F 28976376
F 28976376
F 28976376
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".
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.
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.
A-3
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.
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.
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
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.
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.
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.
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
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.
A - 12
INTRODUCTION
CONTENTS
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
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
A - 15
About Manuals
Related Manuals
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.
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 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.
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
REMARK
For information about each module, design method for program and parameter, refer
to the following manuals relevant to each module.
1-2
1 OVERVIEW
1.2 Features
The Motion CPU and Multiple CPU system have the following features.
(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.
(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.
1-4
1 OVERVIEW
(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.
1-5
1 OVERVIEW
1-6
1 OVERVIEW
1-7
1 OVERVIEW
1-8
1 OVERVIEW
1-9
1 OVERVIEW
1 - 10
1 OVERVIEW
This section describes the Motion controller system configuration, precautions on use
of system, and configured equipments.
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-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
1 - 11
1 OVERVIEW
(b) Q173DCPU(-S1)/Q172DCPU(-S1)
Extension of the Q series module
(Note-2)
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)
(Note-3) (Note-1)
(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
1 - 12
1 OVERVIEW
1 - 13
1 OVERVIEW
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
Analogue input/output
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.
1 - 15
1 OVERVIEW
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)
100/200VAC
M M M M
E E E E
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.
1 - 16
1 OVERVIEW
(Note-1): The operating system software (SV22 (Virtual mode switching method)) is installed
at the time of product purchases.
2)
3)
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
(Note-1): This software is included in Motion controller engineering environment "MELSOFT MT Works2".
1 - 17
1 OVERVIEW
POINTS
When the operation of Windows is unclear in the operation of this software, refer
R
1 - 18
1 OVERVIEW
(b) Only Multiple CPU high speed main base unit (Q35DB/Q38DB/Q312DB)
can be used.
(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
(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.
1 - 20
1 OVERVIEW
(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.
(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
(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
Checking for the serial number of Motion CPU module and Motion module, and the
operating system software version are shown below.
Q173DSCPU
F01 F01
SW
AB E
AB E
23 6
23 6
CD
CD
45
45
1 2
789 789
Rating plate
CN1
EXT.I/F
PULL
FRONT
RIO
1 - 23
1 OVERVIEW
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
REMARK
The serial number display was corresponded from the Motion CPU modules
manufactured in early October 2007.
1 - 24
1 OVERVIEW
Q172DLX
KCC-REI-MEK-
TC510A646G51
Q172DLX
Serial number C16054999
REMARK
The serial number display was corresponded from the Motion modules
manufactured in early April 2008.
1 - 25
1 OVERVIEW
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
<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
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.
1 - 28
1 OVERVIEW
— — — — — Section 1.4
— — — — — (Note-4), (Note-5)
1.39R 1.06G — — (Note-3)
— — — — — APPENDIX 1.2
— — — — (Note-5)
— — — — Section 4.11
1 - 29
1 OVERVIEW
1 - 30
1 OVERVIEW
— — — — (Note-3)
— — — — (Note-4), (Note-5)
1.39R 1.39R — — (Note-6)
— — — — 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 - 31
1 OVERVIEW
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.
1 - 32
2 MULTIPLE CPU SYSTEM
2.1.1 Overview
(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)).
(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
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.
2 —— ——
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 ——
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
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
(b) Access range from non-controlled PLC CPU for the modules controlled by
the Motion CPU are shown below.
: 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
(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-
(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
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
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.
(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>
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
2-9
2 MULTIPLE CPU SYSTEM
This section describes a standard procedure to start up the Multiple CPU system.
START
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.
1)
2 - 10
2 MULTIPLE CPU SYSTEM
1)
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).
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
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)
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
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.
2 - 13
2 MULTIPLE CPU SYSTEM
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.
2 - 14
2 MULTIPLE CPU SYSTEM
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".
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
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
Word device : U \G
Bit device :U \G .
(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
<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 \
(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
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
Y0
Multiple CPU high speed
transmission in 0.88ms cycle
END
Parameter Parameter
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".)
"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
5)
CPU No.4 send area
2 - 19
2 MULTIPLE CPU SYSTEM
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
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
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.
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
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
D8191
2 - 25
2 MULTIPLE CPU SYSTEM
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.
2 - 26
2 MULTIPLE CPU SYSTEM
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
D639
cycle
oc
D640
Command
sin
device
g
M7839 D757
M7840 D758
U3E2\G10000 U3E2\G10000
g
sin
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>
(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
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) — —
2 - 30
2 MULTIPLE CPU SYSTEM
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
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
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
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.
POINT
The clock data of CPU No.1 is automatically set even if the clocks of CPU No. 2 to
4 are set independently.
(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
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.
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
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
Ver.! : Refer to Section 1.5 for the software version that supports this function.
2 - 36
3 COMMON PARAMETERS
3. COMMON PARAMETERS
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.
(3) The data setting and correction can be performed in dialog form using
MT Developer2.
3-1
3 COMMON PARAMETERS
3-2
3 COMMON PARAMETERS
Ver.! : Refer to Section 1.5 for the software version that supports this function.
3-3
3 COMMON PARAMETERS
(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
Parameter write
Power supply
3-5
3 COMMON PARAMETERS
3-6
3 COMMON PARAMETERS
Multiple CPU
synchronous startup
setting
3-7
3 COMMON PARAMETERS
(Note): Motion slot setting items are different depending on the operating system software.
3-8
3 COMMON PARAMETERS
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 - 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.)
3 - 12
3 COMMON PARAMETERS
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".
3 - 14
3 COMMON PARAMETERS
3 - 15
3 COMMON PARAMETERS
: Settable : Unsettable
Ver.! : Refer to Section 1.5 for the software version that supports this function.
3 - 16
3 COMMON PARAMETERS
(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
3 - 18
3 COMMON PARAMETERS
Ver.! : Refer to Section 1.5 for the software version that supports this function.
3 - 19
3 COMMON PARAMETERS
(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.
3 - 20
3 COMMON PARAMETERS
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.
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.
(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.
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
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
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
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
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.
3 - 23
3 COMMON PARAMETERS
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
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.
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
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 .
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
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.
(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.
3 - 26
3 COMMON PARAMETERS
(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.
(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.
3 - 28
4 AUXILIARY AND APPLIED FUNCTIONS
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
ON
Output device OFF OFF
OFF Value
ON section setting
ON Value
4-1
4 AUXILIARY AND APPLIED FUNCTIONS
OFF Value
ON section setting
ON Value
(Watch data value) < (OFF Value) (ON 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
(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
Output device
OFF Value
ON section setting
ON Value
Output device
Output control based on Output ON
Output OFF ON Value and OFF Value (Forced output) Output OFF
4-3
4 AUXILIARY AND APPLIED FUNCTIONS
(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
(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
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
4-5
4 AUXILIARY AND APPLIED FUNCTIONS
(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed
transmission area for each CPU.
(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.
4-6
4 AUXILIARY AND APPLIED FUNCTIONS
(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
(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
Lower limit value < (Watch data value) < Upper limit value
(Watch data value) < Upper limit value Lower 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
(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.!
Ver.! : Refer to Section 1.5 for the software version that supports this function.
4 - 10
4 AUXILIARY AND APPLIED FUNCTIONS
(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
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)
4 - 12
4 AUXILIARY AND APPLIED FUNCTIONS
(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
(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed
transmission area for each CPU.
4 - 13
4 AUXILIARY AND APPLIED FUNCTIONS
ON
Without output device
compensation time OFF OFF
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.
(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
4 - 15
4 AUXILIARY AND APPLIED FUNCTIONS
(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
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).
(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)
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
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
(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
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
(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.
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
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.
AB E
23 6
23 6
CD
45
45
AB
STOP RUN
3) Rotary switch 2 (SW2)
CAUTION
• Each switch setting is 0 to F.
EMI
CN1
FRONT
BAT
4 - 22
4 AUXILIARY AND APPLIED FUNCTIONS
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
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 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
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].
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.
Programs Programs
Parameters, etc. Parameters, etc.
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
(Note): The display of selectable data are different depending on the operating software.
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
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.
Mode operated
ROM operation start
by ROM
4 - 29
4 AUXILIARY AND APPLIED FUNCTIONS
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
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
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
Ver.! : Refer to Section 1.5 for the software version that supports this function.
4 - 32
4 AUXILIARY AND APPLIED FUNCTIONS
<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
<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
<SV13/SV22 use>
<SV43 use>
Items Details
Type Type of user data
Password Enter old password.
4 - 36
4 AUXILIARY AND APPLIED FUNCTIONS
Select menu [Project] [Save] to save the updated password data in a project.
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
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
• "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
4 - 40
4 AUXILIARY AND APPLIED FUNCTIONS
START
Will communication
and project management be NO
executed in another
computer?
YES
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.
4 - 41
4 AUXILIARY AND APPLIED FUNCTIONS
START
NO
END
4 - 42
4 AUXILIARY AND APPLIED FUNCTIONS
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.
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".
4 - 43
4 AUXILIARY AND APPLIED FUNCTIONS
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.
(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.
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
(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.
(4) When a main cycle is lengthened (more than 1.0[s]), a WDT error may occur in
the Motion CPU.
4 - 45
4 AUXILIARY AND APPLIED FUNCTIONS
(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
4 - 46
4 AUXILIARY AND APPLIED FUNCTIONS
2) Procedure to read
1. Set the axis No. and servo parameter No. in SD805 and SD806.
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
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)
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
: 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.
: Settable : Unsettable
(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.
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4 AUXILIARY AND APPLIED FUNCTIONS
(Note): The status for amplifier-less operation status is set in the amplifier-less operation status flag (SM508). (Refer to Section 4.11.2.)
4 - 51
4 AUXILIARY AND APPLIED FUNCTIONS
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.
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4 AUXILIARY AND APPLIED FUNCTIONS
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
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
[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.
END END
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
System configuration
SM400
0 MOV K1 D51
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
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.
Ver.! : Refer to Section 1.5 for the software version that supports this function.
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4 AUXILIARY AND APPLIED FUNCTIONS
4 - 57
4 AUXILIARY AND APPLIED FUNCTIONS
ON
Amplifier-less operation
status (SM508) OFF
During amplifier-less
During normal operation operation
ON
Amplifier-less operation
status (SM508) OFF
During normal
During amplifier-less operation operation
4 - 58
4 AUXILIARY AND APPLIED FUNCTIONS
(4) Program
Program to start/release of amplifier-less operation for the self CPU
[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.
END END
4 - 59
4 AUXILIARY AND APPLIED FUNCTIONS
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.
The PLC ready flag (M2000) is turned ON/OFF using MT Developer2 with RUN/STOP
switch of Motion CPU module set to RUN.
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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
4 - 61
4 AUXILIARY AND APPLIED FUNCTIONS
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.
(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.
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
Ver.! : Refer to Section 1.5 for the software version that supports this function.
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.
PERIPHERAL I/F
MT Developer2
4 - 63
4 AUXILIARY AND APPLIED FUNCTIONS
1)
2)
3)
4 - 64
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.
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4 AUXILIARY AND APPLIED FUNCTIONS
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)
2)
4 - 66
4 AUXILIARY AND APPLIED FUNCTIONS
4 - 67
4 AUXILIARY AND APPLIED FUNCTIONS
1)
2)
3)
4 - 68
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.
[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.
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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
4 - 70
4 AUXILIARY AND APPLIED FUNCTIONS
(b) The maximum number of devices that can access to one Motion CPU
simultaneously is 16.
(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.
4 - 71
4 AUXILIARY AND APPLIED FUNCTIONS
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.
(c)
(a)
(b)
4 - 72
4 AUXILIARY AND APPLIED FUNCTIONS
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.
4 - 73
4 AUXILIARY AND APPLIED FUNCTIONS
4 - 74
4 AUXILIARY AND APPLIED FUNCTIONS
(Note-1): When data is communicated in ASCII code, the second character " " can be designated a blank space (code: 20H).
4 - 75
4 AUXILIARY AND APPLIED FUNCTIONS
(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.
4 - 76
4 AUXILIARY AND APPLIED FUNCTIONS
Communication processing
on the external device side
Has processing
for all received messages
completed?
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.
4 - 77
4 AUXILIARY AND APPLIED FUNCTIONS
4 - 78
4 AUXILIARY AND APPLIED FUNCTIONS
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.
+2n
The 3rd detection
+3n
+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
4 - 79
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.
Mark detection data storage Detected real current value Detected real current value
device
4 - 80
4 AUXILIARY AND APPLIED FUNCTIONS
(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.
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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.
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4 AUXILIARY AND APPLIED FUNCTIONS
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
(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.
4 - 84
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
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 —
Latch data
Estimate line
Word device data
t
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
Latch data
4 - 87
4 AUXILIARY AND APPLIED FUNCTIONS
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
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.
4 - 89
4 AUXILIARY AND APPLIED FUNCTIONS
4 - 90
4 AUXILIARY AND APPLIED FUNCTIONS
4.15 High-speed Input Request Signal Setting (SV22 advanced synchronous control only)
QDS Ver.!
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
(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
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.
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.
4 - 92
4 AUXILIARY AND APPLIED FUNCTIONS
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.
4 - 93
4 AUXILIARY AND APPLIED FUNCTIONS
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.
—: 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 AUXILIARY AND APPLIED FUNCTIONS
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
SSCNET (/H) Master axis Slave axis 1 Slave axis 2 Slave axis 3
Positioning command/
speed command/
torque command
d1 d2 d3 d4
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 AUXILIARY AND APPLIED FUNCTIONS
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.
(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.
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4 AUXILIARY AND APPLIED FUNCTIONS
(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
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4 AUXILIARY AND APPLIED FUNCTIONS
(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.
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4 AUXILIARY AND APPLIED FUNCTIONS
(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.
(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.
(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 AUXILIARY AND APPLIED FUNCTIONS
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 AUXILIARY AND APPLIED FUNCTIONS
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.
(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.
4 - 101
4 AUXILIARY AND APPLIED FUNCTIONS
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.
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.
4 - 102
4 AUXILIARY AND APPLIED FUNCTIONS
4 - 103
4 AUXILIARY AND APPLIED FUNCTIONS
SSCNET /H
MT Developer2
GX Works2
Servo amplifier
MR-J4(W)- B SSCNET /H head module
LJ72MS15
SSCNET /H
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.
4 - 104
4 AUXILIARY AND APPLIED FUNCTIONS
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
4 - 105
4 AUXILIARY AND APPLIED FUNCTIONS
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
4 - 106
4 AUXILIARY AND APPLIED FUNCTIONS
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)
• 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.
4 - 107
4 AUXILIARY AND APPLIED FUNCTIONS
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
4 - 108
4 AUXILIARY AND APPLIED FUNCTIONS
(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
4 - 109
4 AUXILIARY AND APPLIED FUNCTIONS
• 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
(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
M239
M240
M367
007F 007F
(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
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 - 113
4 AUXILIARY AND APPLIED FUNCTIONS
MEMO
4 - 114
APPENDICES
APPENDICES
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
APP - 2
APPENDICES
Ver.! : Refer to Section 1.5 for the software version that supports this function.
APP - 3
APPENDICES
Ver.! : Refer to Section 1.5 for the software version that supports this function.
APP - 4
APPENDICES
(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
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
• 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
Status of CPU
SD200 Status of switch Not used 1)
switch
1) CPU switch status 0: RUN
1: STOP
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
Year Month
Day Hour
Minute Second
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
APP - 10
APPENDICES
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
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)
APP - 12
APPENDICES
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
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
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
Motion CPUs generate a system configuration error under the following conditions.
APP - 16
APPENDICES
(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
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
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
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
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
1433
1434 Always
1435
Steady "BT1"
Battery 1600 BATTERY ERROR Drive name — Continue Always
Steady "BT2"
2100
Module No.
2107
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.
3013
At power ON/
At reset
Parameter No./
3015
CPU No.
Always
CPU No. "AL" flashes 3 times
7000 (Note-1) (Note-3)
CPU No.
7010 (Note-1)
At power
7011 —
Multiple CPU MULTI EXE. ERROR — Stop supply ON/
at reset
CPU No.
7020 MULTI CPU ERROR (Note-1) — Continue Always
7030
At power
CPU No.
CPU LAY. ERROR — Stop supply ON/
7031 at reset
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.
APP - 25
APPENDICES
10002
10003
None
10004
10005
Continue
10007
MC.UNIT ERROR — —
10008 None
10009
10010
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
10030 Stop
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
• 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.
APP - 30
APPENDICES
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.
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
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.
APP - 32
APPENDICES
APP - 33
APPENDICES
APP - 34
APPENDICES
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
APP - 35
APPENDICES
APP - 36
APPENDICES
(Note): "n" in the device No. indicates the numerical value (axis No.1 to 32 : n= 0 to 31) which correspond to axis No.
APP - 37
APPENDICES
(Note): "n" in the device No. indicates the numerical value (n=0 to 7) which correspond to motion error history.
(Note) : "n" in the device No. indicates the numerical value (n=0 to 7) which correspond to motion error history.
APP - 38
APPENDICES
APP - 39
APPENDICES
APP - 40
APPENDICES
APP - 41
APPENDICES
APP - 42
APPENDICES
(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
(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
APP - 45
APPENDICES
(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
APP - 47
APPENDICES
MEMO
APP - 48
WARRANTY
Please confirm the following product warranty details before using this product.
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