Lower value
64-bit floating-point type : K-1.79E+308 to K-2.23E-308, K0, K2.23E-308 to K1.79E+308
Continuous detection mode/Specified number of detection mode/Ring buffer mode/
Mark detection mode setting (Note-3)
Device (Word device (D, W, #, U \G))
6
Number of detections 1 to 8192 (Specified number of detection mode/Ring buffer mode)
(Note-4)
Mark detection times counter — (Continuous detection mode)/Word device (D, W, #, U \G)
Mark detection current value (Note-4)
7 — /Word device (D, W, #, U \G)
monitor device
(Note-4)
8 Mark detection signal status — /Bit device (X, Y, M, B, U \G)

(Note-1): Set the input signal detection direction of built-in interface in Motion CPU (DI) in the "CPU Setting" of system setting.
For the input signal detection direction of Q172DLX (DOG/CHANGE), select "Q172DLX" of "Motion slot setting" and set the
direction with detail setting.
(Note-2): The mark detection signal compensation time cannot be set if "Invalid" is selected in the estimate calculation. (0[µs] is set.)
(Note-3): When the setting value is outside the range of "-8192 to 8192", the mark detection is invalid.
(Note-4): This setting can be omitted.

(a) Mark detection signal


Set the input signal for mark detection.
1) Module input signal
a) Built-in interface in Motion CPU
Module No. Detection Signal detection direction
Input module Signal Signal No.
Q173DSCPU Q172DSCPU accuracy [µs] (Leading edge/Trailing edge)
Built-in interface in Set direction in the "CPU
DI — 1 to 4 30
Motion CPU Setting" of system settings.

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4 AUXILIARY AND APPLIED FUNCTIONS

b) Q172DLX
• Install the Q172DLX to the main base to use Q172DLX
(DOG/CHANGE). If the Q172DLX is installed to the extension base,
the mark detection function cannot be used.
• The mark detection operation is executed at the DOG/CHANGE
signal input with the count type home position return or speed-
position switching control.
Set the device in the "mark detection mode setting" and setting
value outside "-8192 to 8192" to invalidate the mark detection.
• The signal which does not set the axis No. in the system setting
can be also used as the mark detection signal.
Input Module No. Signal detection direction
Signal Signal No. Detection accuracy [µs]
module Q173DSCPU Q172DSCPU (Leading edge/Trailing edge)
Select "Q172DLX" of "Motion
• I/O response time 0.4[ms]: 69
slot setting" in the system
Q172DLX DOG/CHANGE 1 to 4 1 to 2 1 to 8 • I/O response time 0.6[ms]: 133
setting and set the direction
• I/O response time 1.0[ms]: 261
with detail setting.

2) Bit device
Signal detection direction
Bit device Setting range Detection accuracy [µs]
(Leading edge/Trailing edge)
(Note-1)
X(PX) 0 to 1FFF
Y(PY) 0 to 1FFF
(Note-2) Set direction in the mark
M 0 to 8191 • Operation cycle 222[µs] : 222
detection signal detection
B 0 to 1FFF • Operation cycle 444[µs] or more : 444 direction.
SM 0 to 1999
(Note-3)
U \G 10000.0 to (10000+p-1).F
(Note-1): The range of "PXn+4 to PXn+F" cannot be used (fixed at 0) for the input device (PXn+0 to PXn+F)
allocated to the built-in interface in Motion CPU (DI). (n: First input No.)
(Note-2): The range of M0 to M12287 is valid in the SV22 advanced synchronous control.
(Note-3): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU.

(b) Mark detection signal detection direction


Set whether to execute the mark detection to valid on leading edge (OFF to
ON) or valid on trailing edge (OFF to ON) of input signal.
Set the input signal detection direction in the System Settings as shown
below.
• For built-in interface in Motion CPU (DI)
Set direction in the "CPU Setting" of system settings.
• For Q172DLX (DOG/CHANGE)
Select "Q172DLX" of "Motion slot setting" in the system setting and set the
direction with detail setting.
Input signal detection direction Remarks
The mark detection is executed when the mark
Valid on leading edge
detection signal transitions from OFF to ON.
The mark detection is executed when the mark
Valid on trailing edge
detection signal transitions from ON to OFF.

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(c) Mark detection signal compensation time


Compensate the output timing of the mark detection signal.
Set it to compensate for sensor input delays, etc. (Set a positive value to
compensate for a delay.)
However, the mark detection signal compensation time cannot be set if
"Invalid" is selected in the estimate calculation. (0[µs] is set.)
The timing is compensated as "-5000000" when the compensation time is
set to less than -5000000, and it is compensated as "5000000" when it is set
to more than 500000.

1) Direct designation
Setting range
-5000000 to 5000000 [µs]

2) Indirect designation
(Note-1)
Word device Setting range Remarks
(Note-2)
D 0 to 8191
W 0 to 1FFF The setting value is input for
# 0 to 9215 every operation cycle.
(Note-3)
U \G 10000 to (10000+p-1)
(Note-1): Set an even number as the first device.
(Note-2): The range of D0 to D19823 is valid in the SV22 advanced synchronous control.
(Note-3): "p" indicates the user setting area points of the Multiple CPU high speed transmission
area for each CPU.

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4 AUXILIARY AND APPLIED FUNCTIONS

(d) Mark detection data


Set the data to latch at mark detection.
1) Motion control data
Axis No. setting range
Item Unit Data type Remarks
Q173DSCPU Q172DSCPU
Feed current value -1 -5
10 [µm], 10 [inch],
Real current value -5
10 [degree], [PLS]
Motor real current value
Servo command value 32-bit integer type
Position feed back
[PLS]
Absolute position encoder single revolution
position 1 to 32 1 to 16 —
Absolute position encoder multiple revolution
— 16-bit integer type
position
Deviation counter value [PLS]
Servo command speed [PLS/s] 32-bit integer type
Motor speed 0.01[r/min]
Motor current 0.1[%] 16-bit integer type
(Note-1) Valid in SV22
Synchronous encoder current value 1 to 12
only
Virtual servomotor feed current value
[PLS] Valid in SV22
Current value within one cam shaft revolution
virtual mode
Current value within one cam shaft revolution
(Note-2) only
(Actual)
Command generation axis feed current value 1 to 32 1 to 16
Command generation axis cumulative
current value Control unit 32-bit integer type
Command generation axis current value per Valid in SV22
cycle advanced
Synchronous encoder axis current value synchronous
(Note-3)
Synchronous encoder axis current value per Encoder axis unit 1 to 12 control only
cycle Ver.!

Cam axis current value per cycle


Cam axis current value per cycle (Actual) Cam axis cycle unit 1 to 32 1 to 16
(Note-4)

(Note-1): Set the synchronous encoder No. (P1 to 12) allocated in the system setting.
(Note-2): Current value within one cam shaft revolution takes into consideration the delay of the servo amplifier.
(Note-3): Set the axis No. (axis 1 to 12) of the synchronous encoder axis parameter set in the synchronous
control parameter.
(Note-4): Current value per cycle takes into consideration the delay of the servo amplifier.

Ver.! : Refer to Section 1.5 for the software version that supports this function.

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4 AUXILIARY AND APPLIED FUNCTIONS

Since the system-specific delay exists in the current value data of the
synchronous encoder axis, there may be a difference between the
actual current value and the current value of mark detection.
When the "synchronous encoder current value", "synchronous encoder
axis current value" or "synchronous encoder axis current value per
cycle" is used in the mark detection data, the mark detection signal
compensation time shown below can be set to compensate the delay.
However, when the "phase compensation advance time" is set in the
synchronous control parameter to compensate the delay of the
synchronous encoder, setting of the mark detection signal compensation
time is not necessary.
Synchronous encoder type Mark detection signal compensation time [µs]
Built-in interface in Motion CPU 0
Incremental synchronous encoder 0
MR-HENC -232
Q171ENC-W8 -276

2) Word device data


Word device Setting range Remarks
(Note-1)
D 0 to 8191
W 0 to 1FFF
# 0 to 9215 —
SD 0 to 1999
(Note-2)
U \G 10000 to (10000+p-1)
(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed transmission
area for each CPU.
(Note-2): The range of D0 to D19823 is valid in the SV22 advanced synchronous control.

3) Data type
Set the data type at word device data setting.
Data type Remarks
16-bit integer type —
32-bit integer type
Set the device No. as an even No.
64-bit floating-point type

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4 AUXILIARY AND APPLIED FUNCTIONS

4) Estimate calculation
Set the estimate calculation to "Valid/Invalid" at the word device data
setting.
Estimate calculation Ring counter value
Normal data —
16-bit integer type K1 to K32767, H0001 to H7FFF
Valid K1 to K2147483647,
Ring counter 32-bit integer type
H00000001 to H7FFFFFFF
64-bit floating-point type K2.23E-308 to K1.79E+308
Invalid —

a) Estimate calculation : Valid


Calculation for word device data in the operation cycle is estimated.
The latch data is the value estimated at the timing in which the mark
detection signal is input. The value is calculated as shown in the
figure below whether the word device data is normal data or a ring
counter. Set the ring counter value for the ring counter.

• Valid (Normal data)


Operation Estimate line
cycle
Word device data

Latch data

Mark detection signal

• Valid (Ring counter)


Operation
cycle

Ring counter value


Latch data

Estimate line
Word device data
t

Mark detection signal

POINT
If "Valid (Normal data)" is selected for word device data updated as a ring counter,
the latch data may not be estimated correctly.

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4 AUXILIARY AND APPLIED FUNCTIONS

b) Estimate calculation : Invalid


Calculation for word device data in operation cycle is not estimated.
The latch data is the word device data at the timing in which the
mark detection signal is input. The detection accuracy is the
operation cycle regardless of the mark detection signal type.
Operation
cycle
Word device data

Latch data

Mark detection signal

(e) Mark detection data storage device


Set the mark detection data storage device (first device to use in the
"Specified Number of Detections mode" or "Ring Buffer mode").
When using the "Specified Number of Detections mode" or "Ring Buffer
mode", reserve the device area to accommodate the number of detections.
(Note-1)
Word device Setting range Remarks
(Note-2)
D 0 to 8191
W 0 to 1FFF
(Note-3) —
# 0 to 9215
(Note-4)
U \G 10000 to (10000+p-1)
(Note-1): Set an even numbered device in the 32-bit integer type/64-bit floating-point type.
(Note-2): The range of D0 to D19823 is valid in the SV22 advanced synchronous control.
(Note-3): The data can be stored in #9216 to #12287 in the "Specified Number of Detections mode"
or "Ring Buffer mode".
(Note-4): "p" indicates the user setting area points of the Multiple CPU high speed transmission area
for each CPU.

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4 AUXILIARY AND APPLIED FUNCTIONS

(f) Mark detection data range


When the data at mark detection is within the range, they are stored in the
mark detection data storage device and the number of mark detections
counter is incremented by 1.
• Upper limit value > Lower limit value
The mark detection is executed when the mark detection data is "greater or
equal to the lower limit value and less than or equal to the upper limit
value".

Lower limit Upper limit


value value

• Upper limit value < Lower limit value


The mark detection is executed when the mark detection data is "greater or
equal to the lower limit value or less than or equal to the upper limit value".

Lower limit Upper limit


value value

• Upper limit value = Lower limit value


The mark detection range is not checked. The mark detection is always
executed.

1) Direct designation
Data type Setting range
16-bit integer type K-32768 to K32767, H0000 to HFFFF
32-bit integer type K-2147483648 to K2147483647, H00000000 to HFFFFFFFF
64-bit floating-point type K-1.79E+308 to K-2.23E-308, K0, K2.23E-308 to K1.79E+308

2) Indirect designation
(Note-1)
Word device Setting range Remarks
(Note-2)
D 0 to 8191
W 0 to 1FFF The setting value is input for every
# 0 to 9215 operation cycle.
(Note-3)
U \G 10000 to (10000+p-1)
(Note-1): Set an even numbered device in the 32-bit integer type/64-bit floating-point type.
(Note-2): The range of D0 to D19823 is valid in the SV22 advanced synchronous control.
(Note-3): "p" indicates the user setting area points of the Multiple CPU high speed transmission area
for each CPU.

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4 AUXILIARY AND APPLIED FUNCTIONS

(g) Mark detection mode setting


Set the data storage method of mark detection.
1) Direct designation
Number of
Mode Operation for mark detection Mark detection data storage method
detections
Continuous The data is updated in the mark detection
— Always
detection mode data storage device.
Number of detections
Specified number (If the number of mark detections counter is
1 to 8192 The data is stored in the following device
of detection mode the number of detections or more, the mark
area.
detection is not executed.)
"Mark detection data storage device +
Always
Number of mark detections counter ×
(The mark detection data storage device is
Ring buffer mode 1 to 8192 Mark detection data size"
used as a ring buffer for the number of
detections.)

2) Indirect designation
Word device Setting range Remarks
(Note-1)
D 0 to 8191 • Used as 1 word device.
W 0 to 1FFF • Set the mark detection mode using the following setting values.
# 0 to 9215 0 : Continuous detection mode
1 to 8192 : Specified number of detection mode (Set the number of
detections.)
(Note-2)
-8192 to -1 : Ring buffer mode (Set the value that make the number of
U \G 10000 to (10000+p-1) buffers into negative value.)
Others : Mark detection : Invalid
• The setting value is input for every operation cycle.
(Note-1): The range of D0 to D19823 is valid in the SV22 advanced synchronous control.
(Note-2): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU.

(h) Number of mark detections counter


The counter value is incremented by 1 at mark detection. Preset the initial
value (0, etc.) in the user program to execute the mark detection in
"Specified Number of Detections mode" or "Ring Buffer mode".
This setting can be omitted when the continuous detection mode is selected.
Word device Setting range Remarks
(Note-1)
D 0 to 8191 • Used as 1 word device.
W 0 to 1FFF • The counter is updated as follows after the mark detection data storage.
# 0 to 9215 Continuous detection mode: 0 to 65535
The counter value is incremented by 1.
It returns to 0 when the counter value exceeds 65535.
Specified number of detection mode: 0 to (number of detections)
(Note-2) The counter value is incremented by 1.
U \G 10000 to (10000+p-1)
Ring buffer mode: 0 to (number of buffers -1)
The counter value is incremented by 1.
It returns to 0 when the counter value reaches the set number of
buffers or more.
(Note-1): The range of D0 to D19823 is valid in the SV22 advanced synchronous control.
(Note-2): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU.

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4 AUXILIARY AND APPLIED FUNCTIONS

(i) Mark detection current value monitor device


The current value of mark detection data can be monitored.
This setting can be omitted.
(Note-1)
Word device Setting range Remarks
(Note-2)
D 0 to 8191
W 0 to 1FFF The monitor value is updated for
# 0 to 9215 every operation cycle.
(Note-3)
U \G 10000 to (10000+p-1)
(Note-1): Set an even number as device in the 32-bit integer type/64-bit floating-point type.
(Note-2): The range of D0 to D19823 is valid in the SV22 advanced synchronous control.
(Note-3): "p" indicates the user setting area points of the Multiple CPU high speed transmission area
for each CPU.

(j) Mark detection signal status


The ON/OFF status of mark detection signal can be monitored.
This setting can be omitted.
Bit device Setting range Remarks
(Note-1)
X 0 to 1FFF
Y 0 to 1FFF
The ON/OFF status is reflected for
M 0 to 8191
every operation cycle.
B 0 to 1FFF
(Note-2)
U \G 10000.0 to (10000+p-1).F
(Note-1): The range of "PXn+4 to PXn+F" cannot be used (fixed at 0) for the input device (PXn+0 to
PXn+F) allocated to the built-in interface in Motion CPU (DI). (n: First input No.)
(Note-2): Set an even number as device in the 32-bit integer type/64-bit floating-point type.

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4.15 High-speed Input Request Signal Setting (SV22 advanced synchronous control only)
QDS Ver.!

Set the high-speed input request signal assignment.


The high-speed input request signal is the signal to execute the high-accuracy control
of the clutch ON/OFF operation of synchronous control or the counter enable/counter
disable/current value change operation of the synchronous encoder axis.
The example of current value change of the synchronous encoder axis using
Q173DPX (TREN1) as the high-speed input request signal is shown below.

[Md.320]Synchronous encoder axis


current value
(D13240+20n, D13241+20n)

t
ON (Note-1)
High-speed input request signal 3
OFF
(Q173DPX (TREN1))
ON
High-speed input request signal
valid flag OFF
ON
High-speed input request signal
status OFF

[Cd.320]Synchronous encoder axis


control start condition (D14822+10n) 103: High-speed input request signal 3

[Cd.321]Synchronous encoder axis


control method (D14823+10n) 0: Current value change

(Note-1): The input signal detection direction of


TREN1 signal is set to normal open.

(1) High-speed input request signal setting


The High-speed input request signal setting data are shown below.
Up to 32 signals can be registered.
No. Item Setting range
(Note-1) Built-in interface in Motion CPU (DI)/Q172DLX (DOG/CHANGE)/Q172DEX (TREN)/
1 High-speed input request signal
Q173DPX (TREN)
High-speed input request signal
2 -5000000 to 5000000[µs]/Word device (D, W, #, U \G)
compensation time
(Note-2)
3 High-speed input request signal valid flag — /Word device (D, W, #, U \G)
(Note-2)
4 High-speed input request signal status — /Bit device (X, Y, M, B, U \G)

(Note-1): Set the input signal detection direction of built-in interface in Motion CPU (DI) in the "CPU Setting" of system setting.
For the input signal detection direction of Q172DLX (DOG/CHANGE), select "Q172DLX" of "Motion slot setting" and set the
direction with detail setting.
For the input signal detection direction of Q172DEX (TREN), select "Q172DEX" of "Motion slot setting" and set the direction
with detail setting.
For the input signal detection direction of Q172DPX (TREN), set the direction with dip switch of Q173DPX.
(Note-2): This setting can be omitted.

Ver.! : Refer to Section 1.5 for the software version that supports this function.

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4 AUXILIARY AND APPLIED FUNCTIONS

(a) High-speed input request signal


Set the input signal for high-speed input request signal.
1) Built-in interface in Motion CPU
Module No. Detection Signal detection direction
Input module Signal Signal No.
Q173DSCPU Q172DSCPU accuracy [µs] (Leading edge/Trailing edge)
Built-in interface in Set direction in the "CPU
DI — 1 to 4 30
Motion CPU Setting" of system settings.

2) Q172DLX/Q172DEX/Q173DPX
Install the Q172DLX to the main base to use Q172DLX
(DOG/CHANGE)/Q172DEX (TREN)/Q173DPX (TREN).
If the Q172DLX/Q172DEX/Q173DPX is installed to the extension base,
the high-speed input request signal cannot be used.
Input Module No. Signal detection direction
Signal Signal No. Detection accuracy [µs]
module Q173DSCPU Q172DSCPU (Leading edge/Trailing edge)
Select "Q172DLX" of "Motion
slot setting" in the system
Q172DLX DOG/CHANGE 1 to 4 1 to 2 1 to 8
setting and set the direction
with detail setting.
• I/O response time 0.4[ms]: 69
Select "Q172DEX" of "Motion
• I/O response time 0.6[ms]: 133
slot setting" in the system
Q172DEX TREN 1 to 6 1 to 2 • I/O response time 1.0[ms]: 261
setting and set the direction
with detail setting.
Set the direction with dip
Q173DPX TREN 1 to 4 1 to 3
switch of Q173DPX.

(b) High-speed input request signal compensation time


Compensate the input timing of the high-speed input request signal.
Set it to compensate for sensor input delays, etc. Set a positive value to
compensate for a delay, and set a negative value to compensate for an
advance.
However, high-speed input request status outputs the status of the signal
with no relation to the set value.
The timing is compensated as "-5000000" when the compensation time is
set to less than -5000000, and it is compensated as "5000000" when it is set
to more than 500000.
1) Direct designation
Setting range
-5000000 to 5000000 [µs]

2) Indirect designation
(Note-1)
Word device Setting range Remarks
D 0 to 8191
W 0 to 1FFF The setting value is input for
# 0 to 9215 every operation cycle.
(Note-2)
U \G 10000 to (10000+p-1)
(Note-1): Set an even number as the first device.
(Note-2): "p" indicates the user setting area points of the Multiple CPU high speed transmission
area for each CPU.

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(c) High-speed input request signal valid flag


The high-speed input request signal is valid only when the flag is ON.
The high-speed input request signal is invalid when the flag is OFF.
This setting can be omitted.
The high-speed input request signal is always valid when it is ignored.
Bit device Setting range Remarks
(Note-1)
X 0 to 1FFF
Y 0 to 1FFF ON/OFF command is input when the
M 0 to 8191 high-speed input request signal is
B 0 to 1FFF detected.
(Note-2)
U \G 10000.0 to (10000+p-1).F
(Note-1): The range of "PXn+4 to PXn+F" cannot be used (fixed at 0) for the input device (PXn+0 to
PXn+F) allocated to the built-in interface in Motion CPU (DI). (n: First input No.)
(Note-2): "p" indicates the user setting area points of the Multiple CPU high speed transmission area
for each CPU.

(d) High-speed input request signal status


The ON/OFF status of high-speed input request signal can be monitored.
ON/OFF status can be monitored regardless of the status of the high-speed
input request signal valid flag.
This setting can be omitted.
Bit device Setting range Remarks
(Note-1)
X 0 to 1FFF
Y 0 to 1FFF
The ON/OFF status is reflected for
M 0 to 8191
every operation cycle.
B 0 to 1FFF
(Note-2)
U \G 10000.0 to (10000+p-1).F
(Note-1): The range of "PXn+4 to PXn+F" cannot be used (fixed at 0) for the input device (PXn+0 to
PXn+F) allocated to the built-in interface in Motion CPU (DI). (n: First input No.)
(Note-2): "p" indicates the user setting area points of the Multiple CPU high speed transmission area
for each CPU.

POINT
When signal is inputted in a state where the detection of high-speed input request
signal is unnecessary ([St.380] Synchronous control (M10880+n) is turned OFF, or
[Rq.320] Synchronous encoder axis control request (M11601+4n) is turned OFF),
the high-speed input request signal valid flag turns OFF. Turn ON when the
detection of high-speed input request signal is necessary.

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4.16 Driver Communication Function QDS Ver.!

This function uses the "Master-slave operation function" of servo amplifier. The Motion
CPU controls the master axis and the slave axis is controlled by data communication
(driver communication) between servo amplifiers without going through the Motion
CPU.
This function is used for the case such as to operate the ball screw controlled by
multiple axes via the belt.
There are restrictions in the function that can be used by the version of the servo
amplifier.
Refer to the "Servo amplifier Instruction Manual" for details.
The following shows the number of settable axes for the master axis and slave axis.

Number of Number of Combination of number of settable axes


Model name SSCNET (/H) control Master axis Remark
(Note-1) (Note-2) Slave axis
lines axes SSCNET SSCNET /H
Q173DSCPU 2 lines 32 axes 1 axis to 8 axes 1 axis to 16 axes The axes other than the master
— axis and slave axis can be used
Q172DSCPU 1 line 16 axes 1 axis to 4 axes 1 axis to 8 axes
as normal axis.

—: No restriction
(Note-1): Up to 4 axes per line are settable in the master axis.
(Note-2): Up to 8 axes per line are settable in the master axis.

POINT
Driver communication function is only valid in MR-J3- B and MR-J4- B.
MR-J4W- B and MR-J3W- B cannot be used.
Nor can MR-J4W- B be used in MR-J3- B compatibility mode.

Ver.! : Refer to Section 1.5 for the software version that supports this function.

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4.16.1 Control details

Set the master axis and slave axis in the servo parameter.
Execute each control of Motion CPU in the master axis. (However, be sure to execute
the servo ON/OFF of slave axis, and error reset at servo error occurrence in the slave
axis.) The servo amplifier set as master axis receives command (positioning command,
speed command, torque command) from the Motion CPU, and sends the control data
to the servo amplifier set as slave axis by driver communication between servo
amplifiers.
The servo amplifier set as the slave axis is controlled by the control data transmitted
from the master axis by driver communication between servo amplifiers.
Motion CPU

Master axis: Position command, speed command or torque command is received


Servo amplifier from Motion CPU.
MR-J3- B/MR-J4- B Slave axis : Control data is received from Master axis by driver communication.

SSCNET (/H) Master axis Slave axis 1 Slave axis 2 Slave axis 3

[Driver [Driver [Driver


communication] communication] communication]
Control data 1
Control data 2 Control data 2
Control data 3 Control data 3 Control data 3

Positioning command/
speed command/
torque command

d1 d2 d3 d4

Axis 1 Axis 2 Axis 3 Axis 4


ABS/INC INC INC INC

POINT
When a servo amplifier fails due to a SSCNET (/H) communication failure,
communication with the axes after the failed axis cannot be executed. For this
reason, be sure to connect the master axis to the position closest to the Motion
CPU.

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4.16.2 Precautions during control

CAUTION
During operation by driver communication function, the positioning control or JOG operation, etc.
by servo program is not interrupted even if a servo error occurs in the slave axis. Be sure to stop
the master axis by user program.

(1) Servo amplifier


(a) For the axes where driver communication is executed, be sure to use a
servo amplifier that supports driver communication.

(b) Driver communication function is only valid in MR-J3- B and MR-J4- B.


MR-J4W- B and MR-J3W- B cannot be used.
Nor can MR-J4W- B be used in MR-J3- B compatibility mode.

(c) Be sure to connect the master CPU and slave CPU in the same
SSCNET (/H) line.

(d) The master CPU and slave CPU combination is set in the servo parameters.
After writing the servo parameters, turn ON again or reset the Multiple CPU
system power supply so that the parameters become valid.

(e) The differences between SSCNET and SSCNET /H communication


method in driver communication function are shown below.
Communication method
SSCNET SSCNET /H
Servo amplifier cannot be operated until
Communication with connection with all axes set to driver
Servo amplifiers cannot be operated until
servo amplifiers after communication is confirmed.
connection with all axes set by system
Multiple CPU system Normal axes (axes not set to driver
setting is confirmed.
power supply ON. communication) can also be connected
after the network is established.
Only the first axis of the SSCNET line
(servo amplifier connected directly to the
Motion CPU) can connect/disconnect.
Only normal axes (axes not set to driver
Only the first axis of the SSCNET line
communication) other than the first axis
(servo amplifier connected directly to the
can be connected when they are
Connect/disconnect Motion CPU) can connect/disconnect.
disconnected. However, when axes set
with servo amplifier Servo amplifiers other than the first axis
to driver communication are
can be disconnected but cannot be
disconnected, they cannot communicate
connected.
with servo amplifiers that were
connected after disconnecting. (The
servo amplifier's LED display remains
"AA")

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(f) If all axes set to driver communication are not detected at the start of
communication with the servo amplifier, all axes connected to that line,
including normal axes cannot be operated. (The servo amplifier's LED
display remains "Ab").
Check with the following SSCNET searching flags (SM532, SM533) if a
SSCNET line can be operated.
When all normal axes and axes set to driver communication are connected,
the SSCNET searching flags (SM532, SM533) turn OFF.
Device No. Name Details Set by
• Turns ON when searching axes that
SSCNET searching flag have been set by system setting in
SM532
(Line 1) line 1 or line 2.
• Turns OFF when all axes that have S
been set by system setting in line 1 or (Change status)
SSCNET searching flag line 2 have been searched.
SM533
(Line 2) OFF: Search complete
ON : Searching

(2) Positioning dedicated device used for positioning control of slave


axis
In the slave axis, only the following positioning dedicated devices are valid.
Do not use devices other than the following.
(a) Axis status
(Note-1)
• Zero pass (M2406+20n)
• Servo error detection (M2408+20n)
• Servo ready (M2415+20n)
(Note-1): Because the slave axis cannot execute home position return, it
does not use this in control.

(b) Axis command signal


• Servo error reset command (M3208+20n)
• Servo OFF command (M3215+20n)

(c) Axis monitor device


• Servo error code (D8+20n)
• Torque limit value (D14+20n)

(d) Control change register


Control change registers (D640+20n, D641+20n) that apply to the slave axis
become invalid.
Control change registers (D640+20n, D641+20n) in virtual mode become
valid for the virtual servo.

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(e) Common device


The following common devices that apply to the slave axis cannot be used.
Do not use an interlock.
• Start accept flag (M2001 to M2032)
• Speed change accepting flag (M2061 to M2092)
• Automatic decelerating flag (M2128 to M2159)
• Speed change "0" accepting flag (M2240 to M2271)
• Control loop monitor status (M2272 to M2303)

(3) Current position management


(a) Set "0: Used in incremental system" in " Absolute position detection system
(PA03)" of servo parameter for slave axis.

(b) Because the slave axis is in torque control and operates by input from the
master axis, current feed value and deviation counter are not updated.
However, the real current value is updated.
(During servo ON, the current feed value is not a value that reflects the
motor movement amount. If servo is turned OFF, the current feed value is a
value that reflects the motor movement amount. The deviation counter is
always 0.)

(c) The home position return request (M2409+20n) of slave axis is always ON
but has no influence on the control of slave axis.

(d) During slave operation, the following slave axis external signals, and
parameters are invalid.
• Upper stroke limit signal (FLS)
• Lower stroke limit signal (RLS)
• Stop signal (STOP)
• Upper/lower stroke limit value of fixed parameter

(e) Do not operate the slave axis by a method other than driver communication
with the master axis. If operated by a method other than driver
communication, commands to the servo amplifier become invalid and
current feed value and other current position management cannot be
guaranteed.

(4) Servo program


Do not set the slave axis to the start axis of the servo program.
When slave axis is started, the position commands to the servo amplifier become
invalid.

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(5) Mechanical system program


(a) Do not set the slave axis to the output modules of the mechanical system
program or the real mode axis. When the slave axis is set to output modules
of the mechanical system program or the real mode axis, the position
commands to the servo amplifier become invalid.

(b) If a servo error occurs in the slave axis during operation by driver
communication function, the "Error time operation mode" which was set in
the mechanical system program does not apply. Measures at an error
occurrence should be executed in the user program.

(6) Advanced synchronous control


(a) The master axis can be set to the servo input axis, or the output axis.

(b) When the slave axis is set to the servo input axis, set [Pr.300] Servo input
axis type to "2: Real current value", or "4: Feedback value".
When set to anything else, the slave axis does not operate as input axis.

(c) Do not set the slave axis to output axis. When the slave axis is set to output
axis, the position commands to the servo amplifier become invalid.

(7) Motion dedicated PLC instruction


Do not execute the following Motion dedicated PLC instructions for slave axis.
When executed they become invalid.
• D(P).SVST (Start request of the specified servo program)
• D(P).CHGV (Speed change request of the specified axis)

(8) Motion SFC program


Do not execute the following instructions for slave axis. When executed they
become invalid.
• CHGV (Speed change request)
• CHGP (Target position change request)

(9) Control mode of master axis


The control mode of the master axis can switch between position control mode,
speed control mode, and torque control mode. For the master axis, when a
switch to continuous operation to torque control mode is executed, there is a
minor error (error code: 155), and the control mode does not switch.

(10) Control mode of slave axis


(a) Because the slave axis is always controlled by torque mode, the control
mode (b2, b3) of servo status1 (#8010+20n) is in torque control mode ([0,
1]).

(b) Do not operate slave axis by speed-torque control. For the slave axis,
when a control mode switch is executed, or is operated by speed-torque
control, the speed-torque control commands become invalid.

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4.16.3 Servo parameter

Set the following parameters for the axes that execute the master-slave operation.
(Refer to the "Servo amplifier Instruction Manual" for details.)

Setting range
No. Item Setting details
MR-J3- B MR-J4- B
Set the forced stop input and forced stop
deceleration function.
PA04 Function selection A-1 (Note): Set "0: Forced stop deceleration 0000h to 2100h 0000h to 2100h
function disabled" for forced stop
deceleration function selection.
PD15 Driver communication setting Set the master axis and slave axis. 0000h to 0011h 0000h to 0011h
Driver communication setting
PD16 0000h to FFFFh 0000h to FFFFh
Master transmit data selection 1 Set the transmitted data at master axis
Driver communication setting setting.
PD17 0000h to FFFFh 0000h to FFFFh
Master transmit data selection 2
Driver communication setting Set the axis No. (d1 to d16) of master
PD20 0 to 16 0 to 32
Master axis No. selection 1 for slave axis at slave axis setting.
Set the coefficient to reflect the internal
Master-slave operation - Torque
PD30 torque command with the torque 0000h to 01FFh 0 to 500
command coefficient on slave
command value from the master axis.
Set the coefficient to reflect the internal
Master-slave operation - Speed limit speed limit command with the speed
PD31 0000h to 01FFh 0 to 500
coefficient on slave limit command value from the master
axis.
Master-slave operation - Speed limit Set the lowest value of the internal
PD32 0000h to 7FFFh 0 to 32767
adjusted value on slave speed limit.

POINT
After writing the servo parameters to the Motion CPU, turn ON again or reset the
Multiple CPU system power supply so that the parameters become valid.

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4.17 Intelligent Function Modules Controlled by Motion CPU

The Motion CPU can be used as the control CPU of intelligent function modules
(excluding some modules).
Up to 4 intelligent function modules in total can be used.
The intelligent function modules that can be controlled by the Motion CPU are shown
in Table 4.1.

Table 4.1 Intelligent function modules controlled by Motion CPU list


Number of usable modules
Number of
Module name Model name Q173DSCPU/ Q173DCPU(-S1)/ Remark
points
Q172DSCPU Q172DCPU(-S1)
Q68ADV
Q62AD-DGH
Q66AD-DG
Analogue input
Q68ADI
module
Q64AD
Q64AD-GH
Total 4 modules
Q68AD-G
(256 points or less)
Q68DAVN
Q68DAIN 16 points
Analogue output Q62DAN
module Q62DA-FG
Q64DAN
Q66DA-G
Analogue input/output
Q64AD2DA
module
Cannot use coincidence detection
QD62D
Total 4 modules interrupt function.
High-speed counter
(256 points or less Cannot use coincidence detection
module Ver.! (Note-1)
QD65PD2 ) interrupt function and periodic interrupt
function.
QD75P1
QD75P2
QD75P4
QD75D1
Positioning module —
QD75D2
Ver.!
QD75D4
32 points
QD75MH1
QD75MH2
QD75MH4
QD77MS2
Simple Motion module
QD77MS4
Ver.!
QD77MS16
Control unit of UQ1-01 Manufactured by Optex FA Co., LTD.
displacement sensor Cannot use dedicated setting
UQ1-02
Ver.! software.

(Note-1): Number of I/O points is total of "Built-in interface in Motion CPU (Input 4 points) + I/O module + intelligent function module".

Ver.! : Refer to Section 1.5 for the software version that supports this function.

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(1) Setting method


Select "General", "Analog input", or "Analog output" in the Motion slot setting of
intelligent function module and set the detail setting.
Refer to the help of MT Developer2 for details of the operation procedures.

Select the intelligent


function module

POINT
(1) Modules that can be used as a Motion CPU (Q172DLX, Q173DPX, Q172DEX,
QI60 etc.) cannot be set as an intelligent function module. When these are set
as intelligent function module, there is a system setting error.
(2) The valid/invalid of "Error time output mode" settings differ for each intelligent
function module. Refer to the manual of each intelligent function module for
details.

(2) Access to the intelligent function module


Use the TO and FROM instructions from Motion SFC programs to access the
buffer memory of the intelligent function modules.
Also, you can access the I/O signal of the intelligent function module in the first
I/O No. set in the system setting.

POINT
When reading or writing 2 words of data or more using the FROM instruction or TO
instruction, if the start address of the buffer memory is set to an even number, data
will be read/written in units of 2 words.

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(3) Usage example


An example using Q64AD2DA is shown below.
(a) Detail setting
Setting item Setting details
First I/O No. 0030
Points 16 points
Input format Hexadecimal
Switch 1 02A0H (CH1 to CH4: Input range setting)
Switch 2 0020H (CH5, CH6: Output range setting)
Switch setting
Switch 3 0010H (CH5, CH6: Analog output HOLD/CLEAR function)
Switch 4 0100H (High resolution mode setting)
Switch 5 0000H (Fixed at 0)
Error time output mode Clear

(b) Motion SFC program

PX30*!PY39*PX39 //Unit ready and operating condition setting


request OFF, and operating condition setting
complete ON?

//Initial setting program


#0=0
TO H30,0,#0,1 //Enables A/D conversion of CH1
(Write to buffer memory 0)
TO H30,200,#0,1 //Enables A/D conversion of CH2
(Write to buffer memory 200)
#0=2 //Sets average processing of CH2
#1=50 //Sets average processing of CH2
TO H30,201,#0,2 //Write to buffer memory 201 to 202
#0=0 //Sets A/D conversion scaling function of CH2
#1=1000 //Sets A/D conversion scaling function of CH2
#2=5000 //Sets A/D conversion scaling function of CH2
TO H30,210,#0,3 //Write to buffer memory 210 to212
#0=0 //Enables A/D conversion of CH3
#1=3 //Sets average processing of CH3
#2=10 //Sets average processing of CH3
TO H30,400,#0,3 //Write to buffer memory 400 to 402
#0=1 //Defaults input signal error detection of CH3
#1=100 //Defaults input signal error detection of CH3
TO H30,420,#0,2 //Write to buffer memory 420 to 421
#0=0
TO H30,800,#0,1 //Enables D/A conversion of CH5
(Write to buffer memory 800)
TO H30,1000,#0,1 //Enables D/A conversion of CH6
(Write to buffer memory 1000)
#0=0 //Sets D/A conversion scaling function of CH6
#1=1000 //Sets D/A conversion scaling function of CH6
#2=5000 //Sets D/A conversion scaling function of CH6
TO H30,1010,#0,3 //Write to buffer memory 1010 to 1012
SET PY39 //Turns ON operating condition setting request

!PX39 //Operating condition setting complete OFF?

RST PY39 //Turns OFF operating condition setting request

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4.18 Connection of SSCNET /H Head Module QDS Ver.!

The MELSEC-L series SSCNET /H head module (LJ72MS15) can be connected to


Q173DSCPU/Q172DSCPU (SV13/SV22).

4.18.1 System configuration

A system configuration that uses SSCNET /H head modules is shown below.

Motion CPU module


Q17 DSCPU
I/O module,
intelligent function
Servo amplifier SSCNET /H module
MR-J4(W)- B head module
LJ72MS15

SSCNET /H

MT Developer2

GX Works2
Servo amplifier
MR-J4(W)- B SSCNET /H head module
LJ72MS15

SSCNET /H

Q173DSCPU: 2 lines (Up to 8 stations


(Up to 4stations/line))
Q172DSCPU: 1 line (Up to 4 stations)

Q173DSCPU: 2 lines (Up to 32 axes (Up to 16axes/line))


Q172DSCPU: 1 line (Up to 16 axes)

POINT
The parameters of the SSCNET /H head module and modules mounted to the
SSCNET /H head module are set using GX Works2.
Refer to the "MELSEC-L SSCNET /H Head Module User's Manual" for details of
the SSCNET /H head module.

Ver.! : Refer to Section 1.5 for the software version that supports this function.

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4.18.2 SSCNET /H head module parameters

(1) Parameter setting


Set the parameters to use the SSCNET /H head module.
The parameters are set using MT Developer2.
The setting items for parameters are shown in table 4.2.

Table 4.2 SSCNET /H head module parameter list


No. Item Setting range Default value
1 Valid setting 0: Invalid/1: Valid 0: Invalid
2 Station number 1 to 64 —
3 Axis No. 0 to 8 —
Bit device : X, Y, M, B
Device name —
Word device : D, W, #, U \G
Refresh device Bit device : 16 to 512
Points —
4 setting (CPU side) Word device : 1 to 32
(RX, RWr, RY, RWw) X0 to X1FFF/Y0 to Y1FFF/M0 to M8191/B0 to B1FFF/
(Note-1)
Start D0 to D8191 /#0 to #9215/W0 to W1FFF/ —
(Note-2)
U \G10000 to (U \G10000+p-1)
M0 to M8176/B0 to B1FFF/
5 Status device D0 to D8191/#0 to #9215/W0 to W1FFF/ —
(Note-2)
U \G10000 to (U \G10000+p-1)
D0 to D8191/#0 to #9215/W0 to W1FFF/
6 Monitor device (Note-2) —
U \G10000 to (U \G10000+p-1)
M0 to M8176/B0 to B1FFF/
7 Command device D0 to D8191/#0 to #9215/W0 to W1FFF/ —
(Note-2)
U \G10000 to (U \G10000+p-1)

(Note-1): Range of D0 to D19823 is valid for SV22 advanced synchronous control.


(Note-2): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU.

POINT
(1) The number of SSCNET /H head module stations that can be connected to a
SSCNET /H line according to operation cycle settings, are as follows.
Operation cycle [ms] Stations connected
0.88 Up to 4 stations
0.44 Up to 2 stations
0.22 Up to 1 station

(a) Valid setting


Set valid/invalid of SSCNET /H head module
• 0: Invalid ........... Not using SSCNET /H head module
• 1: Valid ............. Using SSCNET /H head module

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(b) Station number


Set the station number of SSCNET /H head module.
The same station number can be used for line 1 and line 2.
Cannot use the same station number as the axis No. of the servo amplifier.
(Example) When using servo amplifier setting "d01", cannot set station
number to "1".
Setting range
1 to 64

(c) Axis No.


Set the axis No. of SSCNET /H head module.
(For Motion SFC programs, this number is used for specifying).
Cannot use the same axis No. for line 1 and line 2.
The same Motion axis No. and axis No. can be used.
Communication is not executed with a station that has axis No. set to "0".
(Use as a reserved axis.)
There can be duplicate axis No. 0.
Setting range
0 to 8

(d) Refresh device setting (CPU side)


Set the device (RX, RWr, RY, RWw) for storage of link data.
Motion CPU device is set using automatic refresh by cyclic transmission of
the SSCNET /H head module.
Link devices (RX, RWr, RY, RWw) of the Motion CPU are automatically
assigned in MT Developer2.

POINT
Link devices (RX, RWr, RY, RWw) of the Motion CPU are used only for internal
processing. These cannot be used in user data such as Motion SFC programs etc.

1) Device name
Set the device name that stores link data.
• Bit device : X, Y, M, B
• Word device : D, W, #, U \G
2) Points
Set the points of the device that stores link data. Set the points of the
device in units of words.
The total points for bits and words must be 64 bytes or less.
Device Setting range
(Note-1)
Bit device (X, Y, M, B) 16 to 512
Word device (D, W, #, U \G) 1 to 32

(Note-1): Set in units of 16 points (1 word).

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3) Start
Set the start device number that stores link data.
• Bit device
Bit device Setting range
X 0 to 1FFF
Y 0 to 1FFF
M 0 to 8191
B 0 to 1FFF

• Word device
Word device Setting range
(Note-1)
D 0 to 8191
W 0 to 1FFF
# 0 to 9215
(Note-2), (Note-3)
U \G 10000 to (10000+p-1)

(Note-1): The range of D0 to D19823 is valid in the SV22 advanced


synchronous control.
(Note-2): "p" indicates the user setting area points of the Multiple CPU high
speed transmission area for each CPU.
(Note-3): Only device of the self CPU can be used.

(e) Status device


Set the device for storage of the status of the SSCNET /H head module.
1) Usable devices are shown below.
• Bit device
(Note-1)
Bit device Setting range
M 0 to 8191
B 0 to 1FFF

(Note-1): Set the start device as a unit of 16 points.

• Word device
Word device Setting range
D 0 to 8191
W 0 to 1FFF
# 0 to 9215
(Note-1), (Note-2)
U \G 10000 to (10000+p-1)

(Note-1): "p" indicates the user setting area points of the Multiple CPU high
speed transmission area for each CPU.
(Note-2): Only device of the self CPU can be used.

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2) The device uses 16 points (1 point if a word device) from the specified
device number.
The details stored in the status device are shown below.
Off set Signal name Refresh cycle
+0
+1
+2
+3 Unusable —
+4
+5
+6
+7 During stop error Operation cycle
+8
+9
+10
+11 Unusable —
+12
+13
+14
+15 During continue error Operation cycle

a) During stop error


Can be used to judge whether there is an error or not by the signal
turning ON when a stop error is detected in the SSCNET /H head
module.
The applicable error code is stored in the error code signal of the
monitor device of the SSCNET /H head module set in the system
settings.
If error is reset by turning ON the error reset command, or turning
ON the SSCNET /H head module power supply again, the signal
turns OFF.
b) During continue error
Can be used to judge whether there is an error or not by the signal
turning ON when a continue error is detected in the SSCNET /H
head module.
The applicable error code is stored in the error code signal of the
monitor device of the SSCNET /H head module set in the system
settings.
If error is reset by turning ON the error reset command, or turning
ON the SSCNET /H head module power supply again, the signal
turns OFF.

4 - 108
4 AUXILIARY AND APPLIED FUNCTIONS

(f) Monitor device


Set the devices for monitoring the status of SSCNET /H head module.
1) Usable devices are shown below.
• Word device
Word device Setting range
D 0 to 8191
W 0 to 1FFF
# 0 to 9215
(Note-1), (Note-2)
U \G 10000 to (10000+p-1)

(Note-1): "p" indicates the user setting area points of the Multiple CPU high
speed transmission area for each CPU.
(Note-2): Only device of the self CPU can be used.

2) The device uses 10 points per word from the specified device number.
The details stored in the status device are shown below.
Off set Signal name Refresh cycle
+0 Module operating status
Operation cycle
+1 Error code
Accumulative count for communication
+2
retry At a communication
Maximum continuous times for retry
+3
communication retry
+4
+5
+6
Unusable —
+7
+8
+9

a) Module operating status


Stores the operating status of SSCNET /H head module.
• 0: No communication
• 1: STOP status
• 2: RUN status
• 3: ERROR status
b) Error code
Stores the error code when an error is detected in the SSCNET /H
head module. (Continue error and stop error)
If error is reset by turning ON the error reset command, or the
SSCNET /H head module power supply is turned ON again, this
device is also cleared.
c) Accumulative count for communication retry
Holds the accumulative count for communication retry with the
SSCNET /H head module.
d) Maximum continuous times for communication retry
Counts each time a communication retry with the SSCNET /H head
module occurs. When communication is successful, the count is "0".

4 - 109
4 AUXILIARY AND APPLIED FUNCTIONS

(g) Command device


Set the device for commands to SSCNET /H head module.
1) Usable devices are shown below.
• Bit device
(Note-1)
Bit device Setting range
M 0 to 8191
B 0 to 1FFF

(Note-1): Set the start device as a unit of 16 points.

• Word device
Word device Setting range
D 0 to 8191
W 0 to 1FFF
# 0 to 9215
(Note-1)
U \G 10000 to (10000+p-1)

(Note-1): "p" indicates the user setting area points of the Multiple CPU high
speed transmission area for each CPU.

2) The device uses 16 points (1 point if a word device) from the specified
device number.
The details stored in the command device are shown below.
Off set Signal name Refresh cycle
+0
+1
+2
+3 Unusable —
+4
+5
+6
+7 Error reset command Main cycle
+8
+9
+10
+11
Unusable —
+12
+13
+14
+15

4 - 110
4 AUXILIARY AND APPLIED FUNCTIONS

a) Error reset command


Clears the error code storage device and resets the error code
detection signal of the SSCNET /H head module. At an error reset
command, turn this signal OFF after confirming the error detection
signal of the SSCNET /H head module is turned OFF.
However, depending on the error of the SSCNET /H head module,
an error reset may not be executed, or conditions may apply to the
error reset. In this case, the error code storage device is not cleared
and the error code detection signal is not reset, even if an alarm
reset is executed. Refer to the manual of the SSCNET /H head
module for details.

(2) Operation example of parameter


(a) When setting 2 SSCNET /H head modules (station 17, station 18) to
SSCNET line 1.
1) Parameter setting
The setting example of parameter is shown below.
(Note-1) Refresh device
Link device
Station Axis Input/ (CPU side) Status Monitor Command
number No. Output Device device device device
Points Start End Points Start End
name
RX 128 0000 007F 128 M112 M239
Input
RWr 24 0000 0017 24 W000 W0017
17 1 M0 D2000 M16
RY 128 0000 007F 128 M240 M367
Output
RWw 24 0000 0017 24 W0018 W002F
RX 0 0
Input
RWr 32 0018 0037 32 D2020 D2051
18 2 M32 D2010 M48
RY 0 0
Output
RWw 32 0018 0037 32 D2052 D2083

(Note-1): Used only for internal processing of Motion CPU. The number of points set in the refresh device (CPU side) is automatically
assigned in MT Developer2.

4 - 111
4 AUXILIARY AND APPLIED FUNCTIONS

2) Operation example
The example of operating parameter is shown below.
SSCNET /H head module SSCNET /H head module
Motion CPU (Station number 17) (Station number 18)

M RX (Note-1) RX RX
0000 0000 0000

M112 007F 007F

M239
M240

M367

RWr (Note-1) RWr RWr


0000 0000 0000
0017 0017 001F
W 0018
W0000 0037
W0017
W0018
W002F
RY (Note-1) RY RY
0000 0000 0000

007F 007F

RWw (Note-1) RWw RWw


D2020 0000 0000 0000
D2051 0017 0017 001F
D2052 0018
D2083 0037

(Note-1): Used only for internal processing of Motion CPU. The number of points set in the
refresh device (CPU side) is automatically assigned in MT Developer2.

4 - 112
4 AUXILIARY AND APPLIED FUNCTIONS

4.18.3 Data operation of intelligent function module by Motion SFC program

In addition to refresh of data by device, data read/write operations to the buffer


memory of intelligent function modules on the SSCNET /H head module can be
executed by the RTO and RFROM instructions of Motion SFC programs.
Refer to "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming
Manual (Motion SFC)" for details.
Classification Symbol Instruction Description
Writes word device data to the buffer memory
Write buffer memory data
RTO of the intelligent function module mounted to
to head module
the SSCNET /H head module.
Others
Reads data from the buffer memory of the
Read buffer memory data
RFROM intelligent function module mounted to the
from head module
SSCNET /H head module, to the word device.

4.18.4 Data of refresh device

The refresh of data by device, for the status of Motion CPU, or when there is a
communication failure with the head module are as follows.

Refresh of data
Bit device
Word device
Input Output
At communication failure
Clear
occurrence
At STOP of Motion CPU Maintain Maintain
At Motion CPU operation stop error
Clear
occurrence

4.18.5 Precautions when using SSCNET /H head module

(1) Disconnect/reconnect function cannot be used for SSCNET /H head module.


If executed it is ignored.

4 - 113
4 AUXILIARY AND APPLIED FUNCTIONS

MEMO

4 - 114
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 (SV13/SV22)/Motion programs (SV43).
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 Explanation
No. • Indicates the device No. of the special relay.
Name • Indicates the name of the special relay.
Meaning • Indicates the nature of the special relay.
Details • 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. APP.
<Set by>
S: Set by system (Motion CPU)
U: Set by user (Motion SFC program/Motion program or test operation using
MT Developer2)
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 relay, etc.)
Operation cycle : Set during each operation cycle of the Motion CPU.

APP - 1
APPENDICES

Table 1.1 Special relay list


Set by
No. Name Meaning Details Remark
(When set)
• Turn ON if an error occurs as a result of diagnosis.
• Remains ON even if the condition is restored to normal
OFF : No error thereafter.
SM0 Diagnostic error
ON : Error • Turn ON by ON to OFF of the Motion error detection flag
(M2039) for except the stop error after confirming the error
content.
• Turn ON if an error occurs as a result of self-diagnosis.
• Remains ON even if the condition is restored to normal
OFF : No self-diagnostic error thereafter.
SM1 Self-diagnostic error
ON : Self-diagnostic error • Turn ON by ON to OFF of the Motion error detection flag
(M2039) for except the stop error after confirming the error
content.
• Turn ON if the voltage of battery reduces to less than 2.5[V].
OFF : Normal
SM51 Battery low latch • Remains ON even if the condition is restored to normal
ON : Battery low
thereafter.
• Turn on when the voltage of the battery reduces to less than
OFF : Normal 2.5[V].
SM52 Battery low
ON : Battery low • Turn OFF when the voltage of external battery returns to
S (Occur an error)
normal.
• Turn ON if an instantaneous power failure of within 20[ms]
OFF : AC/DC DOWN occurs during use of the AC power supply module.
AC/DC DOWN not detected Reset when the power supply is switched OFF, then ON.
SM53
detection ON : AC/DC DOWN • Turn ON if an instantaneous power failure of within 10[ms]
detected occurs during use of the AC power supply module.
Reset when the power supply is switched OFF, then ON.
• Turn ON if the voltage of battery reduces to less than 2.7[V].
Battery low warning OFF : Normal
SM58 • Remains ON even if the condition is restored to normal
latch ON : Battery low
thereafter.
• Turn on when the voltage of the battery reduces to less than
OFF : Normal 2.7[V].
SM59 Battery low warning
ON : Battery low • Turn OFF when the voltage of external battery returns to
normal.
• Turn ON if there is at least one output module whose fuse
OFF : Normal has blown.
SM60 Fuse blown detection
ON : Module with blown fuse • Remains ON even if the condition is restored to normal
thereafter.
OFF : No error • Turn ON if an error occurs in clock data (SD210 to SD213)
SM211 Clock data error S (Request)
ON : Error value, and turn OFF if no error is detected.
OFF : CPU No.1 READY
SM220 CPU No.1 READY incompletion • Turn ON if CPU No. 1 which uses Multiple CPU high speed
(Note-1)
complete ON : CPU No.1 READY bus can be operated between Multiple CPU.
completion
OFF : CPU No.2 READY
SM221 CPU No.2 READY incompletion • Turn ON if CPU No. 2 which uses Multiple CPU high speed
(Note-1)
complete ON : CPU No.2 READY bus can be operated between Multiple CPU.
completion
OFF : CPU No.3 READY
SM222 CPU No.3 READY incompletion • Turn ON if CPU No. 3 which uses Multiple CPU high speed
(Note-1)
complete ON : CPU No.3 READY bus can be operated between Multiple CPU. S (Change status)
completion
OFF : CPU No.4 READY
SM223 CPU No.4 READY incompletion • Turn ON if CPU No. 4 which uses Multiple CPU high speed
(Note-1)
complete ON : CPU No.4 READY bus can be operated between Multiple CPU.
completion
• Goes OFF when reset of the No.1 CPU is cancelled.
• Comes ON when the No.1 CPU is resetting
OFF : CPU No.1 reset cancel
SM240 No.1 CPU resetting (including the case where the CPU module is removed from
ON : CPU No.1 resetting
the base).
The other CPUs are also put in reset status.

APP - 2
APPENDICES

Table 1.1 Special relay list (Continued)


Set by
No. Name Meaning Details Remark
(When set)
• Goes OFF when reset of the No.2 CPU is cancelled.
• Comes ON when the No.2 CPU is resetting
OFF : CPU No.2 reset cancel (including the case where the CPU module is removed from
SM241 No.2 CPU resetting
ON : CPU No.2 resetting the base).
The other CPUs result in "MULTI CPU DOWN" (error code:
7000).
• Goes OFF when reset of the No.3 CPU is cancelled.
• Comes ON when the No.3 CPU is resetting
OFF : CPU No.3 reset cancel (including the case where the CPU module is removed from
SM242 No.3 CPU resetting
ON : CPU No.3 resetting the base).
The other CPUs result in "MULTI CPU DOWN" (error code:
7000).
• Goes OFF when reset of the No.4 CPU is cancelled.
• Comes ON when the No.4 CPU is resetting
OFF : CPU No.4 reset cancel (including the case where the CPU module is removed from
SM243 No.4 CPU resetting S (Change status)
ON : CPU No.4 resetting the base).
The other CPUs result in "MULTI CPU DOWN" (error code:
7000).
OFF : CPU No.1 normal • Goes OFF when the CPU No.1 is normal. (Including a
SM244 No.1 CPU error ON : CPU No.1 during stop continuation error)
(Note-2)
error • Comes ON when the CPU No.1 is during stop error.
OFF : CPU No.2 normal • Goes OFF when the CPU No.2 is normal. (Including a
SM245 No.2 CPU error ON : CPU No.2 during stop continuation error)
(Note-2)
error • Comes ON when the CPU No.2 is during stop error.
OFF : CPU No.3 normal • Goes OFF when the CPU No.3 is normal. (Including a
SM246 No.3 CPU error ON : CPU No.4 during stop continuation error)
(Note-2)
error • Comes ON when the CPU No.3 is during stop error.
OFF : CPU No.4 normal • Goes OFF when the CPU No.4 is normal. (Including a
SM247 No.4 CPU error ON : CPU No.4 during stop continuation error)
(Note-2)
error • Comes ON when the CPU No.4 is during stop error.
ON
SM400 Always ON • Normally is ON.
OFF
ON S (Main processing)
SM401 Always OFF • Normally is OFF.
OFF
• When the PLC ready flag (M2000) turn OFF to ON, the
ON : PCPU READY
fixed parameters, servo parameters and limit switch output
PCPU READY completion
SM500 data, etc., are checked, and if no error is detected, this flag
complete OFF : PCPU READY
turns ON.
incompletion
• Turn OFF with PLC ready flag (M2000) OFF.
S (Request)
• Judge whether TEST mode ON or not using
MT Developer2.
ON : TEST mode ON
SM501 Test mode ON • If the TEST mode is not established by TEST mode request
OFF : Except TEST mode
using MT Developer2, the TEST mode request error
(SM510) turns ON.
External forced stop ON : Forced stop OFF
SM502 • Confirm forced stop ON/OFF. S (Operation cycle)
input OFF : Forced stop ON
ON : Digital oscilloscope is
Digital oscilloscope stop • Confirm the execution of digital oscilloscope using
SM503
executing OFF : Digital oscilloscope is MT Developer2.
executing
• Turn ON during cam data writing by executing the cam data
Cam data writing flag OFF : Cam data not writing
SM505 write (CAMWR)/cam data write (cam open area: CAMWR2)/ S (Change status)
QDS Ver.! ON : Cam data writing
cam auto-generation (CAMMK).
ON : External forced stop
External forced stop input is detected • Turn ON when an external forced stop input is detected.
SM506
input ON latch Ver.! OFF : External forced stop • Remains ON even if the condition is cancelled to thereafter.
input is not detected

Ver.! : Refer to Section 1.5 for the software version that supports this function.

APP - 3
APPENDICES

Table 1.1 Special relay list (Continued)


Set by
No. Name Meaning Details Remark
(When set)
ON : During amplifier-less
Amplifier-less
SM508 operation • Confirm the amplifier-less operation status. S (Main processing)
operation status
OFF : During normal operation
• Turn ON if the TEST mode is not established by TEST mode
TEST mode request ON : Abnormal request using MT Developer2.
SM510
error OFF : Normal • When this relay is ON, the error content is stored in the
TEST mode request error register (SD510, SD511).
• Turn ON when a "watchdog timer error" is detected by the
Motion CPU self-diagnosis function.
Motion CPU WDT ON : Abnormal When the Motion CPU detects a WDT error, it executes an
SM512
error OFF : Normal immediate stop without deceleration of the operating axes.
• The error cause is stored in the "Motion CPU WDT error
cause (SD512)".
ON : At least one D714 to • Judge whether normal/abnormal of the register for manual
Manual pulse D719 setting is pulse generator axis setting register (D714 to D719).
SM513 generator axis setting abnormal. • When this relay is ON, the error content is stored in the
error OFF : All D714 to D719 manual pulse generator axis setting error register (SD513 S (Occur an error)
settings are normal. to SD515).
Servo program • Judge whether normal/abnormal of the positioning data of
setting error servo program(K) (SV13/SV22)/Motion program(SV43)
ON : Abnormal
SM516 (SV13/SV22)/ specified with the Motion SFC program, and if error is
OFF : Normal
Motion program detected this flag turns ON.
setting error (SV43) • The content of an error is stored at SD516, SD517.
• Turn ON when the temperature of Motion CPU module
Over heat warning OFF : Normal
SM526 becomes specified value 85[°C] (185[°F]) or more.
latch ON : Abnormal
Remains ON even if normal status is restored.
• Turn ON when the temperature of Motion CPU module
OFF : Normal becomes specified value 85[°C] (185[°F]) or more.
SM527 Over heat warning
ON : Abnormal Turn OFF when the temperature of Motion CPU module
returns to normal.
No.1 CPU MULTR OFF to ON : • Turn ON when the data read from CPU No.1 is normal by
SM528
complete CPU No.1 read completion MULTR instruction.
No.2 CPU MULTR OFF to ON : • Turn ON when the data read from CPU No.2 is normal by
SM529
complete CPU No.2 read completion MULTR instruction.
S (Read completion)
No.3 CPU MULTR OFF to ON : • Turn ON when the data read from CPU No.3 is normal by
SM530
complete CPU No.3 read completion MULTR instruction.
No.4 CPU MULTR OFF to ON : • Turn ON when the data read from CPU No.4 is normal by
SM531
complete CPU No.4 read completion MULTR instruction.
• Turns ON when searching axes that have been set to line 1
SSCNET searching
OFF : Search complete by system setting.
SM532 flag (Line 1)
ON : Searching • Turns OFF when all axes that have been set to line 1 by
QDS Ver.!
system setting have been searched.
S (Change status)
• Turns ON when searching axes that have been set to line 2
SSCNET searching
OFF : Search complete by system setting.
SM533 flag (Line 2)
ON : Searching • Turns OFF when all axes that have been set to line 2 by
QDS Ver.!
system setting have been searched.
OFF : Multiple CPU
Multiple CPU synchronous initial
synchronous control incomplete. • Turns ON when the initial processing of Multiple CPU
SM561 S (Initial processing)
initial complete flag ON : Multiple CPU synchronous control is completed.
QDS Ver.! synchronous initial
complete.

Ver.! : Refer to Section 1.5 for the software version that supports this function.

APP - 4
APPENDICES

Table 1.1 Special relay list (Continued)


Set by
No. Name Meaning Details Remark
(When set)
Clock data read OFF : Ignored • When this relay is ON, clock data is read to SD210 to
SM801
request ON : Read request SD213 as BCD values.
Rapid stop
• When this relay is ON, the large value than deceleration time U
deceleration time OFF : Setting error valid
SM805 can be set as rapid stop deceleration time. (The servo
setting error invalid ON : Setting error invalid
program setting error (error code: 51) will not occur.)
flag Ver.!

(Note-1): It is used for interlock condition of Multiple CPU high speed bus dedicated instruction when a synchronous system
set in Multiple CPU synchronous startup setting of system setting.
(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.

Ver.! : Refer to Section 1.5 for the software version that supports this function.

APP - 5
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 (SV13/SV22)/Motion programs (SV43) 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.

The headings in the table that follows have the following meanings.

Item Explanation
Number • Indicates the No. of the special register.
Name • Indicates the name of the special register.
Meaning • Indicates the nature of the special register.
Details • Indicates detailed information about the nature of the special register.
• Indicates whether the register is set by the system or user, and, if it is set by system,
when setting is performed.
<Set by>
S: Set by system (Motion CPU)
U: Set by user (Motion SFC program/Motion program or test operation using
MT Developer2)
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 relay, etc.)
Operation cycle : Set during each operation cycle of the Motion CPU.

APP - 6
APPENDICES

Table 1.2 Special register list


Set by
No. Name Meaning Details Remark
(When set)
• Error codes for errors found by diagnosis are stored as BIN data.
• Refer to "APPENDIX 3" for details of the error code.
Diagnostic error • After confirm the error content, except the stop error, it is possible to clear by
SD0 Diagnostic errors
code ON to OFF of the Motion error detection flag (M2039).
• Clear SD0 to SD26 by ON to OFF of the Motion error detection flag (M2039)
for except the stop error after confirming the error content.
• The year (last two digits) and month that SD0 data was updated is stored as
BCD 2-digit code.
SD1 Example : January 2006
B15 to B8 B7 to B0
H0601
Year(0 to 99) Month(1 to 12)

• The day and hour that SD0 data was updated is stored as BCD 2-digit code.
Clock time for Clock time for
SD2 diagnostic error diagnostic error B15 to B8 B7 to B0 Example : 25th, 10 a.m
H2510
occurrence occurrence Day(1 to 31) Hour(0 to 23)

• The minute and second that SD0 data was updated is stored as BCD 2-digit
code.
SD3 Example : 35min., 48 sec.
B15 to B8 B7 to B0
H3548
Minute(0 to 59) Second(0 to 59)

• Category codes which help indicate what type of information is being stored in
the error common information areas (SD5 to SD15) and error individual
information areas (SD16 to SD26) are stored. The category code for judging
the error information type is stored.
B15 to B8 B7 to B0
Individual information Common information S (Occur an error)
Error information Error information category codes category codes
SD4
categories category code • The common information category codes store the following codes.
0: No error
1: Module No./CPU No./Base No.
• The individual information category codes store the following codes.
0: No error
5: Parameter No.
13:Parameter No./CPU No.
SD5 • Common information corresponding to the diagnostic error (SD0) is stored.
SD6 • The error common information type can be judged by SD4 (common
SD7 information category code).
SD8 1: Module No./CPU No./Base No.
SD9 • For the Multiple CPU system, Module No. or CPU No. is stored
SD10 depending on the error that occurred.
(Refer to corresponding error code for which No. has been stored.)
SD11
Error common Error common CPU No.1: 1, CPU No.2: 2, CPU No.3: 3, CPU No.4: 4
SD12
information information
SD13 No. Meaning
SD14 SD5 Module No./CPU No./Base No.
SD6 I/O No.
SD7
SD15 to Empty
SD15

APP - 7
APPENDICES

Table 1.2 Special register list (Continued)


Set by
No. Name Meaning Details Remark
(When set)
SD16 • Individual information corresponding to the diagnostic error (SD0) is stored.
SD17 • The error individual information type can be judged by SD4 (individual
SD18 information category code).
SD19 5: Parameter No.
SD20 No. Meaning
SD21 SD16 Parameter No.
SD22 SD17
SD23 to Empty
SD24 SD26
SD25 0401H : Base setting
0406H : Motion slot setting
0E00H : Multiple CPU setting (Number of Multiple CPU's)
0E01H : Multiple CPU setting (Operation mode/Multiple CPU
Error individual Error individual
synchronous startup)
information information
E008H : Multiple CPU high speed transmission area setting(CPU
specific send range setting/ (System area))
S (Occur an error)
E009H/E00AH : Multiple CPU high speed transmission area setting
(Automatic refresh setting)
E00BH : Synchronous setting
SD26
13: Parameter No./CPU No.
No. Meaning
SD16 Parameter No.
SD17 CPU No.(1 to 4)
SD18
to Empty
SD26

• Every time the input voltage fails to or below (85[%] AC power/65[%] DC


AC/DC DOWN Number of times
SD53 power) the rating during calculation of the Motion CPU module, the value is
counter No. for AC/DC DOWN
incremented by 1 and stored in BIN code.
Module No. with
SD60 Fuse blown No. • The lowest station I/O No. of the module with the blown fuse is stored.
blown fuse
• The CPU switch status is stored in the following format.
B15 B12 B11 B8 B7 B4 B3 B0

Status of CPU
SD200 Status of switch Not used 1)
switch
1) CPU switch status 0: RUN
1: STOP

• The CPU operating status is stored as indicated in the following figure.


S (Main processing)
B15 B12 B11 B8 B7 B4 B3 B0

2) 1)
Operating status Operating status
SD203 1) Operating status of CPU 0: RUN
of CPU of CPU
2: STOP
2) STOP cause 0: RUN/STOP switch
4: Error

APP - 8
APPENDICES

Table 1.2 Special register list (Continued)


Set by
No. Name Meaning Details Remark
(When set)
• The year (last two digits) and month are stored as BCD code.
B15 to B12 B11 to B8 B7 to B4 B3 to B0 Example : July, 2006
Clock data H0607
SD210
(Year, Month)

Year Month

• The day and hour are stored as BCD code.


B15 to B12 B11 to B8 B7 to B4 B3 to B0 Example : 31st, 10 a.m.
Clock data H3110
SD211
(Day, Hour)

Day Hour

• The minutes and seconds are stored as BCD code.


B15 to B12 B11 to B8 B7 to B4 B3 to B0 Example : 35 min., 48 sec.
Clock data H3548
SD212
Clock data (Minute, Second) S/U (Request)

Minute Second

• The day of week is stored as BCD code.


B15 to B12 B11 to B8 B7 to B4 B3 to B0 Example : Friday
H0005

Day of week
Clock data
SD213 0 Sunday
(Day of week) Always set to "0". 1 Monday
2 Tuesday
3 Wednesday
4 Thursday
5 Friday
6 Saturday

Number of points
SD290 • Stores the number of points currently set for X devices.
assigned for X
Number of points
SD291 • Stores the number of points currently set for Y devices.
assigned for Y
Number of points
SD292 • Stores the number of points currently set for M devices.
assigned for M
Number of points
SD293 • Stores the number of points currently set for L devices.
assigned for L
Number of points
SD294 • Stores the number of points currently set for B devices.
assigned for B
Number of points
SD295 • Stores the number of points currently set for F devices.
assigned for F
Number of points
SD296 • Stores the number of points currently set for SB devices.
assigned for SB
Device Number of points
SD297 • Stores the number of points currently set for V devices. S (Initial processing)
assignment assigned for V
Number of points
SD298 • Stores the number of points currently set for S devices.
assigned for S
Number of points
SD299 • Stores the number of points currently set for T devices.
assigned for T
Number of points
SD300 • Stores the number of points currently set for ST devices.
assigned for ST
Number of points
SD301 • Stores the number of points currently set for C devices.
assigned for C
Number of points
SD302 • Stores the number of points currently set for D devices.
assigned for D
Number of points
SD303 • Stores the number of points currently set for W devices.
assigned for W
Number of points
SD304 • Stores the number of points currently set for SW devices.
assigned for SW

APP - 9
APPENDICES

Table 1.2 Special register list (Continued)


Set by
No. Name Meaning Details Remark
(When set)
SD395 Multiple CPU No. Multiple CPU No. • CPU No. of the self CPU is stored. S (Initial processing)
• The information (Except real mode axis: 0/Real mode axis: 1) used as a real
mode axis at the time of switching from real mode to virtual mode is stored.
Real mode axis
SD500 Real mode axis SD500 : b0 to b15 (Axis 1 to 16) S (At virtual mode
information
SD501 information register SD501 : b0 to b15 (Axis 17 to 32) transition)
register
• The real mode axis information does not change at the time of switching from
virtual mode to real mode
• The loading status (loading: 1/non-loading: 0) of the servo amplifier checked,
Servo amplifier and stored as the bit data.
SD502 Servo amplifier
loading SD502 : b0 to b15 (Axis 1 to 16) S (Operation cycle)
SD503 loading information
information SD503 : b0 to b15 (Axis 17 to 32)
• The mounting status of changed axis after the power supply on is stored.
SD504 Real mode/virtual Real mode /virtual • When a mode switching error occurs in real-to-virtual or virtual-to-real
SD505 mode switching mode switching mode switching, or a mode continuation error occurs in the virtual mode, its S (Occur an error)
SD506 error information error code error information is stored.
• Connect/ • SD508 stores the executing state for connect/disconnect of SSCNET
disconnect of communication and start/release of amplifier-less operation.
SSCNET 0 : Command accept waiting
SSCNET control
SD508 communication -1 : Execute waiting
(Status)
• Start/release of
amplifier-less -2 : Executing
S (Main processing)
operation
It is operating in
Test mode requirement error • Each axis is stopping: 0/Operating: 1, information is stored as a bit data.
SD510
request error occurrence of the SD510 : b0 to b15 (Axis 1 to Axis 16)
SD511
information test mode, axis SD511 : b0 to b15 (Axis 17 to Axis 32)
information
• The following error codes are stored in SD512.
1: S/W fault 1
2: Operation cycle over
Motion CPU Error meaning of
SD512 4: WDT error
WDT error cause WDT error occurs
300: S/W fault 3
303: S/W fault 4
304: RIO WDT error
• Contents of the manual pulse generator axis setting error is stored when the
manual pulse generator axis setting error (SM513) turn on.
(Normal: 0/Setting error: 1)
Manual pulse SD513 : The manual pulse generator axis setting error is stored in b0 to b2
SD513 Manual pulse
generator axis (P1 to P3).
SD514 generator axis
setting error The smoothing magnification setting is stored in b3 to b5 (P1 to P3).
SD515 setting error
information SD514 : One pulse input magnification setting error is stored in b0 to b15 S (Occur an error)
(axis 1 to axis 16).
SD515 : One pulse input magnification setting error is stored in b0 to b15
(axis 17 to axis 32).
Error program No.
of servo program • When the servo program setting error (SV13/SV22)/motion program setting
Error program
SD516 (SV13/SV22)/ error (SV43) (SM516) turns on, the erroneous servo program No.
No.
motion program (SV13/SV22)/motion program No. (SV43) will be stored.
(SV43)
Error code of servo
program • When the servo program setting error (SV13/SV22)/motion program setting
Error item
SD517 (SV13/SV22)/ error (SV43) (SM516) turns on, the error code corresponding to the
information
motion program erroneous setting item will be stored.
(SV43)
Scan time • Main cycle is stored in the unit 1ms.
SD520 Scan time
(1ms units) Setting range (0 to 65535[ms])
S (Main processing)
Maximum scan Maximum scan • The maximum value of the main cycle is stored in the unit 1ms.
SD521
time time (1ms units) Setting range (0 to 65535[ms])
Motion operation Motion operation
SD522 • The time required for motion operation cycle is stored in the [µs] unit. S (Operation cycle)
cycle cycle

APP - 10
APPENDICES

Table 1.2 Special register list (Continued)


Set by
No. Name Meaning Details Remark
(When set)
Operation cycle Operation cycle
SD523 of the Motion of the Motion CPU • The setting operation cycle is stored in the [µs] unit. S (Initial processing)
CPU setting setting
Maximum Motion
Maximum Motion • The maximum time for motion operation is stored every motion operation
SD524 operation cycle S (Operation cycle)
QDS
operation cycle cycle in [µs] unit.

SD550 System setting Error code • The error code indicating the details of system setting error is stored.
error information Error individual S (Occur an error)
SD551 QDS • The individual information of system setting error is stored.
information
• The read value of servo parameter which executed "2: Read request" in
SD804 is stored.
SD552 Servo parameter
Servo parameter • The read value (low 1 word) of servo parameter which executed "4: 2 word
write/read S (Read request)
read value read request" in SD804 is stored.
request QDS
• The read value (high 1 word) of servo parameter which executed "4: 2 word
SD553
read request" in SD804 is stored.
• When the operating system software is SV22, the operation method
Operation
information is stored.
SD560 method Operation method
0: Virtual mode switching method
QDS Ver.!
1: Advanced synchronous control method
Multiple CPU Multiple CPU • The CPU setting status of Multiple CPU synchronous control is stored.
synchronous synchronous 0: Independent CPU
SD561
control setting control setting 1: Master CPU
status QDS Ver.! status 2: Slave CPU
Number of points
SD700 • Stores the number of points for device # used in the Motion CPU.
assigned for #
Number of points
assigned for CPU • Stores the number of points currently set for CPU No.1 Multiple CPU area
SD701
No.1 Multiple CPU devices.
S (Initial processing)
area devices
Number of points
assigned for CPU • Stores the number of points currently set for CPU No.2 Multiple CPU area
SD702
Device No.2 Multiple CPU devices.
assignment area devices
Number of points
assigned for CPU • Stores the number of points currently set for CPU No.3 Multiple CPU area
SD703
No.3 Multiple CPU devices.
area devices
Number of points
assigned for CPU • Stores the number of points currently set for CPU No.4 Multiple CPU area
SD704
No.4 Multiple CPU devices.
area devices
• Current value (SD720, SD721) is incremented by 1 per 444µs.
Read SD720 device in 2 word unit.
Item Specification
Data size 2 word (-2147483648 to 2147483647)
SD720 444µs coasting 444µs coasting Cleared to zero at power-on or reset, a count
Latch S (444µs)
SD721 timer timer rise is continued from now on.
Usable tasks Normal, event, NMI
Access Read only enabled
Timer specifications 444µs timer

Ver.! : Refer to Section 1.5 for the software version that supports this function.

APP - 11
APPENDICES

Table 1.2 Special register list (Continued)


Set by
No. Name Meaning Details Remark
(When set)
• Current value (SD722, SD723) is incremented by 1 per 222µs.
Read SD722 device in 2 word unit.
• This register is not updated when the operation cycle is set to other than
0.2ms.
Item Specification
SD722 222µs coasting 222µs coasting Data size 2 word (-2147483648 to 2147483647) S (222µs)
SD723 timer QDS timer Cleared to zero at power-on or reset, a count
Latch
rise is continued from now on.
Usable tasks Normal, event, NMI
Access Read only enabled
Timer specifications 222µs timer

• SD803 is required for connect/disconnect of SSCNET communication and


• Connect/ start/release of amplifier-less operation.
disconnect of 0 : No command
SSCNET 1 to 32 : Disconnect command of SSCNET communication
SSCNET control
SD803 communication -10 : Connect command of SSCNET communication U
(Command)
• Start/release of -20 : Start command 1 of amplifier-less operation (EMI invalid)
amplifier-less -21 : Start command 2 of amplifier-less operation (EMI valid)
operation -25 : Release command of amplifier-less operation
-2 : Execute command
• The "write/read request" is executed after setting of the axis No. and servo
parameter No.
1: Write request
Servo parameter
SD804 2: Read request
(Note-1) write/read request (Note-2) S/U
3: 2 word write request
flag (Note-2)
4: 2 word read request
• "0" is automatically set by Motion CPU after completion of servo parameter
write/read request. ("-1" is stored by Motion CPU at write/read error.)
• The axis No. to write/read servo parameter is stored.
SD805 Axis No. Q173DSCPU: 1 to 32
Q172DSCPU: 1 to 16
• The servo parameter No. to be written/read is stored in hexadecimal.

H
Parameter No.
Parameter group No.
0: PA 5: PF
Servo parameter 1: PB 9: Po
2: PC A: PS
write/read
3: PD B: PL (MR-J4(W)- B only)
request QDS 4: PE C: PT (MR-J4(W)- B only)
Servo parameter Fixed at 0
SD806
No. • VC series use U
H
Parameter No.
Parameter group No.
0: Group 0 5: Group 5
1: Group 1 6: Group 6
2: Group 2 7: Group 7
3: Group 3 8: Group 8
4: Group 4 9: Group 9

Servo parameter • The setting value of servo parameter to be written is stored when "1: Write
SD807
value request" is set in SD804.
SD808 Servo parameter
• The setting value of servo parameter to be written is stored when "3: 2 word
setting value
SD809 write request" is set in SD804.
(2 word)

(Note-1): Do not execute the automatic refresh.


(Note-2): This can be set only in VC series.

APP - 12
APPENDICES

APPENDIX 1.3 Replacement of special relays/special registers

When a project of Q17 HCPU(-T)/Q17 CPUN(-T)/Q17 CPU is converted into a


project of Q17 D(S)CPU by "File diversion" in MT Developer2, they are automatically
allocated to "Automatically converted to special relays (SM2000 to SM2255), special
registers (SD2000 to SD2255)". (Refer to table 1.3 and table 1.4.)

"Automatically converted to special relays (SM2000 to SM2255), special registers


(SD2000 to SD2255)" output the same statuses and data as the "Special relay, special
register of Q17 D(S)CPU".

When replacing "automatically converted to special relays (SM2000 to SM2255),


special registers (SD2000 to SD2255)" into "Special relay, special register of
Q17 D(S)CPU", confirm the device usage condition by "List of used device" of
MT Developer2. (Refer to table 1.3 and table 1.4.)
Refer to the help of MT Developer2 for operation procedure of the list of used device.

POINT
When a project of Q17 HCPU(-T)/Q17 CPUN(-T)/Q17 CPU are copied from
other project by program editor in MT Developer2, they are not replaced to
"automatically converted to special relays (SM2000 to SM2255), special registers
(SD2000 to SD2255)".

REMARK
Confirm the device usage condition by "List of used device" of MT Developer2" to
change the device number used in a project of Q17 HCPU(-T)/Q17 CPUN(-T)/
Q17 CPU except the special relays or special registers to the device number of
Q17 D(S)CPU. (Refer to "APPENDIX 4.2 Comparison of devices".)

APP - 13
APPENDICES

Table 1.3 Replacement of special relays


Device No.
Q17 HCPU(-T)/
Automatically Q17 D(S)CPU
Q17 CPUN(-T)/Q17 CPU Name Remark
converted to
Special relay
Special relays special relays Special relays
allocated device
M9000 M2320 SM2000 SM60 Fuse blown detection
M9005 M2321 SM2005 SM53 AC/DC DOWN detection
M9006 M2322 SM2006 SM52 Battery low
M9007 M2323 SM2007 SM51 Battery low latch
M9008 M2324 SM2008 SM1 Self-diagnostic error
M9010 M2325 SM2010 SM0 Diagnostic error
It operates by the clock
M9025 M3136 — — Clock data set request
data of CPU No.1
M9026 M2328 SM2026 SM211 Clock data error
M9028 M3137 SM2028 SM801 Clock data read request
M9036 M2326 SM2036 SM400 Always ON
M9037 M2327 SM2037 SM401 Always OFF
Use M2039 for error
M9060 M3138 SM2060 — Diagnostic error reset
reset operation.
M9073 M2329 SM2073 SM512 Motion CPU WDT error
M9074 M2330 SM2074 SM500 PCPU READY complete
M9075 M2331 SM2075 SM501 Test mode ON
M9076 M2332 SM2076 SM502 External forced stop input
M9077 M2333 SM2077 SM513 Manual pulse generator axis setting error
M9078 M2334 SM2078 SM510 TEST mode request error
Servo program setting error (SV13/SV22)/
M9079 M2335 SM2079 SM516
Motion program setting error (SV43)
M9216 M2345 SM2216 SM528 No.1 CPU MULTR complete
M9217 M2346 SM2217 SM529 No.2 CPU MULTR complete
M9218 M2347 SM2218 SM530 No.3 CPU MULTR complete
M9219 M2348 SM2219 SM531 No.4 CPU MULTR complete
M9240 M2336 SM2240 SM240 No.1 CPU resetting
M9241 M2337 SM2241 SM241 No.2 CPU resetting
M9242 M2338 SM2242 SM242 No.3 CPU resetting
M9243 M2339 SM2243 SM243 No.4 CPU resetting
M9244 M2340 SM2244 SM244 No.1 CPU error
M9245 M2341 SM2245 SM245 No.2 CPU error
M9246 M2342 SM2246 SM246 No.3 CPU error
M9247 M2343 SM2247 SM247 No.4 CPU error

POINT
(1) The special relay allocated devices (M2320 to M2399, M3136 to M3199) of
Q17 HCPU(-T)/Q17 CPUN(-T)/Q17 CPU are not allocated to "Automatically
converted to special relays". Confirm the device usage condition by "List of
used device" of MT Developer2 to change them. (Refer to table 1.3.)
(2) "Automatically converted to special relays SM2028 (Clock data set request)" is
shown below.
• Device OFF to ON : "Special relay of Q17 D(S)CPU" ON
• Device ON to OFF : "Special relay of Q17 D(S)CPU" OFF

APP - 14
APPENDICES

Table 1.4 Replacement of special registers


Device No.
Q17 HCPU(-T)/ Automatically
Q17 D(S)CPU Name Remark
Q17 CPUN(-T)/Q17 CPU converted to
Special registers special registers Special registers
D9000 SD2000 SD60 Fuse blown No.
D9005 SD2005 SD53 AC/DC DOWN counter No.
D9008 SD2008 SD0 Diagnostic errors
Clock time for diagnostic error occurrence
D9010 SD2010 SD1
(Year, month)
Clock time for diagnostic error occurrence
D9011 SD2011 SD2
(Day, hour)
Clock time for diagnostic error occurrence
D9012 SD2012 SD3
(Minute, second)
D9013 SD2013 SD4 Error information categories
D9014 SD2014 SD5 Error common information
D9015 SD2015 SD203 Operating status of CPU
D9017 SD2017 SD520 Scan time
D9019 SD2019 SD521 Maximum scan time
D9025 SD2025 SD210 Clock data (Year, month)
D9026 SD2026 SD211 Clock data (Day, hour)
D9027 SD2027 SD212 Clock data (Minute, second)
D9028 SD2028 SD213 Clock data (Day of week)
Use M2039 for error
D9060 SD2060 — Diagnostic error reset error No.
reset operation.
D9061 SD2061 SD395 Multiple CPU No.
SD508 SSCNET control (Status)
D9112 SD2112
SD803 SSCNET control (Command)
D9182 SD2182 SD510
Test mode request error
D9183 SD2183 SD511
D9184 SD2184 SD512 Motion CPU WDT error cause
D9185 SD2185 SD513
D9186 SD2186 SD514 Manual pulse generator axis setting error
D9187 SD2187 SD515
D9188 SD2188 SD522 Motion operation cycle
D9189 SD2189 SD516 Error program No.
D9190 SD2190 SD517 Error item information
D9191 SD2191 SD502
Servo amplifier loading information
D9192 SD2192 SD503
D9193 SD2193 SD504
Real mode/virtual mode switching error
D9194 SD2194 SD505
information
D9195 SD2195 SD506
Q173D(S)CPU/
Q172D(S)CPU does not
D9196 SD2196 — PC link communication error codes
support PC link
communication.
D9197 SD2197 SD523 Operation cycle of the Motion CPU setting
D9200 SD2200 SD200 State of switch
Use 7-segment LED in
D9201 SD2201 — State of LED Q173D(S)CPU/
Q172D(S)CPU.

POINT
"Automatically converted to special registers SD2112 (SSCNET control)" are
reflected to the Q17 D(S)CPU special registers by setting the data to devices.

APP - 15
APPENDICES

APPENDIX 2 System Setting Errors

Motion CPUs generate a system configuration error under the following conditions.

Table 2.1 System Setting Errors


System setting error
information QDS
7-segment Error Operation at
Error
Error Error name QD
LED code Error cause Check timing error
individual (Note-1) (Note-2) occurrence
code
information
(SD550)
(SD551)
Base No., LAY ERROR • The slot set in system settings is vacant or a
2 (Note-4)
Slot No. (SL ) different module is installed.
• The axis No. setting overlaps in the system settings.
• The axis No. (function select switch) setting of servo Multiple CPU
Axis No. of
AXIS NO. 10014 amplifier overlaps in the same SSCNET line. system's power
3 servo (Note-3)
MULTIDEF • When the MR-J4W B is used, the axis setting supply ON/
amplifier
equal to the number of used axes set in the servo Reset
amplifier is not set in the system setting.
• The servo amplifier is not set even by one axis in
4 None (0) AMP NO SETTING
the system settings.
Base No., SL UNIT 10016 • The module installed in the slot of the motion CPU Cannot be
6 (Note-4) (Note-5) Always
Slot No. ERROR control is abnormal. started.
Multiple CPU (Motion CPU
system's power system
• The setting which cannot use the driver
supply ON/ setting error)
communication is carried out with the motion
8 Axis No. — At start of
controller and the servo amplifier corresponding to
communication
the driver communication.
with servo
amplifier
• The number of actual I/O points set in system
10 I/O POINTS OVER
settings exceeds 256. Multiple CPU
11 AXIS NO. ERROR • System setting data is not written. system's power
None (0)
• System setting data is not written. supply ON/
SYS.SET DATA
13 "AL" flashes • System setting data is written without relative check. Reset
ERR
3- times Or it is written at the state of error occurrence.
The servo
"L01" display • The servo amplifier that cannot be used for the amplifier for
AMP TYPE Servo
operating system software is set in the system target axis
ERROR amplifier's
14 Axis No. settings. does not
( : Axis No.1 to power supply
• The servo amplifier series set in the system setting operate, the
32) ON
10014 and installed servo amplifier series is different. axis does not
(Note-3) start.
• Type of the operating system software of data
15 ROM ERROR1
written to ROM is different.
16 ROM ERROR2 • Data is not written to ROM.
• Data size of ROM is abnormal.
• Execute the ROM writing again.
ROM ERROR3 • Check the adjustment for the version of
17
( ) Motion CPU, MT Developer2 and operating
None (0) Cannot be
system software. Multiple CPU
started.
• Data of ROM is abnormal. system's power
(Motion CPU
supply ON/
• Execute the ROM writing again. system
ROM ERROR4 Reset
18 • Check the adjustment for the version of setting error)
( ) Motion CPU, MT Developer2 and operating
system software.

• The motion modules that cannot be used are


Base No., CAN'T USE SL installed.
20 (Note-4) • Use the Motion modules (Q172DLX,
Slot No. ( )
Q173DPX, Q172DEX).

APP - 16
APPENDICES

Table 2.1 System Setting Errors (Continued)


System setting error
information QDS
7-segment Error Operation at
Error
Error Error name QD
LED code Error cause Check timing error
individual (Note-1) (Note-2) occurrence
code
information
(SD550)
(SD551)
• The system setting data that set the motion modules
that cannot be used are written.
Base No., UNIT SET ERR • Use the MT Developer2 of version
21 (Note-4)
Slot No. ( ) corresponding to the Motion modules Multiple CPU
(Q172DLX, Q173DPX, Q172DEX). system's power
supply ON/
• The safety function parameters are set to the motion
Reset
CPU that does not support the safety observation
SAFERY
22 function.
SYS.ERR.
• The safety signal monitor parameter is set to other
None (0) than CPU No.2.
Fixed parameter
24 • The fixed parameter is not written.
unregistered error
Parameter block
25 • The parameter block is not written.
unregistered error
Servo parameter • The servo parameter of the system setting axis is
26 Axis No. Multiple CPU
unregistered error not written.
system's power
• The software security keys of the motion controller
supply ON/
OS and the user project do not match.
Software security Reset/
27 None (0) • The software security key is embedded only in
key error M2000 ON
either of the motion controller OS or the user Cannot be
"AL" flashes
project. started.
3- times 10014
(Note-3) • The number of SSCNET /H head module stations (Motion CPU
28 None (0) — exceeds the number of maximum stations which system
"L01" display
can be used at operation cycle. setting error)
• The user setting area of Multiple CPU high speed
29 — transmission area is setting to less than 512 points
Multiple in system of Multiple CPU synchronous control.
CPU No. • The operating cycle is not same setting for master
(2 to 4) CPU and slave CPU or is setting to less than
30 —
0.88ms in system of Multiple CPU synchronous At the initial
control. process
• Setting multiple master CPU in system of Multiple complete of
31 —
CPU synchronous control. Multiple CPU
• Master CPU is not setting in system of Multiple CPU synchronous
synchronous control. control after
32 — • Master CPU cannot be detected in system of power ON of
Multiple CPU synchronous control, since each CPU Multiple CPU
None (0)
startup timing is different. system.
• Slave CPU is not setting in system of Multiple CPU
synchronous control.
33 — • Slave CPU cannot be detected in system of Multiple
CPU synchronous control, since each CPU startup
timing is different.

(Note-1): ""AL" flashes 3-times "L01" display" (Repetition) Error code is not displayed.
(Note-2): Error code stored in diagnostic error (SD0)
(Note-3): When the error code 10014 occurs, the system setting error flag (M2041) turns ON and the error name of table 2.1 is displayed on the error list monitor
of MT Developer2.
(Note-4): " " part is indicated the following contents.
(Example) For LAY ERROR (SL )
LAY ERROR(SL )

Slot No.
Base No.
(Note-5): When the error code 10016 occurs, the motion slot fault detection flag (M2047) turns ON and the error name of table 2.1 is displayed on the error list
monitor of MT Developer2.

APP - 17
APPENDICES

MEMO

APP - 18
APPENDICES

APPENDIX 3 Self-diagnosis Error

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.
Confirm the error codes and contents by "Motion error history" on Motion CPU error
batch monitor of MT Developer2 and remove the error cause if an error occurs.

Confirm operation status and error occurrence of each CPU used in the Multiple CPU
system by PLC diagnosis of GX Works2/GX Developer.

<Screen: GX Works2>

APP - 19
APPENDICES

(1) Multiple CPU related errors which occurs in Motion CPU


Each digit of error code has been described as follows.
Major division
1 Internal hardware
2 Handling
Digit : 3 Parameter
Tens digit : Details code 4 Program
Hundreds digit : 5 Watch timer
Thousands digit : Major division (Cause) 6 Redundant system
7 Multiple CPU
8
9 Outside diagnosis

Table 3.1 Multiple CPU related errors which occurs in Motion CPU (1000 to 9999)
Error code Common information Individual Information CPU operation Diagnostic
Item Error message 7-segment LED display
(SD0) (SD5 to SD15) (SD16 to SD26) status timing
1000
1001
1002
1003
1004
MAIN CPU DOWN — — Stop Always
1005
1006
CPU hard
1007
error
1008
1009
1105
At power ON/
RAM ERROR — — Stop
1150 At reset
"AL" flashes 3 times

1300 FUSE BREAK OFF Module No. — Steady "A1" display Stop Always

4 digits error code is


displayed in two flashes
of 2 digits each. At power ON/
1401
At reset
Module hard
SP. UNIT DOWN Module No. — Stop
error

1403 Always

1413 —
1414 Module No. Always
Base 1415 CONTROL-BUS. ERR. Base No. (Note-2) — Stop
At power ON/
1416 CPU No. (Note-1)
At reset

(Note-1): CPU No. is stored in slot No. of common information classification.


(Note-2): Base No. stored in "common information classification code" of "error information classification code" "0 : Main base, 1 to 7 : Number of extension
bases.

APP - 20
APPENDICES

Error code
Error contents and cause Corrective action
(SD0)
1000
1001
1002
1003
Runaway or failure of CPU module.
1004 (1) Take noise reduction measures.
(1) Malfunctioning due to noise or other reason
1005 (2) Reset the CPU module and RUN it again. If the same error is
(2) Hardware fault
1006 displayed again, this suggests a CPU module hardware fault.
1007 Explain the error symptom and get advice from our sales
1008 representative.
1009
1105 The CPU shared memory in the CPU module is faulty.
The memory of the CPU module in the Multiple CPU high speed
1150
transmission area is faulty.
Check FUSE. LED of the output modules and replace the module whose
1300 There is an output module with a blown fuse.
LED is lit.
(1) Set the Motion module/intelligent function module used in the Motion
CPU in the system setting.
(1) There was no response from the Motion module/intelligent
(2) When the unsupported module is mounted, remove it.
function module in the initial processing.
When the corresponding module is supported, this suggests the Motion
1401 (2) The size of the buffer memory of the Motion module/intelligent
module, intelligent function module, CPU module and/or base unit is
function module is invalid.
expecting a hardware fault.
(3) The unsupported module is mounted.
Explain the error symptom and get advice from our sales
representative.
(1) An error is detected at the intelligent function module. The CPU module, base unit and/or the intelligent function module that
1403 (2) The I/O module (including intelligent function module) is nearly was accessed is experiencing a hardware fault.
removed or completely removed/mounted during running. Explain the error symptom and get advice from our sales representative.
1413
An error is detected on the system bus.
1414 Reset the CPU module and RUN it again. If the same error is displayed
1415 Fault of the main or extension base unit was detected. again, the intelligent function module, CPU module or base unit is faulty.
Explain the error symptom and get advice from our sales representative.
1416 System bus fault was detected at power-on or reset.

APP - 21
APPENDICES

Table 3.1 Multiple CPU related errors which occurs in Motion CPU (1000 to 9999)
(Continued)
Error code Common information Individual Information CPU operation Diagnostic
Item Error message 7-segment LED display
(SD0) (SD5 to SD15) (SD16 to SD26) status timing

1430 —

At power ON/
1431 "AL" flashes 3 times
At reset

Multiple CPU Steady "A1" display


high speed MULTI-C.BUS ERR. — Stop
bus 4 digits error code is
CPU No.
1432 displayed in two flashes
of 2 digits each.

1433

1434 Always

1435

Power supply 1500 AC/DC DOWN — — None Continue Always

Steady "BT1"
Battery 1600 BATTERY ERROR Drive name — Continue Always
Steady "BT2"

2100
Module No.

2107

2124 — "AL" flashes 3 times


Handling the
SP. UNIT LAY ERR.
intelligent
Steady "A1" display
function At power ON/
2125 — Stop
module/ At reset
4 digits error code is
Multiple CPU
displayed in two flashes
module
of 2 digits each.
2140 Module No.

2150 SP. UNIT VER. ERR.

APP - 22
APPENDICES

Error code
Error contents and cause Corrective action
(SD0)
Reset the CPU module and RUN it again. If the same error is displayed
1430 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.
(1) Take noise reduction measures.
(2) Check the main base unit mounting status of the CPU module.
(3) Reset the CPU module and RUN it again. If the same error is
The communication error with other CPU is detected in the Multiple
1431 displayed again, this suggests a CPU module or base unit hardware
CPU high speed bus.
fault.
Explain the error symptom and get advice from our sales
representative.
Reset the CPU module and RUN it again. If the same error is displayed
The communication time out with other CPU is detected in the
1432 again, this suggests a CPU module hardware fault.
Multiple CPU high speed bus.
Explain the error symptom and get advice from our sales representative.
(1) Take noise reduction measures.
1433
(2) Check the main base unit mounting status of the CPU module.
The communication error with other CPU is detected in the Multiple (3) Reset the CPU module and RUN it again. If the same error is displayed
1434
CPU high speed bus. again, this suggests a CPU module or base unit hardware fault.
Explain the error symptom and get advice from our sales
1435
representative.
A momentary power supply interruption has occurred.
1500 Check the power supply.
The power supply went off.
(1) The battery voltage in the CPU module has dropped below
stipulated level. (1) Change the battery.
1600
(2) The battery holder unit that install the battery is not mounted to the (2) Mount the battery holder unit that installs the battery.
CPU module.
Make the PLC parameter's I/O assignment setting again so it is consistent
In the I/O assignment setting of PLC CPU, the intelligent function
2100 with the actual status of the intelligent function module and the CPU
module was allocated to an I/O module or vice versa.
module.
The first I/O No. set in the system settings is overlapped with the one Make the I/O No. setting again so it is consistent with the actual status of
2107
for another module. the modules.
(1) A module is mounted on the 65th or higher slot. (1) Remove the module mounted on the 65th or later slot.
2124
(2) The extension base unit set to "None" is mounted. (2) Remove the extension base unit set to "None".
(1) Install an usable module.
(1) A module which the CPU cannot recognize has been mounted. (2) The intelligent function module is experiencing a hardware fault.
2125
(2) There was no response form the intelligent function module. Explain the error symptom and get advice from our sales
representative.
The motion modules (Q172DLX, Q172DEX, Q173DPX, Q172LX,
2140 Q172EX (-S1/-S2/-S3), Q173PX (-S1)) are installed in CPU slot or Remove the Motion modules installed CPU slot or I/O 0 to 2 slot.
I/O 0 to 2 slot.
(1) Change to the intelligent function module (function version B or later)
In a Multiple CPU system, the control CPU of intelligent function
compatible with the Multiple CPU system.
2150 module incompatible with the Multiple CPU system is set to other than
(2) Change the control CPU of intelligent function module incompatible with
CPU No.1.
the Multiple CPU system to CPU No.1.

APP - 23
APPENDICES

Table 3.1 Multiple CPU related errors which occurs in Motion CPU (1000 to 9999)
(Continued)
Error code Common information Individual Information CPU operation Diagnostic
Item Error message 7-segment LED display
(SD0) (SD5 to SD15) (SD16 to SD26) status timing

3001
At power ON/
At reset/
STOP RUN

3012
Parameter No.

Parameter PARAMETER ERROR — Stop

3013

At power ON/
At reset

Parameter No./
3015
CPU No.

Always
CPU No. "AL" flashes 3 times
7000 (Note-1) (Note-3)

MULTI CPU DOWN — Steady "A1" display Stop


At power
4 digits error code is supply ON/
CPU No. displayed in two flashes at reset
7002 (Note-1)
of 2 digits each.

CPU No.
7010 (Note-1)

At power
7011 —
Multiple CPU MULTI EXE. ERROR — Stop supply ON/
at reset

7013 CPU No.

CPU No.
7020 MULTI CPU ERROR (Note-1) — Continue Always

7030
At power
CPU No.
CPU LAY. ERROR — Stop supply ON/
7031 at reset

7035 Module No.

(Note-1): CPU No. is stored in slot No. of common information classification.


(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 common error information depending on timing.

APP - 24
APPENDICES

Error code
Error contents and cause Corrective action
(SD0)
(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
3001 The parameter settings are corrupted. 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.
Multiple CPU setting of Multiple CPU setting parameter or control Match the Multiple CPU setting of Multiple CPU setting parameter or control
3012 CPU setting of system setting differs from that of the reference CPU CPU setting of system setting with that of the reference CPU (CPU No.1)
settings. settings.
Check the following in the Multiple CPU automatic refresh setting and make
Multiple CPU automatic refresh setting is any of the following.
correction.
(1) When a bit device is specified as a refresh device, a number other
(1) When specifying the bit device, specify a multiple of 16 for the refresh
than a multiple of 16 is specified for the refresh start device.
start device.
3013 (2) The device specified is other than the one that may be specified.
(2) Specify the device that may be specified for the refresh device.
(3) The number of send points is an odd number.
(3) Set the number of send points to an even number.
(4) The total number of send points is greater than the maximum
(4) Set the total number of send points is within the range of the maximum
number of refresh points.
number of refresh points.
(1) Set "Use multiple CPU high speed transmission " in the Universal
(1) "Use multiple CPU high speed transmission " is not set in the
module QCPU.
Multiple CPU setting of Universal module QCPU.
3015 (2) Check the parameter item corresponding to the numerical value
(2) In a Multiple CPU system, the CPU verified is different from the
(parameter No./CPU No.) and parameter of target CPU, and correct
one set in the parameter setting.
them.
In the operating mode of a Multiple CPU system, a CPU error
occurred at the CPU where "All station stop by stop error of CPU"
was selected. Check the error of the CPU resulting in CPU module fault, and remove the
7000
In a Multiple CPU system, CPU No.1 resulted in stop error at power- errors.
on and the other CPU cannot start. (This error occurred at CPU No.2
to 4)
Reset the CPU module and RUN it again. If the same error is displayed
There is no response from the target CPU module in a Multiple CPU
7002 again, this suggests the hardware fault of any of the CPU modules.
system during initial communication.
Explain the error symptom and get advice from our sales representative.

7010 In a Multiple CPU system, a faulty CPU module was mounted. Replace the faulty CPU module.

Either of the following settings was made in a Multiple CPU system.


(1) Multiple CPU automatic refresh setting was made for the
(1) Correct the Multiple CPU automatic refresh setting.
inapplicable CPU module.
(2) Correct the "I/O sharing when using multiple CPUs" setting.
(2) "I/O sharing when using multiple CPUs" setting was made for the
inapplicable CPU module.
7011
The system configuration for using the Multiple CPU high speed
transmission function is not met.
Change to the system configuration to meet the conditions for using the
(1) The QnUD CPU is not used for the CPU No.1.
Multiple CPU high speed transmission function.
(2) The Multiple CPU high speed main base unit (Q3 DB) is not
used.
(1) CPU module which cannot be mounted in QnUD CPU is
7013 mounted. (The module may break down.) Remove Q173HCPU, Q172HCPU, Q173CPUN, Q172CPUN.
(2) Q173HCPU, Q172HCPU, Q173CPUN, Q172CPUN is mounted.
In the operating mode of a Multiple CPU system, an error occurred in
Check the error of the CPU resulting in CPU module fault, and remove the
7020 the CPU where "system stop" was not selected. (The CPU module
error.
where no error occurred was used to detect an error.)
An assignment error occurred in the CPU-mountable slot (CPU slot, (1) Set the same value to the number of CPU modules specified in the
7030 I/O slot 0 to 2) in excess of the number of CPU slot (with in the range Multiple CPU setting of the PLC parameter and the number of mounted
of CPU number setting parameter). CPU modules (including CPU (empty)).
An assignment error occurred in the CPU slot (within the range of the (2) Make the same as the state of the installation of CPU module set in the
7031
CPU number setting parameter). system setting.
7035 The CPU module has been mounted on the inapplicable slot. Mount the CPU module on the applicable slot.

APP - 25
APPENDICES

(2) Motion CPU-specific errors


Each digit of error code has been described as follows.
Refer to programming manuals for error details.
Details code
1 0
002 Minor/major error (Command generation axis)(SV22)
003 Minor/major error
Digit : 004 Minor/major error (Virtual servo motor axis)(SV22)
Tens digit : Details code 005 Minor/major error (Synchronous encoder axis)(SV22)
Hundreds digit : 006 Servo error (MR-J3- B, MR-J3- B compatibility mode)
Thousands digit : Positioning CPU division Servo program setting error (SV13/SV22)/
(0 : Motion CPU) 007
Motion program setting error (SV43)
Ten thousands digit : Except PLC CPU 008 Mode switching error (SV22)
009 Manual pulse generator axis setting error
010 TEST mode request error
011 WDT error
014 System setting error
015 Servo error (MR-J4- B)
016 Motion slot fault
020 Motion SFC control error (F/FS)
021 Motion SFC control error (G)
022 Motion SFC control error (K or others (Not F/FS, G))
023 Motion SFC control error (Motion SFC chart)
030 Motion CPU internal bus error
040 Inverter error
041 VC error
042 SSCNET /H head module error
050 Safety observation error (Alarm)
051 Safety observation error (Warning)

Table 3.2 Motion CPU-specific errors (10000 to 10999)


Error code Common information Individual information
Error messages 7-segment LED display CPU operation status
(SD0) (SD5 to SD15) (SD16 to SD26)

10002

10003
None
10004

10005

"AL" flashes 3 times


10006
Steady "S01" display

Continue
10007

MC.UNIT ERROR — —

10008 None

10009

10010

10011 Steady ". . . " display

"AL" flashes 3 times Stop


10014
Steady "L01" display

APP - 26
APPENDICES

Error code
Error contents and cause Corrective action
(SD0)
Minor/major errors had occurred in command generation axis.
10002
(SV22) Check the Motion error history of MT Developer2 and the minor/major error
10003 Minor/major errors had occurred. codes of minor/major error code of minor/major error code storage device,
10004 Minor/major errors had occurred in virtual servomotor axis. (SV22) and remove the error cause.
Minor/major errors had occurred in synchronous encoder axis. Refer to the error codes for error details.
10005
(SV22)
Check the Motion error history of MT Developer2 and the servo error codes
The servo errors had occurred in the servo amplifier (MR-J3- B, of servo error code storage device, and remove the error cause of servo
10006
MR-J3- B compatibility mode) connected to the Motion CPU. amplifier.
Refer to the servo error code for details.
Check the Motion error history of MT Developer2 and the servo program
setting error (SV13/SV22)/Motion program setting error (SV43) storage
Servo program setting (SV13/SV22)/Motion program setting error
10007 device (error program No., error item information), and remove the error
(SV43) error occurred.
cause.
Refer to the error codes for details.
Check the Motion error history of MT Developer2 and the real mode/virtual
10008 Real mode/virtual mode switching error occurred. (SV22) mode switching error storage device, and remove the error cause.
Refer to the real mode/virtual mode switching error codes for details.
Check the Motion error history of MT Developer2 and the manual pulse
10009 Manual pulse generator axis setting error occurred. generator axis setting error storage device, and remove the error cause.
Refer to the manual pulse generator axis setting error codes for details.
Check the Motion error history of MT Developer2 and the test mode request
10010 Test mode request error occurred.
error storage device, and remove the error cause.
Check the Motion error history of MT Developer2 and the Motion CPU WDT
10011 WDT error occurred at Motion CPU.
error factors, and remove the error cause.
Check the error message on error monitor screen of MT Developer2, and
10014 System setting error occurred at Motion CPU. remove the error cause. And then, turn on the power supply again or reset
the Multiple CPU system.

APP - 27
APPENDICES

Table 3.2 Motion CPU-specific errors (10000 to 10999) (Continued)


Error code Common information Individual information
Error messages 7-segment LED display CPU operation status
(SD0) (SD5 to SD15) (SD16 to SD26)

10015 None Continue

"AL" flashes 3 times


10016 Stop
Steady "L01" display
10020
10021
Continue
10022
None
10023

10030 Stop

10040 MC.UNIT ERROR — —

10041 "AL" flashes 3 times

Steady "S01" display


Continue

10042

10050
None
10051

APP - 28
APPENDICES

Error code
Error contents and cause Corrective action
(SD0)
Check the Motion error history of MT Developer2 and the servo error codes
The servo errors had occurred in the servo amplifier (MR-J4- B) of servo error code storage device, and remove the error cause of servo
10015
connected to the Motion CPU. amplifier.
Refer to the servo error code for details.
Check the error message on error monitor screen of MT Developer2, and
10016 Motion slot fault occurred at Motion CPU. remove the error cause. And then, turn on the power supply again or reset
the Multiple CPU system.
10020
Check the Motion error history of MT Developer2, and remove the error
10021
Motion SFC error occurred at Motion SFC program. cause.
10022
Refer to the Motion SFC error code for details.
10023
Motion CPU module hardware fault.
10030 Motion CPU internal bus error occurred.
Explain the error symptom and get advice from our sales representative.
Check the Motion error history of MT Developer2 and the error code of the
10040 Inverter error occurred in the inverter connected with Motion CPU. servo error code storage device. After that, remove the inverter error cause.
For the detailed contents of the errors, check the servo error code.
Check the Motion error history of MT Developer2 and the error code of the
An error occurred in VC (Nikki Denso) with the Motion CPU servo error code storage device. After that, remove the error cause of
10041
connected. VC (Nikki Denso).
For the detailed contents of the errors, check the servo error code.
Check the Motion error history of MT Developer2 or the error codes of the
SSCNET /H head module error storage device, then release the error
The errors had occurred in the SSCNET /H head module
10042 cause of the SSCNET /H head module.
connected to the Motion CPU.
For the details of the error definition, check the SSCNET /H head module
error code.
Check the Motion error history of MT Developer2 or the Safety observation
10050 Safety observation error (alarm) occurred.
error code storage device, then release the error cause.
For the details of the error definition, check the Safety observation error
10051 Safety observation error (warning) occurred.
code.

APP - 29
APPENDICES

(3) Self-diagnostic error information


No. Name Meaning Details
Diagnostic error
SD0 Diagnostic errors • Error codes for errors found by diagnosis are stored as BIN data.
code
• The year (last two digits) and month that SD0 data was updated is stored as BCD 2-digit code.
B15 to B8 B7 to B0 Example : January 2006
SD1 H0601
Year(0 to 99) Month(1 to 12)

• The day and hour that SD0 data was updated is stored as BCD 2-digit code.
Clock time for Clock time for
B15 to B8 B7 to B0 Example : 25st, 10 a.m
SD2 diagnostic error diagnostic error H2510
occurrence occurrence Day(1 to 31) Hour(0 to 23)

• The minute and second that SD0 data was updated is stored as BCD 2-digit code.
B15 to B8 B7 to B0 Example : 35min., 48 sec.
SD3
H3548
Minute(0 to 59) Second(0 to 59)

• Category codes which help indicate what type of information is being stored in the error common information
areas (SD5 to SD15) and error individual information areas (SD16 to SD26) are stored. The category code for
judging the error information type is stored.
B15 to B8 B7 to B0
Individual information Common information
category codes category codes
Error information Error information
SD4 • The common information category codes store the following codes.
categories category code
0: No error
1: Module No./CPU No./Base No.
• The individual information category codes store the following codes.
0: No error
5: Parameter No.
13:Parameter No./CPU No.
• Common information corresponding to the diagnostic error (SD0) is stored.
• The error common information type can be judged by SD4(common information category code).
1: Module No./CPU No./Base No.

SD5 No. Meaning


Error common Error common SD5 Module No./CPU No./Base No.
to
information information
SD15 SD6 I/O No.
SD7
to Empty
SD15

• 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.
No. Meaning
SD16 Parameter No.
SD17
to Empty
SD26
0401H : Base setting
0406H : Motion slot setting
0E00H : Multiple CPU setting (Number of Multiple CPU's)
SD16 0E01H : Multiple CPU setting (Operation mode/ Multiple CPU synchronous startup)
Error individual Error individual
to E008H : Multiple CPU high speed transmission area setting
information information
SD26 (CPU specific send range setting / (System area))
E009H/E00AH : Multiple CPU high speed transmission area setting(Automatic refresh setting)
E00BH : Synchronous setting

13: Parameter No./CPU No.


No. Meaning
SD16 Parameter No.
SD17 CPU No.(1 to 4)
SD18
to Empty
SD26

APP - 30
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.
If the same error is displayed again after release of errors, an error is set again,
and the Motion error detection flag (M2039) turns on.

(5) Error setting on servo warning QDS

Setting whether to output error on servo warning to the motion error history or
self-diagnosis error of MT Developer2 is possible.
Set this parameter in the system basic setting of system setting.
(Refer to Section 3.1.3.)

APP - 31
APPENDICES

APPENDIX 4 Differences Between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/


Q172DCPU(-S1)/Q173HCPU/Q172HCPU

APPENDIX 4.1 Differences between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/


Q172DCPU(-S1)/Q173HCPU/Q172HCPU

Common differences to the operating system software are shown in Table 4.1.
Refer to "APPENDIX 4.3 Differences of the operating system software " for
characteristic differences to the operating system software. And, refer to "APPENDIX
4.2 Comparison of devices " for detailed differences of devices.

Table 4.1 Differences between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/


Q172DCPU(-S1)/Q173HCPU/Q172HCPU
Item Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) Q173HCPU/Q172HCPU
USB/RS-232/Ethernet USB/RS-232/Ethernet
(Via PLC CPU) (Via PLC CPU)
Peripheral I/F USB/SSCNET
PERIPHERAL I/F PERIPHERAL I/F
(Note-1)
(Motion CPU) (Motion CPU)
Add Q6BAT at continuous power
Battery Demand
failure for 1 month or more.
• Use EMI terminal of Motion CPU module. Use device set by forced stop
Forced stop input
• Use device set by forced stop input setting in the system setting. input setting in the system setting.
Multiple CPU high speed
transmission memory for
Included —
data transfer between CPU
modules
256 points
Number of real I/O points (Built-in interface in Motion CPU 256 points 256 points
(PX/PY) (Input 4 points) + I/O module + (I/O module) (I/O module)
Intelligent function module)
Internal relays (M) 12288 points
Total 8192 points
Latch relays (L) None (Latch for M is possible by latch setting)
Special relays (M) — 256 points
Special relays (SM) 2256 points —
Device

Special registers (D) — 256 points


Special registers (SD) 2256 points —
Motion registers (#) 12288 points 8192 points
Multiple CPU area
Up to 14336 points —
devices (U \G)

(Note-1): Q173DCPU-S1/Q172DCPU-S1 only

APP - 32
APPENDICES

Table 4.1 Differences between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/


Q172DCPU(-S1)/Q173HCPU/Q172HCPU (Continued)
Item Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) Q173HCPU/Q172HCPU
D(P).DDRD, D(P).DDWR,
D(P).SFCS, D(P).SVST, D(P).DDRD, D(P).DDWR, S(P).DDRD, S(P).DDWR,
SV13/ D(P).CHGT, D(P).CHGT2, D(P).SFCS, D(P).SVST, S(P).SFCS, S(P).SVST,
(Note-2)
SV22 D(P).CHGV, D(P).CHGVS , D(P).CHGT, D(P).CHGV, S(P).CHGT, S(P).CHGV,
(Note-2)
Motion dedicated D(P).CHGA, D(P).CHGAS , D(P).CHGA, D(P).GINT S(P).CHGA, S(P).GINT
PLC instructions D(P).GINT
D(P).DDRD, D(P).DDWR, S(P).DDRD, S(P).DDWR,
D(P).SFCS, D(P).SVST, S(P).SFCS, S(P).SVST,
SV43 —
D(P).CHGT, D(P).CHGV, S(P).CHGT, S(P).CHGV,
D(P).CHGA S(P).CHGA
Multiple instructions are executable continuously without interlock Interlock condition by the to self
Interlock condition condition by the self CPU high speed interrupt accept flag from CPU . CPU high speed interrupt accept
:CPU No. flag from CPU is necessary.
Q172DLX, Q173DPX,
SV13 Q172DLX, Q173DPX, Q173DSXY (Note-1) Q172LX, Q173PX
Q173DSXY
Motion modules Q172DLX, Q172DEX, Q173DPX, Q172DLX, Q172DEX, Q173DPX,
SV22 (Note-1) Q172LX, Q172EX, Q173PX
Q173DSXY Q173DSXY
SV43 — Q172DLX, Q173DPX Q172LX, Q173PX
• QnUD(H)CPU is set to CPU
• QnUD(E)(H)CPU/QnUDVCPU is set as CPU No.1.
No.1.
• Only Multiple CPU high speed main base unit
• Q3 B can be used as a main
System setting (Q35DB/Q38DB/Q312DB) can be used as main base unit.
base unit.
• Q172DLX, Q172DEX and Q173DPX cannot be installed to I/O 0 to 2
• Q172LX, Q172EX and Q173PX
slot.
can be mounted to I/O 0 to 2 slot.
Latch clear Remote operation L.CLR switch
RUN/STOP Remote operation, RUN/STOP switch RUN/STOP switch
• ROM writing is executed with mode operated by RAM/ mode Rom writing is executed with
ROM operation operated by ROM. installation mode/ mode written in
• ROM writing can be executed for the data of MT Developer2. ROM.
SV13/
Model of operating SW8DNC-SV Q SW6RN-SV Q
SV22
system software
SV43 — SW7DNC-SV Q SW5RN-SV Q
CPU module No.1 QnUD(E)(H)CPU/QnUDVCPU Qn(H)CPU
Install Motion CPU module on the
Installation orders CPU No.2
No restriction right-hand side of PLC CPU
or later
module.
Combination of Motion CPU Combination with Combination with Combination with
modules Q173DCPU(-S1)/Q172D(-S1)CPU Q173DSCPU/Q172DSCPU Q173CPUN(-T)/Q172CPUN(-T).
Not settable between CPU
CPU empty slot Settable between CPU modules
modules
Multiple CPU
high speed
Provided None
CPU transmission
shared area
memory Access by
Multiple CPU Possible Impossible
shared memory

(Note-1): Q173DCPU-S1/Q172DCPU-S1 only


(Note-2): SV22 advanced synchronous control only

APP - 33
APPENDICES

Table 4.1 Differences between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/


Q172DCPU(-S1)/Q173HCPU/Q172HCPU (Continued)
Item Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) Q173HCPU/Q172HCPU
Automatic refresh area in CPU
Memory Multiple CPU high speed transmission area in CPU shared memory
shared memory
Automatic
Automatic 32 range possible 4 range possible
refresh setting
refresh
Multiple CPU
high speed Provided None
refresh function
Each LED of MODE, RUN, ERR,
LED display 7-segment LED display
M.RUN, BAT and BOOT
It is possible to clear with latch clear(1) and latch clear (1)(2) of remote Range which can be cleared with
Latch Latch (1)
latch clear. the latch clear key.
range
Range which cannot be cleared
setting Latch (2) It is possible to clear with lath clear(1)(2) of remote latch clear.
with the latch clear key.
Turn off the PLC ready flag
All clear function Execute with installation mode (M2000) and test mode ON flag
(M9075) to execute all clear.
Store the error code to be
Release of Multiple CPU released in the special register
Turn off M2039.
related error D9060 and turn off to on the
special relay M9060.
When the Motion CPU-specific
When the Motion CPU-specific errors occur, "10000 to 10999" is set in errors occur, 10000 is set in
diagnostic errors (SD0) depending on the type of error. diagnostic errors (D9008).
Self-diagnosis error
At this time, the self-diagnostic error flag (SM1) and diagnostic error At this time, the self-diagnostic
flag (SM0) also turn ON. error flag (M9008) and diagnostic
error flag (M9010) do not turn ON.
When the Motion CPU-specific
errors occur, M2039 turn ON.
M2039 dose not turn ON at the
Motion error detection flag
M2039 turns ON even if any errors occur in the Motion CPU module. Multiple CPU related errors (Error
(M2039)
code of D9008: less then 10000)
occurrence. (SV13/SV22)
(Note): Unusable for SV43 use.
Software stroke limit Invalid setting (All units) possible Invalid setting (degree axis only) possible
Battery error check of Motion
Invalid setting possible Anytime valid
CPU
Error setting on servo Selectable whether or not output
Anytime output error
warning error
Q172DLX signal, Amplifier input,
Servo external signal Q172DLX signal, Amplifier input
DI signal, Bit device
Optional data monitor Up to 6 data
Up to 3 data
function (Up to 3 data in SSCNET )
Axis label 32 characters None
Mark detection function Up to 32 None
Speed-torque control function Provided None
Individual change/monitoring of
Torque limit value positive/negative direction torque Batch change/monitoring of positive/negative direction torque limit value
limit value
Acceleration/deceleration
Provided None
time change function

APP - 34
APPENDICES

Table 4.1 Differences between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/


Q172DCPU(-S1)/Q173HCPU/Q172HCPU (Continued)
Item Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) Q173HCPU/Q172HCPU
Proximity dog type (2 types),
Count type (3 types), Proximity dog type (2 types),
Data set type (2 types), Count type (3 types), Proximity dog type (2 types),
Dog cradle type, Data set type (2 types), Count type (3 types),
Stopper type (2 types), Dog cradle type, Data set type (2 types),
Home position return function
Limit switch combined type, Stopper type (2 types), Dog cradle type,
Scale home position signal Limit switch combined type, Stopper type (2 types),
detection type, Scale home position signal Limit switch combined type
Dogless home position signal detection type
reference type
PI-PID switching command Provided None
Servo parameter
Provided None
read/change function
Protection by software security
Security function Protection by password
key or password
Word 16CH, Bit 16CH Word 4CH, Bit 8CH
Digital oscilloscope function
Real-time display possible Real-time display possible
Communication speed 50Mbps
Standard Up to 20m (65.62ft.) between stations
cable Maximum overall distance 320m(1049.87ft.) (20m (65.62ft.) ×16 axes)
Transmission
Long
distance Up to 50m (164.04ft.) between stations
SSCNET

distance
Maximum overall distance 800m (2624.67ft.) (50m (164.04ft.) ×16 axes)
cable
MR-J3- B, MR-J3W- B,
MR-J3- B, MR-J3W- B, MR-J3- B-RJ004, MR-J3- B-RJ006, MR-J3- B-RJ004,
Servo amplifier
MR-J3- B-RJ080W, MR-J3- B Safety, FR-A700, VC (Nikki Denso) MR-J3- B-RJ006,
MR-J3- B Safety
Communication speed 150Mbps
Up to 20m (65.62ft.) between
stations
Standard
Maximum overall distance
cable
320m(1049.87ft.)
SSCNET /H

Transmission (20m (65.62ft.) ×16 axes)


distance Up to 100m (328.08ft.) between Unusable
Long stations
distance Maximum overall distance
cable 1600m (5249.34ft.)
(100m (328.08ft.) ×16 axes)
MR-J4- B, MR-J4- B-RJ,
Servo amplifier
MR-J4W- B, VC (Nikki Denso)
Driver communication
Provided None
function
SSCNET /H head module
Can connect Cannot connect
connection
Multiple CPU synchronous
Provided None
control

APP - 35
APPENDICES

APPENDIX 4.2 Comparison of devices

(1) Motion registers


(a) Monitor devices

Table 4.2 Motion registers (Monitor devices) list


Device No.
Q173DSCPU/ Q173DCPU(-S1)/ Q173HCPU/ Name Remark
Q172DSCPU Q172DCPU(-S1) Q172HCPU
#8000 to #8019 #8064 to #8067 Axis 1 monitor device
#8020 to #8039 #8068 to #8071 Axis 2 monitor device
#8040 to #8059 #8072 to #8075 Axis 3 monitor device
#8060 to #8079 #8076 to #8079 Axis 4 monitor device
#8080 to #8099 #8080 to #8083 Axis 5 monitor device
#8100 to #8119 #8084 to #8087 Axis 6 monitor device
#8120 to #8139 #8088 to #8091 Axis 7 monitor device
#8140 to #8159 #8092 to #8095 Axis 8 monitor device
#8160 to #8179 #8096 to #8099 Axis 9 monitor device
#8180 to #8199 #8100 to #8103 Axis 10 monitor device
#8200 to #8219 #8104 to #8107 Axis 11 monitor device
#8220 to #8239 #8108 to #8111 Axis 12 monitor device
#8240 to #8259 #8112 to #8115 Axis 13 monitor device
#8260 to #8279 #8116 to #8119 Axis 14 monitor device
#8280 to #8299 #8120 to #8123 Axis 15 monitor device
#8300 to #8319 #8124 to #8127 Axis 16 monitor device
#8320 to #8339 #8128 to #8131 Axis 17 monitor device
#8340 to #8359 #8132 to #8135 Axis 18 monitor device
#8360 to #8379 #8136 to #8139 Axis 19 monitor device
#8380 to #8399 #8140 to #8143 Axis 20 monitor device
#8400 to #8419 #8144 to #8147 Axis 21 monitor device
#8420 to #8439 #8148 to #8151 Axis 22 monitor device
#8440 to #8459 #8152 to #8155 Axis 23 monitor device
#8460 to #8479 #8156 to #8159 Axis 24 monitor device
#8480 to #8499 #8160 to #8163 Axis 25 monitor device
#8500 to #8519 #8164 to #8167 Axis 26 monitor device
#8520 to #8539 #8168 to #8171 Axis 27 monitor device
#8540 to #8559 #8172 to #8175 Axis 28 monitor device
#8560 to #8579 #8176 to #8179 Axis 29 monitor device
#8580 to #8599 #8180 to #8183 Axis 30 monitor device
#8600 to #8619 #8184 to #8187 Axis 31 monitor device
#8620 to #8639 #8188 to #8191 Axis 32 monitor device

APP - 36
APPENDICES

Table 4.3 Monitor devices list


(Note)
Device No.
Q173DSCPU/ Q173DCPU(-S1)/ Q173HCPU/ Name Remark
Q172DSCPU Q172DCPU(-S1) Q172HCPU
#8000 + 20n #8064 + 4n Servo amplifier type
#8001 + 20n #8065 + 4n Motor current
#8002 + 20n #8066 + 4n
Motor speed
#8003 + 20n #8067 + 4n
#8004 + 20n
— Command speed
#8005 + 20n
New device in
#8006 + 20n
— Home position return re-travel value Q173DCPU/Q172DCPU
#8007 + 20n
#8008 + 20n — Servo amplifier display servo error code
#8009 + 20n — — Parameter error No.
#8010 + 20n — — Servo status 1 New device in
#8011 + 20n — — Servo status 2 Q173DSCPU/Q172DSCPU
#8012 + 20n — — Servo status 3

(Note): "n" in the device No. indicates the numerical value (axis No.1 to 32 : n= 0 to 31) which correspond to axis No.

(b) Motion error history

Table 4.4 Motion registers (Motion error history) list


Device No.
Q173DSCPU/ Q173DCPU(-S1)/ Q173HCPU/ Name Remark
(Note)
Q172DSCPU Q172DCPU(-S1) Q172HCPU
Seventh error information in past
#8640 to #8651 #8000 to #8007
(Oldest error information)
#8652 to #8663 #8008 to #8015 Sixth error information in past
#8664 to #8675 #8016 to #8023 Fifth error information in past
#8676 to #8687 #8024 to #8031 Fourth error information in past
#8688 to #8699 #8032 to #8039 Third error information in past
#8700 to #8711 #8040 to #8047 Second error information in past
#8712 to #8723 #8048 to #8055 First error information in past
#8724 to #8735 #8056 to #8063 Latest error information

(Note): Unusable for SV43 use.

APP - 37
APPENDICES

Table 4.5 Motion error history list (SV13/SV22)


(Note)
Device No.
Q173DSCPU/ Q173DCPU(-S1)/ Q173HCPU/ Name Remark
Q172DSCPU Q172DCPU(-S1) Q172HCPU
#8640 + 12n #8000 + 8n Error Motion SFC program No.
#8641 + 12n #8001 + 8n Error type
#8642 + 12n #8002 + 8n Error program No.
#8643 + 12n #8003 + 8n Error block No./Motion SFC list/Line No./Axis No.
#8644 + 12n #8004 + 8n Error code
#8645 + 12n #8005 + 8n Error occurrence time (Year/month)
#8646 + 12n #8006 + 8n Error occurrence time (Day/hour)
#8647 + 12n #8007 + 8n Error occurrence time (Minute/second)
#8648 + 12n — Error setting data information
#8649 + 12n — Unusable New device in
#8650 + 12n Q173DCPU/Q172DCPU
— Error setting data
#8651 + 12n

(Note): "n" in the device No. indicates the numerical value (n=0 to 7) which correspond to motion error history.

Table 4.6 Motion error history list (SV43)


(Note)
Device No.
Q173DCPU(-S1)/ Name Remark
Q173HCPU/Q172HCPU
Q172DCPU(-S1)
#8640 + 12n — Error type
#8641 + 12n — Axis No.
#8642 + 12n — Error code
#8643 + 12n — Program No.
#8644 + 12n — Sequence No.
#8645 + 12n — Error block No. New device in
#8646 + 12n — Error occurrence time (Year/month) Q173DCPU/Q172DCPU
#8647 + 12n — Error occurrence time (Day/hour)
#8648 + 12n — Error occurrence time (Minute/second)
#8649 + 12n — Error setting data information
#8650 + 12n
— Error setting data
#8651 + 12n

(Note) : "n" in the device No. indicates the numerical value (n=0 to 7) which correspond to motion error history.

(c) Product information list device

Table 4.7 Motion register (Product information list device) list


(Note)
Device No.
Q173DSCPU/ Q173DCPU(-S1)/ Q173HCPU/ Name Remark
Q172DSCPU Q172DCPU(-S1) Q172HCPU
#8736 to #8743 — Operating system software version New device in
Q173D(S)CPU/
#8744 to #8751 — Motion CPU module serial number
Q172D(S)CPU

APP - 38
APPENDICES

(2) Special relays

Table 4.8 Special relay list


Device No.
Q173DSCPU/ Q173DCPU(-S1)/ Q173HCPU/ Name Remark
Q172DSCPU Q172DCPU(-S1) Q172HCPU
SM60 M9000/M2320 Fuse blown detection
SM53 M9005/M2321 AC/DC DOWN detection
SM52 M9006/M2322 Battery low
SM51 M9007/M2323 Battery low latch
SM1 M9008/M2324 Self-diagnostic error
SM0 M9010/M2325 Diagnostic error
— M9025/M3136 Clock data set request
SM211 M9026/M2338 Clock data error
SM801 M9028/M3137 Clock data read request
SM400 M9036/M2326 Always ON
SM401 M9037/M2327 Always OFF
Use M2039 for error reset
— M9060/M3138 Diagnostic error reset
operation.
SM512 M9073/M2329 Motion CPU WDT error
SM500 M9074/M2330 PCPU READY complete
SM501 M9075/M2331 Test mode ON
SM502 M9076/M2332 External forced stop input
SM513 M9077/M2333 Manual pulse generator axis setting error
SM510 M9078/M2334 TEST mode request error
Servo program setting error (SV13/SV22)/
SM516 M9079/M2335
Motion program setting error (SV43)
SM528 M9216/M2345 No.1 CPU MULTR complete
SM529 M9217/M2346 No.2 CPU MULTR complete
SM530 M9218/M2347 No.3 CPU MULTR complete
SM531 M9219/M2348 No.4 CPU MULTR complete
SM240 M9240/M2336 No.1 CPU resetting
SM241 M9241/M2337 No.2 CPU resetting
SM242 M9242/M2338 No.3 CPU resetting
SM243 M9243/M2339 No.4 CPU resetting
SM244 M9244/M2340 No.1 CPU error
SM245 M9245/M2341 No.2 CPU error
SM246 M9246/M2342 No.3 CPU error
SM247 M9247/M2343 No.4 CPU error
SM58 — Battery low warning latch
SM59 — Battery low warning
SM220 — CPU No.1 READY complete
New device in
SM221 — CPU No.2 READY complete
Q173DCPU/Q172DCPU
SM222 — CPU No.3 READY complete
SM223 — CPU No.4 READY complete
SM503 — Digital oscilloscope executing
New device in
SM505 — — Cam data writing
Q173DSCPU/Q172DSCPU
New device in
SM506 — External forced stop input ON latch Q173D(S)CPU/
Q172D(S)CPU

APP - 39
APPENDICES

Table 4.8 Special relay list (Continued)


Device No.
Q173DSCPU/ Q173DCPU(-S1)/ Q173HCPU/ Name Remark
Q172DSCPU Q172DCPU(-S1) Q172HCPU
SM508 — Amplifier-less operation status flag
New device in
SM526 — Over heat warning latch
Q173DCPU/Q172DCPU
SM527 — Over heat warning
SM532 — — SSCNET searching flag (Line 1)
SM533 — — SSCNET searching flag (Line 2)
Multiple CPU synchronous control initial New device in
SM561 — —
complete flag Q173DSCPU/Q172DSCPU
Rapid stop deceleration time setting error invalid
SM805 — —
flag

APP - 40
APPENDICES

(3) Special registers

Table 4.9 Special registers list


Device No.
Q173DSCPU/ Q173DCPU(-S1)/ Q173HCPU/ Name Remark
Q172DSCPU Q172DCPU(-S1) Q172HCPU
SD60 D9000 Fuse blown No.
SD53 D9005 AC/DC DOWN counter No.
SD0 D9008 Diagnostic errors
Clock time for diagnostic error occurrence
SD1 D9010
(Year, month)
Clock time for diagnostic error occurrence
SD2 D9011
(Day, hour)
Clock time for diagnostic error occurrence
SD3 D9012
(Minute, second)
SD4 D9013 Error information categories
SD5 D9014
SD6 —
SD7 —
SD8 —
SD9 —
SD10 — Error common information
SD11 —
SD12 —
SD13 —
SD14 —
SD15 —
New device in
SD16 —
Q173DCPU/Q172DCPU
SD17 —
SD18 —
SD19 —
SD20 —
SD21 — Error individual information
SD22 —
SD23 —
SD24 —
SD25 —
SD26 —
SD203 D9015 Operating status of CPU
SD520 D9017 Scan time
SD521 D9019 Maximum scan time
SD210 D9025 Clock data (Year, month)
SD211 D9026 Clock data (Day, hour)
SD212 D9027 Clock data (Minute, second)
SD213 D9028 Clock data (Day of week)
Use M2039 for error reset
— D9060 Diagnostic error reset error No.
operation.
SD395 D9061 Multiple CPU No.
SD508 SSCNET control (Status)
D9112
SD803 SSCNET control (Command)
SD510 D9182
Test mode request error
SD511 D9183

APP - 41
APPENDICES

Table 4.9 Special registers list (Continued)


Device No.
Q173DSCPU/ Q173DCPU(-S1)/ Q173HCPU/ Name Remark
Q172DSCPU Q172DCPU(-S1) Q172HCPU
SD512 D9184 Motion CPU WDT error cause
SD513 D9185
SD514 D9186 Manual pulse generator axis setting error
SD515 D9187
SD522 D9188 Motion operation cycle
SD516 D9189 Error program No.
SD517 D9190 Error item information
SD502 D9191
Servo amplifier loading information
SD503 D9192
SD504 D9193
Real mode/virtual mode switching error
SD505 D9194
information
SD506 D9195
Q173D(S)CPU/
Q172D(S)CPU does not
— D9196 PC link communication error codes
support PC link
communication.
SD523 D9197 Operation cycle of the Motion CPU setting
SD200 D9200 State of switch
Use 7-segment LED in
— D9201 State of LED Q173D(S)CPU/
Q172D(S)CPU.
SD524 — — Maximum Motion operation cycle
SD550 — —
System setting error information New device in
SD551 — —
Q173DSCPU/Q172DSCPU
SD552 — —
Servo parameter write/read request
SD553 — —
SD560 — — Operation method New device in
SD561 — — Multiple CPU synchronous control setting status Q173DSCPU/Q172DSCPU
SD700 —
SD701 —
SD702 — Device assignment
New device in
SD703 —
Q173DCPU/Q172DCPU
SD704 —
SD720 —
444µs coasting timer
SD721 —
SD722 — —
222µs coasting timer
SD723 — —
SD804 — —
SD805 — — New device in
Servo parameter write/read request
SD806 — — Q173DSCPU/Q172DSCPU
SD807 — —
SD808 — —
Servo parameter write/read request (2 word)
SD809 — —

APP - 42
APPENDICES

(4) Other devices

Table 4.10 Other devices list


Item Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) Q173HCPU/Q172HCPU
Special relay allocated devices
M2320 to M2399 Unusable
(Status)
Device area of 17 axes or more is Device area of 9 axes or more is Device area of 9 axes or more is
Internal M2400 to M3039 usable as user devices in usable as user devices in unusable as user devices in
relays/ Q172DSCPU. Q172DCPU(-S1). Q172HCPU.
Data Special relay allocated devices
M3136 to M3199 Unusable
registers (Command signal)
M3200 to M3839 Device area of 17 axes or more is Device area of 9 axes or more is
Device area of 9 axes or more is
D0 to D639 usable as user devices in usable as user devices in
unusable in Q172HCPU.
D640 to D703 Q172DSCPU. Q172DCPU(-S1).
Personal computer link
— M2034
communication error flag
(Note-1)
PI-PID switching command M3217 + 20n — —
PCPU READY complete SM500 D759
(Note-1)
D9 + 20n (Data shortened to 1 word)
Home position return re- (Note-1)
#8006 + 20n, #8007 + 20n D9 + 20n
travel value (Note-1)
(Referring at monitoring)
Optional device
(Note-1)
Travel value change registers (Set for D16 + 20n, D17 + 20n are also usable.) D16 + 20n, D17 + 20n
(Note-1)

D0 to D8191 D800 to D8191


Indirect setting devices W0 to W1FFF W0 to W1FFF
(Word devices) #0 to #7999 #0 to #7999
(Note-2)
U \G10000 to U \G(10000 + p – 1) —
(Note-3)
X0 to X1FFF X0 to X1FFF X0 to X1FFFF
Y0 to Y1FFF Y0 to Y1FFF
M0 to M8191 M/L0 to M/L8191
Indirect setting devices
— M9000 to M9255
(Bit devices)
B0 to B1FFF B0 to B1FFF
F0 to F2047 F0 to F2047
(Note-2)
U \G10000.0 to U \G(10000 + p – 1).F —
D0 to D8191 D800 to D3069, D3080 to D8191
High-speed reading function
W0 to W1FFF W0 to W1FFF
settable devices (Note-2)
U \G10000 to U \G(10000 + p – 1) —
D0 to D8191 D0 to D8191
Optional data monitor W0 to W1FFF W0 to W1FFF
function settable devices #0 to #7999 #0 to #7999
(Note-2)
U \G10000 to U \G(10000 + p – 1) —

(Note-1): "n" in the above device No. indicates the numerical value (axis No.1 to 32 : n= 0 to 31) which correspond to axis No.
(Note-2): "p" indicates the user setting area points of Multiple CPU high speed transmission area in each CPU.
(Note-3): The range of "PXn+4 to PXn+F" cannot be used (fixed at 0) for the input device (PXn+0 to PXn+F) allocated to the
built-in interface in Motion CPU (DI). (n: First input No.)

APP - 43
APPENDICES

Table 4.10 Other devices list (Continued)


Item Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) Q173HCPU/Q172HCPU
(Note-3)
X0 to X1FFF X0 to X1FFF X0 to X1FFF
Y0 to Y1FFF Y0 to Y1FFF
M0 to M8191 M0 to M8191
Output device
— L0 to L8191
B0 to B1FFF B0 to B1FFF
(Note-2)
U \G10000.0 to U \G(10000 + p –1).F —
D0 to D8191 D0 to D8191
W0 to W1FFF W0 to W1FFF
Watch data
#0 to #9215 #0 to #8191
Limit switch output data

(Note-2)
U \G10000 to U \G(10000 + p –1) —
D0 to D8191 D0 to D8191
W0 to W1FFF W0 to W1FFF
ON section setting #0 to #9215 #0 to #8191
(Note-4) (Note-4)
Constant (Hn/Kn) Constant (Hn/Kn)
(Note-2)
U \G10000 to U \G(10000 + p – 1) —
(Note-3)
X0 to X1FFF X0 to X1FFF X0 to X1FFF
Y0 to Y1FFF Y0 to Y1FFF
M0 to M8191 M0 to M8191
Output enable/disable bit
— L0 to L8191
B0 to B1FFF B0 to B1FFF
Forced output bit
F0 to F2047 F0 to F2047
SM0 to SM1999 M9000 to M9255
(Note-2)
U \G10000.0 to U \G(10000 + p – 1).F —

(Note-1): "n" in the above device No. indicates the numerical value (axis No.1 to 32 : n= 0 to 31) which correspond to axis No.
(Note-2): "p" indicates the user setting area points of Multiple CPU high speed transmission area in each CPU.
(Note-3): The range of "PXn+4 to PXn+F" cannot be used (fixed at 0) for the input device (PXn+0 to PXn+F) allocated to the
built-in interface in Motion CPU (DI). (n: First input No.)
(Note-4): Setting range varies depending on the setting units.

POINT
Refer to Chapter 2 for number of user setting area points of Multiple CPU high
speed transmission area.

APP - 44
APPENDICES

APPENDIX 4.3 Differences of the operating system software

(1) Motion SFC (SV13/SV22)


Item Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) Q173HCPU/Q172HCPU
Code total
Motion (Motion SFC chart
652k bytes 543k bytes 543k bytes
SFC + Operation control
program + Transition)
Text total
capacity
(Operation control + 668k bytes 484k bytes 484k bytes
Transition)
Motion SFC program
X, Y, M, B, U \G —
executing flag
Fixed cycle (0.22ms/0.44ms, Fixed cycle (0.44ms, 0.88ms,
Motion SFC program event Fixed cycle (0.88ms, 1.77 ms,
0.88ms, 1.77 ms, 3.55 ms, 1.77 ms, 3.55 ms, 7.11 ms,
task 3.55 ms, 7.11 ms, 14.2 ms)
7.11 ms, 14.2 ms) 14.2 ms)
Task Parameter Normal task : 1 to 100000
Limited count of repeat Event task : 1 to 10000 —
control NMI task : 1 to 10000
Operation control/transition
control usable device D, W, U \G, SD, #, FT D, W, Special D, #, FT
(Word device)
Operation control/transition
X, PX, Y, PY, M, L, B, F,
control usable device X, PX, Y, PY, M, U \G . , B, F, SM
Special M
(Bit device)
(Note-1)
Motion dedicated CHGV, CHGVS ,
CHGV, CHGT CHGV, CHGT
function CHGT, CHGT2, CHGP
EI, DI, NOP, BMOV, FMOV, EI, DI, NOP, BMOV, FMOV, EI, DI, NOP, BMOV, FMOV,
Others MULTW, MULTR, TO, FROM, MULTW, MULTR, TO, FROM, MULTW, MULTR, TO, FROM,
RTO, RFROM, TIME TIME TIME
Vision system
MVOPEN, MVLOAD, MVTRG, MVPST, MVIN, MVOUT,
Instruction dedicated —
(Note-2) MVFIN, MVCLOSE, MVCOM
function
Data control SCL, DSCL —
Program control IF - ELSE - IEND, SELECT - CASE - SEND, FOR - NEXT, BREAK —
Synchronous
CAMRD, CAMWR, CAMWR2,
control dedicated — —
(Note-1) CAMMK, CAMPSCL
function

(Note-1): SV22 advanced synchronous control only.


(Note-2): Unusable in Q173DCPU/Q172DCPU.

APP - 45
APPENDICES

(2) Virtual mode (SV22)


Item Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) Q173HCPU/Q172HCPU
Internal M4640 to M4687
Device area of 9 axes or more is
relay/ M5440 to M5487 Device area of 9 axes or more is
Unusable as user devices usable as user devices in the
Data unusable in the Q172HCPU.
D1120 to D1239 Q172DCPU.
register
Optional device
Clutch status M2160 to M2223
(Set for M2160 to M2223 are also usable.)
Cam axis command signals
Optional device
(Cam/ball screw switching M5488 to M5519
(Set for M5488 to M5519 are also usable.)
command)
Smoothing clutch complete Optional device
M5520 to M5583
signals (Set for M5520 to M5583 are also usable.)
Real mode axis information
SD500, SD501 D790, D791
register
D0 to D8191 D800 to D3069, D3080 to D8191
Indirect setting devices of
W0 to W1FFF W0 to W1FFF
mechanical system program
#0 to #7999 —
(Word device) (Note-1)
U \G10000 to U \G(10000 + p –1) —
(Note-2)
X0 to X1FFF X0 to X1FFF X0 to X1FFF
Y0 to Y1FFF Y0 to Y1FFF
Indirect setting devices of M0 to M8191 M/L0 to M/L8191
mechanical system program — M9000 to M9255
(Bit device) B0 to B1FFF B0 to B1FFF
F0 to F2047 F0 to F2047
(Note-1)
U \G10000.0 to U \G(10000 + p –1).F —
Virtual servo motor
1 to 2147483647 1 to 32767 1 to 32767
Command in-position range
Number of pulses
1 to 1073741824[PLS]/
per cam shaft 1 to 1073741824[PLS] 1 to 1073741824[PLS]
Cam Word device (D, W, #, U \G)
revolution
Output unit mm, inch, PLS, degree mm, inch, PLS mm, inch, PLS
Speed change ratio of speed Upper limit value : 0 to 65535 Upper limit value : 1 to 10000
change gear Lower limit value : 0 to 65535 Lower limit value : 1 to 10000
Permissible droop pulse
1 to 1073741824 [PLS] 1 to 65535[ 100PLS]
value of output module

(Note-1): "p" indicates user setting area points of Multiple CPU high speed transmission area in each CPU.
(Note-2): The range of "PXn+4 to PXn+F" cannot be used (fixed at 0) for the input device (PXn+0 to PXn+F)
allocated to the built-in interface in Motion CPU (DI). (n: First input No.)

POINT
Refer to Chapter 2 for number of user setting area points of Multiple CPU high
speed transmission area.

APP - 46
APPENDICES

(3) Motion program (SV43)


Item Q173DCPU(-S1)/Q172DCPU(-S1) Q173HCPU/Q172HCPU
DNC operation None Provided
Internal relay/
M4320 to M4335 Unusable DNC status
Data register
Motion program capacity 504k bytes 248k bytes
Variable Device variable X, Y, M, B, F, D, W, #, U \G X, Y, M, B, F, D, W, #
CALL, GOSUB, GOSUBE, IF…GOTO,
Jump/repetition CALL, GOSUB, GOSUBE, IF…GOTO,
Instructions IF…THEN…ELSE IF...ELSE...END,
processing IF…THEN…ELSE...END, WHILE…DO… END
WHILE…DO…BREAK...CONTINUE...END
AT (Acceleration): 1 to 65535[ 0.001s]

Instructions symbol BT (Deceleration): 1 to 65535[ 0.001s]
AND (Conditional branch using word device) —
Multiprogramming depth of IF Up to eight levels including IF statement and Up to three levels including IF statement and
statement/WHILE statement While statement While statement
BSET, BRST Bit set and reset for word devices is possible. —
0 to 32767 0 to 9999
Setting range of M-code
(32762 except special M-codes) (9993 except special M-codes)

APP - 47
APPENDICES

MEMO

APP - 48
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 our service company upon your request and the actual cost will be charged.
However, it will not be charged if we are responsible for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with
the terms and conditions and instructions that are set forth in the instruction manual and user manual for the
Product and the caution label affixed to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;
1) A failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure
caused by your hardware or software problem
2) A failure caused by any alteration, etc. to the Product made on your side without our approval
3) A failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is
equipped with a safety device required by applicable laws and has any function or structure considered to
be indispensable according to a common sense in the industry
4) A failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc.
are duly maintained and replaced
5) Any replacement of consumable parts (battery, fan, etc.)
6) A failure caused by external factors such as inevitable accidents, including without limitation fire and
abnormal fluctuation of voltage, and acts of God, including without limitation earthquake, lightning and
natural disasters
7) A failure generated by an unforeseeable cause with a scientific technology that was not available at the
time of the shipment of the Product from our company
8) Any other failures which we are not responsible for or which you acknowledge we are not responsible for

2. Onerous Repair Term after Discontinuation of Production


(1) We may accept the repair at charge for another seven (7) years after the production of the product is
discontinued.
The announcement of the stop of 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 replacement work, readjustment, start-up test run of local machines and the Product and any other
operations conducted by you.

5. Change of Product specifications


Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Precautions for Choosing the Products
(1) For the use of our Motion controller, its applications should be those that may not result in a serious damage
even if any failure or malfunction occurs in Motion controller, and a backup or fail-safe function should operate
on an external system to Motion controller when any failure or malfunction occurs.
(2) Our Motion controller is designed and manufactured as a general purpose product for use at general industries.
Therefore, applications substantially influential on the public interest for such as atomic power plants and other
power plants of electric power companies, and also which require a special quality assurance system, including
applications for railway companies and government or public offices are not recommended, and we assume no
responsibility for any failure caused by these applications when used.
In addition, applications which may be substantially influential to human lives or properties for such as airlines,
medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment,
entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any
failure caused by these applications when used.
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality
for a specific application. Please contact us for consultation.

Microsoft, Windows, Windows NT, and Windows Vista are registered trademarks of Microsoft Corporation in
the United States and other countries.
Ethernet is a trademark of Xerox Corporation.
All other company names and product names used in this manual are trademarks or registered trademarks
of their respective companies.

IB(NA)-0300134-G

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