Mitsubishi Electronics Q173HCPU manual

IB(NA)-0300111-A(0506)MEE P Q MOTION CONTROLLER Qseries Programming Manual (COMMON) (Q173HCPU/Q172HCPU) MOTION CONTROLLERS Programming Manual MODEL MODEL CODE Q173H-P-COM-E 1XB911 IB(NA)-0300111-A(0506)MEE When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permis[...]

A - 1 SAFETY PRECAUTIONS (Read these precautions before using.) When using this equip ment, thoroughly read this manual and t he associated manuals introduced in t his manual. Also pay careful a ttention t o safety and handle the module properly. These precautions apply only to this equipme nt. Re fer to the Q 173HCPU/Q172HC PU Users manual for a d[...]

A - 2 For Safe Oper ation s 1. Prevention of electric shocks ! DANGER Never open the front case or terminal covers while the pow er is ON or the unit is running, as this may lead to electr ic shocks. Never run the unit with the front case or term inal cover removed. The high voltage terminal and charged sections will be ex posed and may lead to ele[...]

A - 3 3. For injury prevention ! CAUTION Do not apply a volt age other than that specified in the instruction manual on any terminal. Doing so may lead t o 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 no[...]

A - 4 ! CAUTION The brakes (electromagnetic brakes) assembled into t he servomotor are for holding applications, and must not be used for normal braking. The system must have a mechanical all owance so that t he machine itself can stop even if the stroke limits switch is passed through at the max. speed. Use wires and cables that hav e a wire diame[...]

A - 5 ! CAUTION Set the sequence function program capacity setti ng, device capacity, latch validity range, I/ O assignment setting, and v alidity of continuous operati on during error detection to values that are compatible with t he system application. The protectiv e functions may not function if the settings are incorrect. Some devices used in [...]

A - 6 ! CAUTION Securely fix the Motion controller and servo amplifier to the machine according t o the instruction manual. If the fixing is insufficient , these may come off during operation. Always install the servomot or with reduction gears in t he designated direction. Failin g to do so may lead to oil lea ks. Store and use the unit in the fol[...]

A - 7 (4) W iring ! CAUTION Correctly and securely wire the wires. Reconfirm the connect ions for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead t o run away of the servomotor. After wiring, install the protectiv e covers such as the terminal cov ers to the original positions. Do not install a phase advancing[...]

A - 8 (6) Us age methods ! CAUTION Immediately turn OFF the power if smoke, abnor mal sounds or odors are emitted from the Motion controller, servo amplifier or servomotor. Always execut e a test operation before star ting actual operations after the program or parameters have been changed or after maintenance and inspection. The units must be disa[...]

A - 9 ! CAUTION 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 pow er failure is restored, so do not go near the machine. (Design t he machine so that personal safety can be ensured even if the machine restarts suddenly.) (8) Mai ntenance, inspect[...]

A - 10 (9) About processing of waste W hen you dis card Motion c ontr oller, s ervo amplif ier, a batter y (pr imar y batter y) an d oth er opt ion art icles, pleas e follo w the law of e ach c ountr y (area) . ! CAUTION This product is not designed or manufactured to be used in equipme nt or systems in situations that can affect or endanger human [...]

A - 11 REVI SIONS The manual number is g iven on the bottom left of the b ack cov er. Pri nt D ate Manual Num ber Revision Jun., 2005 IB(NA)-03 00111- A F irst editio n May., 2006 IB(NA)-0 300111- B [Addition al model] Soft ware for SV43 [Addit ional cor rect ion/part ial corr ection] About Man uals Sep., 20 06 IB(NA)- 0300111- C [Addit ional m ode[...]

A - 12 INTRODUCT ION Thank you for choos ing the Q173HCPU/Q1 72HCPU M otion Co ntroller. Please r ead this manual c aref ully so that eq uipm ent is used to its optim um . CONTENT S Safet y Precaut ions ............................................................................................................. ............................ A- 1 Rev[...]

A - 13 3.1.2 Com m on system para meter s ................................................................................................. .......... 3- 3 3.1.3 In dividu al param eters .................................................................................................... .................... 3- 9 3.2 Ass ignm ent of I/O No. ........[...]

A - 14 4.5 Sec urit y Function .......................................................................................................... ........................... 4-25 4.5.1 P asswor d registr ation /change ............................................................................................. ............. 4-25 4.5.2 P asswor d cleara nce[...]

A - 15 About Ma nuals The f ollowing m anuals ar e relate d to this product. Referr ing to this lis t, pleas e request t he neces sary m anuals. Related Ma nuals (1) Motion c ontroller Manual N ame Manual N umber (Model Code) Q173HCPU /Q172HCPU Motion controller User's Manual This manual expl ains spec ificat ions of the Motion CP U modules , [...]

A - 16 (2) PLC Manual N ame Manual N umber (Model Code) QCPU User's Manual (Hardw are Design, Maintenance and Inspection) This manual expl ains the s pecific ations of the QCP U modules, power supply m odules, base modules , extension c ables, mem ory card battery and ot hers. (Optional) SH-080483ENG (13JR73) QCPU User's Manual (Function [...]

1 - 1 1 OVERVIE W 1 1. OVERVIEW 1.1 Overv iew This program m ing m anual d escrib es t he com mon i tem s of eac h oper atin g s ystem softwar e, suc h as th e Mu ltip le CPU s yst em of the oper atin g s ystem s oftwar e pack ages "S W 5RN-SV Q ", "SW 6RN-SV Q " f or Mot ion CP U modu le (Q173HC PU/Q 172HC PU). In th is m anual[...]

1 - 2 1 OVERVIE W Generic term/Abbreviation Description SSC I/F communication cabl e Abbreviation for "Cable for SSC I/F board/card" Teaching unit or A31TU-D3 /A31TU-DN A31TU-D3 /A31TU-DN Teaching unit (No te-4) Intelligent function module Abbreviation for "MELSECNET/H module/ Ethernet module/CC-Link module/ Serial communication modu[...]

1 - 3 1 OVERVIE W 1.2 Features The M otion C PU a nd Mul tipl e CPU system ha ve the f ollo wing f eatur es. 1.2.1 Features of Motio n CPU (1) Q series PL C Multip le CPU system (a) T he loa d of c ontro l proc essin g for each C PU ca n be d istribu ted b y contr olling t he com plic ated s ervo co ntrol with t he Moti on C PU, and the ma chine co[...]

1 - 4 1 OVERVIE W (3) Connecti on between the Motion control ler and serv o amplifier with high speed sy nchronous network by SSCN ET (a) Hig h speed sy nchro nous netw ork by SSCNET connect b etwee n the Motion c ont roller and s ervo am plifier , and b atch c ontro l t he char ge of servo param eter, ser vo m onitor and test o perat ion, etc. It [...]

1 - 5 1 OVERVIE W 1.2.2 Basic specifications of Q 173HCPU/Q172HC PU (1) Modul e specifications Item Q173HCPU Q173HCPU -T Q172HCPU Q172HCPU-T Teaching unit —— Usable —— Usable Internal c urrent consum ption (5VDC ) [A] 1. 25 1.56 (Note) 1. 14 1.45 (Note) Mass [kg] 0.23 0.24 0.22 0.23 Exterior dim ensions [mm(inch)] 104.6 (4.11)(H) 27.4 (1.08[...]

1 - 6 1 OVERVIE W Motion control speci fications (continued) Item Q173 HCPU Q173HCPU- T Q172HCPU Q172HCPU- T Manual pulse generator operation function Possible to connect 3 modules Synchronous encoder operation function Possible to connect 12 module s Possible to connect 8 modules M-code function M-code output function provide d M-code completion w[...]

1 - 7 1 OVERVIE W (b) Moti on SFC Performance Specifications Item Q173HCP U/Q172HCP U Code total (Motion SFC c hart+ Operati on control+ Transition) 543k bytes Motion SFC prog ram c apacity Text tota l (Operation c ontrol+ Transi tion) 484k bytes Number of Motion SFC program s 256 (No.0 to 255 ) Motion SFC c hart size/ program Up to 64k byt es (Inc[...]

1 - 8 1 OVERVIE W (3) SV43 Motion contr ol specificat ions/perfor mance specifications (a) Motion contr ol specifications Item Q173 HCPU Q172HCPU Number of control ax es Up to 32 ax es Up to 8 axes Operation cycle (default) 0.88ms/ 1 to 5 axes 1.77ms/ 6 to 14 ax es 3.55ms/15 to 28 ax es 7.11ms/29 to 32 ax es 0.88ms/ 1 to 5 axes 1.77ms/ 6 to 8 axes [...]

1 - 9 1 OVERVIE W (b) Moti on program performance speci fications Item Q173 HCPU/Q172HCP U Total of program files 248k bytes Program capacity Number of programs Up to 1024 (No. 1 to 1024) Arithmetic operation Unary operation, Addition and subtraction o peration, Multiplication and div ision operation, Remainder o peration Comparison operation Equal[...]

1 - 10 1 OVERVIE W 1.3 Hardw are Configuration This sectio n desc ribes the Q173HC PU/Q1 72HC PU sys tem c onfigur ation, prec autions on use of s ystem , and co nfigure d eq uipm ents. 1.3.1 Motion sy stem configuration This sect ion des cribes the equipm ent c onfigur atio n, con figura tion with perip heral devices and s ystem confi guration in [...]

1 - 11 1 OVERVIE W (2) Peri pheral device configur ation for the Q173H CPU/Q172HC PU The fo llowin g (a)(b ) can be use d. (a) USB configura tion Motion CPU module (Q173HCPU, Q172HCPU) Personal computer (Windows 98/2000/XP o nly) USB cable R (b) SSCNET configur ation Motion CPU module (Q173HCPU, Q172HCPU) SSC I/F commu nication cable (Q170CDCBL M ,[...]

1 - 12 1 OVERVIE W 1.3.2 Q173HCPU Sy stem overall configuration M a n u a l p u l s e g e n e r a t o r i n t e r f a c e m o d u l e S y n c h r o n o u s e n c o d e r i n t e r f a c e m o d u l e S e r v o e x t e r n a l s i g n a l s i n t e r f a c e m o d u l e (Up to 6 modu les) (Up to 1 mo dule) QI60 PLC CPU/ Motion CPU SSC I/F Card/Board[...]

1 - 13 1 OVERVIE W CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifie r differ from the safety direct ive operation in the system. The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) use[...]

1 - 14 1 OVERVIE W 1.3.3 Q172HCPU Sy stem overall configuration M a n u a l p u l s e g e n e r a t o r i n t e r f a c e m o d u l e S y n c h r o n o u s e n c o d e r i n t e r f a c e m o d u l e S e r v o e x t e r n a l s i g n a l s i n t e r f a c e m o d u l e (Up to 4 m odules) (Up to 1 m odule) QI60 PLC CPU/ Motion CPU SSC I/F Card/Board[...]

1 - 15 1 OVERVIE W CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifie r differ from the safety direct ive operation in the system. The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) use[...]

1 - 16 1 OVERVIE W 1.3.4 Software packages (1) Sof tware pa ckages (a) Operating system software packages Software pac kage Applicat ion Q173HCPU Q172HCPU For conveyor as sembl y SV13 (Motion SFC) SW6RN-SV13QK SW 6RN-SV 13QM For autom atic machinery SV22 (Motion SFC) SW6RN-S V22QJ SW 6RN-SV22QL For mac hine tool peripheral SV43 SW 5RN-SV43QJ SW 5RN[...]

1 - 17 1 OVERVIE W It is n ecess ar y the fo llowin g c apacit y depe nding on t he ins talle d soft ware . S iz e Model name SW 6RNC-GSVE SW 6RNC-GSVHELPE S W 6RN-GSV13P 65MB 40MB S W 6RN-GSV22P 66MB 45MB S W 6RN-GSV43P 55MB 32MB SW3RN-CA MP 5MB 3MB SW6RN-DOSCP 35MB 10MB Standard 60MB SW6RN-SNE TP Custom ( W hen all select ion) 60.5MB 3MB SW3RN-DO[...]

1 - 18 1 OVERVIE W (4) Relevant software packages (a) PLC so ftware p acka ge Model nam e Software pac kage GX Developer SW D5C-GPPW -E (Note) : =used "6" or later. (b) Serv o setup software package Model nam e Software pac kage MR Configurat or MRZJW 3-SETUP221E POINT (1) W hen the oper atio n of W indows is no t unc lear in the o perat [...]

1 - 19 1 OVERVIE W 1.3.5 Restrictions on moti on systems (1) It is not allo wed t o use the Mo tion C PU as the co ntrol CPU of a modu le ins tall ed on the QA1 S6 B ex tens ion base unit. PLC C PU m ust be used as the c ontr ol CPU. (2) Mo tion C PU m odule c ann ot be us ed as stan dalone modul e. It m ust al ways be used i n com binati on with t[...]

1 - 20 1 OVERVIE W (11) I nsta llati on pos ition of the Q172 EX (Note-2) is onl y CPU base unit. (12) W hen c ombin ing the Q17 3HCPU(- T)/Q1 72HCP U(-T ) with Q 173CPU( N)/ Q172C PU(N)/Q 173CPU N-T /Q172C PUN-T , set as f ollo wing c ombin ation. If it is use d in c om binatio n exc ept for the f ollo wing, the Q 173HCPU( -T) / Q172HCPU(-T) does [...]

2 - 1 2 MULTIPLE CPU SY STEM 2 2. MULTIPLE CPU SYSTEM 2.1 Multip le CPU Syste m 2.1.1 Overv iew (1) Mult iple CPU S ystem Mult iple (u p to 4 modu les) PLC CPUs and M otio n CPUs are ins talle d to th e CPU base u nit, an d eac h CPU contro ls the I/O m odules and intel ligent funct ion modules of the CPU bas e unit/ex tensi on base un it slot b y [...]

2 - 2 2 MULTIPLE CPU SY STEM 2.1.2 Installation o f PLC CPU and Moti on CPU Up to a total f our PLC CPUs and Motion CPUs can be install ed in the CPU bas e unit, in the f our s lots st artin g fro m the C PU slo t (the slot located to th e imm ediat e right of the power su ppl y modul e) to s lot 2 i n series . There m ust be no non- insta llation [...]

2 - 3 2 MULTIPLE CPU SY STEM 2.1.3 Precautions for using Q series I/O modules and intellig ent function modules (1) Modul es controllable by the Motion CPU I/O m odules (Q X , Q Y , QH , QX Y , Q6 AD , Q6 DA , interrupt module (QI6 0) an d moti on m odules (Q 172LX , Q172 EX, Q 173PX ) ca n be cont rolled by the Mo tion CPU. (2) Comp atibilit y wit[...]

2 - 4 2 MULTIPLE CPU SY STEM 2.1.4 Modules subject t o installation restr ictions (1) Modules subject to i nstal lation restrict ions in th e Motio n CPU are so wn belo w. Use with in the restr ictions liste d below. (a) SV13/ SV22 Maximum installable modules per C PU Description Model name Q173HCPU Q17 2HCPU Servo external signals interface module[...]

2 - 5 2 MULTIPLE CPU SY STEM (3) A tota l of ei ght bas e uni ts inc ludin g one C PU bas e un it an d seven ext ensio n bas e units c an be used. Ho wever, th e usa ble s lots (n umber of m odules) are l imited to 64 per system inc luding vac ant sl ots. If a modu le is inst alled in sl ot 65 or subseq uent slo t, an erro r (SP. UN IT LAY ERROR ) [...]

2 - 6 2 MULTIPLE CPU SY STEM 2.1.5 Processing ti me of the Multipl e CPU system (1) Processin g of the Multiple CPU s ystem Each C PU m odule of the Multi ple CP U s ystem acces ses to the m odules contr olled b y self CPU with which th e CPU base un it or exte nsion base unit is insta lled, a nd the other CPU throu gh the bus ( base un it pat tern[...]

2 - 7 2 MULTIPLE CPU SY STEM 2.1.6 Ho w to reset the Multiple CP U system W ith the Multi ple CPU s ystem , resetting the P LC CPU of CPU No. 1 res ets the entir e sy st em. W hen the PLC CPU of CPU No . 1 is reset, the C PUs, I/O modul es and i ntellig ent functi on m odules of all CPUs will be r eset . To rec over an y of th e CPUs in t he Mul ti[...]

2 - 8 2 MULTIPLE CPU SY STEM 2.1.7 Processing at a C PU DO W N error occur rence by a PLC CPU or Q173HCPU/ Q172HCPU In th e Mult iple C PU s ystem , the s ystem opera tes dif fere ntly whe n CPU No. 1 genera ted a CPU DOW N error as com pared with whe n CPU No. 2, 3 or 4 did. (1) W hen CPU N o. 1 generated a CPU DOW N err or (a) W hen the PLC CPU o[...]

2 - 9 2 MULTIPLE CPU SY STEM (a) W hen a C PU DOW N error occ urs i n the C PU of the CP U in a c heck ed "St op all CPUs upon error in CPU No. n" item , all PLC CPU/Q17 3HCPU/ Q172HC PU of the ot her C PUs will gener ate a MULT I CPU DOW N error (error code : 7000) and the Mu ltip le CPU syst em wi ll sto p. (Note- 1) (b) W hen a C PU DO[...]

2 - 10 2 MULTIPLE CPU SY STEM (c) Us e the f ollo wing proc edur e to rec over the s ystem : 1) Ch eck the CPU gener ating the err or an d cause of t he err or usin g th e PC diagnos tic f unction of GX Deve loper. 2) If the er ror oc curre d in a Q173H CPU/Q1 72HC PU and the error co de is 10000, c heck the c ause of the error using er ror list of[...]

2 - 11 2 MULTIPLE CPU SY STEM 2.2 Starting Up the Multiple C PU System This sectio n desc ribes a sta ndard proc edure to start up the Mul tiple CPU s ystem . 2.2.1 Startup Flow of the Multiple C PU System Multiple CPU system Multiple CPU system design Clarify c ontrol /functi on execut ed by each CPU. Device ap plicat ion and assign ment Secure th[...]

2 - 12 2 MULTIPLE CPU SY STEM 1) PLC CP U Mot io n CP U Write t o the PLC CP U Write the par amete rs and PL C progr ams to the PLC CP U (CPU No.1) . Set the connect des tinat ions of PLC CP U (CPU No. 2 to 4), and write them. SW6RN-GSV P start Start the SW6RN-GSV P. Syst em set tings and p rogram , etc. creat e Create the system settings, servo da[...]

2 - 13 2 MULTIPLE CPU SY STEM 2.3 Communicati on betw een the PLC CPU and the Moti on CPU in the M ultiple CPU System The f ollowing task s can be perf orm ed betw een th e PLC CPU an d the Motio n CPU in the Mu ltiple CPU syste m. • Dat a transf er be tween C PUs b y the a utom atic ref resh functi on of t he shar ed C PU me mo ry • Con trol i[...]

2 - 14 2 MULTIPLE CPU SY STEM Proc essing de tails of CPU No. 2 (Motion C PU) at mai n cycle proc essin g. 2) : Da ta of tr ansm itting d evices B20 to B3F for CPU No. 2 is tr ansfer red to the aut om atic ref resh ar ea o f shar ed m emor y in the s elf CPU. 3) : Da ta in t he autom atic refr esh area of shar ed m emory i n CPU No.1 is tra nsfe rr[...]

2 - 15 2 MULTIPLE CPU SY STEM (2) Automatic r efresh settings 1 (Automati c setting) (a) W hen ex ecuti ng the autom atic r efresh f uncti on of s hared CPU m emor y , s et the num ber of each CPU's t ransm itting p oints and de vices in wh ich data is to be stor ed us ing M ultiple CP U Setti ngs of System Sett ings. Refer t o the "QC PU[...]

2 - 16 2 MULTIPLE CPU SY STEM 4) The shar ed CPU m emory to be occ upie d during exec ution of the autom atic r efres h funct ion cov ers a ll are as corr espo nding to sett ings 1 to 4. W hen the number of transm itting po ints is se t, the first a nd last addres ses of the s hared CPU m emor y to be us ed are in dicate d in hexadec im als. The CP[...]

2 - 17 2 MULTIPLE CPU SY STEM 2) S et the C PU-sid e devic e as f ollows . • Sett ings 1 to 4 ma y use di ffer ent devic es. If the d evic e ranges do no t over lap, t he sam e device ma y be used for settin gs 1 t o 4. Setting 1: Link relay Setting 2: Link register • Settings 1 to 4 may use different devices. Setting 3: Link relay • The same[...]

2 - 18 2 MULTIPLE CPU SY STEM • The devices in se ttin gs 1 t o 4 ca n be s et ind ividual ly fo r each C PU. For ex ample, you ma y set link rela y for C PU No. 1 and inter nal rel ay for CPU No. 2. • Set the sa me number of points for all CPUs. • When the CPU-side dev ice for CP U No.1 is the sa me as th at for C PU No .2. • When the CPU-[...]

2 - 19 2 MULTIPLE CPU SY STEM 3) The bloc k dia gram below i llustr ates t he a utomatic ref resh o perat ion o ver four r anges of se tting 1 : link rela y (B), s ett ing 2: link r egis ter (W ), settin g 3: dat a regi ster (D ), and setti ng 4: intern al relay (M). CPU No.2 transmitting da ta (No.3) CPU No.2 transmitting da ta (No.2) CPU No.2 tra[...]

2 - 20 2 MULTIPLE CPU SY STEM (3) Automatic r efresh settings 2 (M anual setting) (a) W hen the aut omatic ref resh se tting ( Manu al set ting) of Mot ion C PU is used, there are th e foll owing ad vanta ges. 1) A device sett ing which e xecutes the au tom atic ref res h setti ng bet ween the PLC CPU and Mo tion C PU can be perf orm ed flex ibly. [...]

2 - 21 2 MULTIPLE CPU SY STEM 5) "D UMMY" sett ing ca n be s et to t he f irst de vice c olum n B of th e autom atic r efres h sett ing. ( "DUMM Y" setti ng ca nnot be set t o the self CPU. ) "DUMMY " sett ing sho uld se t "*" a s the fi rst devi se col umn B. Th e self CPU do es not ex ecute t he autom atic [...]

2 - 22 2 MULTIPLE CPU SY STEM (c) CP U-si de devi ce The foll owing de vice s can be used fo r auto matic refr esh. (O ther devi ces cannot be se t in SW 6RN-G SV P.) Settabl e device Restric tion Data resis ter (D) Link resi ster (W ) Motion resis ter (#) None Link relay (B ) Internal rel ay (M) Output (Y) • Specif y 0 or a multipl e of 16 as th[...]

2 - 23 2 MULTIPLE CPU SY STEM [Dumm y setting ] Usual ly, the autom atic r efre sh sett ing is exec uted be twee n PLC CPU a nd Mot ion CPU f or the i nstruct ions to each Motion CPU an d th e mon itor of a state by th e PLC C PU at t he tim e of op erati on. H owever, the autom atic ref resh is no t necess ary b etwee n eac h Mot ion CPU . In t hi[...]

2 - 24 2 MULTIPLE CPU SY STEM (4) The lay out example of auto matic refresh setting The l ayout example of a utom atic r efresh when Re ad/Wr ite does a Mo tion dedicate d device i n the Motion CP U with PLC CPU is sho wn below. (a) SV1 3 • Overall configur ation Tab le of t he int ernal re la ys T able of the data r e giste rs Device No. Applic [...]

2 - 25 2 MULTIPLE CPU SY STEM 1) PLC CPU ( 1 module) + Moti on CPU (1 modul e) The ou tline operati on and th e autom atic r efres h setti ng ar e as f ollo ws. Comman d devic e for the Motion CPU (768 points) CPU No.1 ( PLC CPU ) Data regis ters CPU No.2 ( Motion CPU ) M0 M768 M1824 M8191 Monitor de vice for the Motion CPU (1056 point s) Internal [...]

2 - 26 2 MULTIPLE CPU SY STEM 2) PLC CPU (1 module) + M otion CPU (2 modules) The ou tline operat ion a nd th e autom atic r efres h set ting are sho wn belo w. Comma nd device f or the Motion CP U No.2 (768 poi nts) CPU No.1 (PLC CPU) Data regist ers CPU No.2 (Motion CPU) M0 M768 M1824 M2592 M3648 M8191 Monitor d evice for the Motion CP U No.2 (10[...]

2 - 27 2 MULTIPLE CPU SY STEM • Automatic refresh setting 1 PLC CPU (CPU No.1) Mot ion CPU ( CPU No .2) Send range for e ach CPU CPU side devic e Send range for e ach CPU CP U side device CPU share m emory G Dev. st arting M0 CPU share m emory G Dev. st arting * CPU Point S tart End Start End CPU Point Star t End Start End No.1 48 M0 M767 No.1 48[...]

2 - 28 2 MULTIPLE CPU SY STEM • Automatic refresh setting 1 Mo tion CPU (CPU No.3 ) Send range for e ach CPU CPU side devi ce CPU share m emory G Dev. s tarting * CPU Point S tart End Start End No.1 48 ** No.2 66 ** No.3 0 No.4 (Note) : A dum my sett ing is made so that an exces sive devi ce may not be ref reshed in the Motion CPU No. 3. • Auto[...]

2 - 29 2 MULTIPLE CPU SY STEM (b) SV2 2 • Overall configur ation Tab le of t he int ernal re la ys T able of the data r e giste rs Device No. Appli cation Device No. Applicati on M0 D0 to User device (2000 point s) to Axis moni tor device (20 points 32 a xes) M2000 D640 to Common devi ce (320 points ) to Control chang e register (2 points 32 a xe[...]

2 - 30 2 MULTIPLE CPU SY STEM 1) PLC CPU (1 module) + Motion CPU (1 modul e) The ou tline operati on and th e autom atic r efres h setti ng ar e as f ollo ws. Real com mand device f or the Moti on CPU (768 point s) CPU No.1 ( PLC CPU ) Data regis ters CPU No.2 ( Motion CPU ) M0 M768 M1824 M2528 M3232 M8191 Real mo nitor dev ice for the Moti on CPU [...]

2 - 31 2 MULTIPLE CPU SY STEM • Automatic refresh setting 1 PLC CPU (CPU No.1) Mot ion CPU ( CPU No .2) Send range for e ach CPU CPU side devic e Send range for e ach CPU CP U side device CPU share m emory G Dev. st arting M0 CPU share m emory G Dev. st arting * CPU Point S tart End Start End CPU Point Star t End Start End No.1 48 M0 M767 No.1 48[...]

2 - 32 2 MULTIPLE CPU SY STEM (c) SV43 • Overall configur ation T able of the interna l rela ys Table of the D ata re gist ers Device No. Applic ation Device No. Applic ation M0 D0 to User device (2000 point s) to Axis moni tor device (20 points 32 a xes) M2000 D640 to Common devi ce (Statu s) (320 points ) to Control chang e register (2 points 3[...]

2 - 33 2 MULTIPLE CPU SY STEM 1) PLC CPU (1 module) + Motion CPU (1 modul e) The ou tline operat ion a nd th e autom atic r efres h set ting are sho wn belo w. M0 M0 M2000 M3055 M3072 M3839 M4000 M819 1 M4319 M4400 M4719 M4720 D0 D640 D758 D8191 D1536 D1632 D0 D118 D758 D8191 D854 D1632 M768 M81 91 M1824 M21 44 M24 64 CPU No.1 ( PLC CPU ) Interna l[...]

2 - 34 2 MULTIPLE CPU SY STEM • Automatic refresh setting 3 PLC CPU (CPU No.1) Mot ion CPU ( CPU No .2) Send range for e ach CPU CPU side devic e Send range for e ach CPU CP U side device CPU share m emory G Dev. st arting M0 CPU share m emory G Dev. st arting * CPU Point S tart End Start End CPU Point Star t End Start End No.1 20 M1824 M2143 No.[...]

2 - 35 2 MULTIPLE CPU SY STEM 2) PLC CPU (1 module) + M otion CPU (2 modules) The ou tline operati on and th e autom atic r efres h setti ng ar e as f ollo ws. Command d evice for the Motion CPU No .2 (768 poi nts) CPU No.1 ( PLC CPU ) Data regis ters CPU No.2 ( Motion CPU ) M0 M768 M1824 M2592 M3648 M8191 Monitor d evice for the Motion CPU No .2 ([...]

2 - 36 2 MULTIPLE CPU SY STEM • Automatic refresh setting 1 PLC CPU (CPU No.1) Mot ion CPU ( CPU No .2) Send range for e ach CPU CPU side devic e Send range for e ach CPU CP U side device CPU share m emory G Dev. st arting M0 CPU share m emory G Dev. st arting * CPU Point S tart End Start End CPU Point Star t End Start End No.1 48 M0 M767 No.1 48[...]

2 - 37 2 MULTIPLE CPU SY STEM • Automatic refresh setting 1 Mo tion CPU (CPU No.3 ) Send range for e ach CPU CPU side devi ce CPU share m emory G Dev. s tarting * CPU Point S tart End Start End No.1 48 ** No.2 66 ** No.3 0 No.4 (Not e): A du mmy setti ng (*) i s made so th at an exc essive de vice may not be refres hed i n the Moti on CP U No. 2.[...]

2 - 38 2 MULTIPLE CPU SY STEM POINT In th e case of the com binati on "PL C CPU (1 m odule) + Mot ion C PU (3 m odules )" with S V43, m ake al l the devices of a ll the CPUs ref resh as m entioned abov e becaus e the s ettin g that Read/W rite is m ade of th e PL C CPU c an no t be ex ecute d.[...]

2 - 39 2 MULTIPLE CPU SY STEM 2.3.2 Control Instr uction from the PLC C PU to The Motion CPU ( Motion dedicated instructions) Contro l can be instr ucte d from the PLC CPU to the Motion CPU us ing the Motion dedic ated PLC ins truc tions listed in the tabl e below. Refer t o the "Q1 73HCPU/Q 172HC PU M otion c ontr oller (SV13/ SV22) Progr amm[...]

2 - 40 2 MULTIPLE CPU SY STEM 2.3.3 Reading/ W riti ng Device Data Devic e data can be written or read to/from the Motion C PU by the PLC CPU usin g the dedic ated ins truct ions lis ted in the table be low. Refer t o the "Q1 73HCPU/Q 172HC PU M otion c ontr oller (SV13/ SV22) Progr amm ing Manual (Motio n SFC) " or "Q17 3HCPU /Q172 [...]

2 - 41 2 MULTIPLE CPU SY STEM 2.3.4 Shared CPU M emory Share d CPU mem or y is use d to transf er data bet ween the CP Us in the Mu ltipl e CPU system and has a ca pacit y of 4096 words f rom 0H t o FF FH. Share d CP U mem or y has f our ar eas: "self CP U operat ion d ata area", "syst em ar ea", "aut omatic refresh area&qu[...]

2 - 42 2 MULTIPLE CPU SY STEM (1) Self CPU oper ation data area (0H to 1FFH) (a) T he fol lowin g dat a of th e self CPU are stor ed i n the Mult iple C PU s ystem , Table 2.1 Table o f Contents Stored in the S elf CPU Oper ation Data Area Shar ed memory addres s Name Description Detai led exp lanation (Note) Corre spon ding special resist er 0H Da[...]

2 - 43 2 MULTIPLE CPU SY STEM (2) System area ( 200H to 7FFH) This area is used by th e oper ating s yst ems (OS) of the PL C CPU /Motio n CPU. OS us es th is area when exe cuting dedic ated Mult iple C PU com munic ation inst ructions. • S y stem are a used by Mo tion de dicated PLC i nstruct ion (2 04H to 20DH) The c omplet e st atus is stor ed[...]

2 - 44 2 MULTIPLE CPU SY STEM (3) Automatic r efresh area This area is used at t he aut om atic refr esh of the M ultipl e CPU system . This area c annot be wr itte n usi ng S. T O ins truct ion/r ead using FROM instr uctio n of th e PLC C PU a nd writt en usi ng MULTW instruct ion/r ead us ing MU LTR in stru ction of th e Moti on CPU. (4) Us er-de[...]

2 - 45 2 MULTIPLE CPU SY STEM 2.4 Multipl e CPU Error Codes 2.4.1 Self-diag nosis error code This sect ion ex plains the s elf -diagnos is error c od e. A s elf- diagnos is err or c ode is store d in D9008. And, it ca n be c onfirm ed wit h de vice m onitor of the PC diagnos is/ S W 6RN-GSV P of GX De veloper . Each d igit is def ined as the error [...]

2 - 46 2 MULTIPLE CPU SY STEM Table 2.4 Mul tiple CPU er rors which occur s in the Motion CPU ( 1000 to 10000) Occurs CP U LED stat us Middl e classifi cation Erro r message s Er ror code Erro r infor mation Classifica tion code Single composi tion Mu ltip le composi tion RUN ERROR Operati ng stat us of CPU Diagn ostic timing 1000 1001 1002 1003 10[...]

2 - 47 2 MULTIPLE CPU SY STEM Erro r code Erro r conten ts and cau se Corre ctive ac tion Remar k 1000 1001 1002 1003 1004 1005 1006 1007 1008 1009 Run- away o r fail ure of mai n CPU (1) Mal functi onin g due to noi se or oth er rea son (2) H ardwa re f ault (1) Me asu re no ise l evel . (2) Res et and est ablis h the RUN status ag ain. If th e sa[...]

2 - 48 2 MULTIPLE CPU SY STEM Table 2.4 Mul tiple CPU er rors which occur s in the Motion CPU ( 1000 to 10000) (continued) Occurs CP U LED st atus Middl e classifi cation Erro r message s Erro r code Erro r infor mation Classifica tion code Single composi tion Mu ltip le composi tion RUN ERROR Operati ng stat us of CPU Diagn ostic timing 3001 3010 [...]

2 - 49 2 MULTIPLE CPU SY STEM Erro r code Error cont ents and cause C orrec tive act ion Remark 3001 Paramete r conten ts hav e been des troye d. (1) Read the er ror deta iled in forma tion at the periph eral de vice, chec k and co rrect th e paramet er ite ms corr espond ing to the numeri cal values (p arame ter No. ). (2) If the error still occur[...]

2 - 50 2 MULTIPLE CPU SY STEM 2.4.2 Release of sel f-diagnosis err or The C PU can perform the r eleas e oper atio n for er rors onl y when th e errors all ow the CPU t o cont inue i ts oper atio n. To rel ease t he error s, f ollow the st eps sho wn be low. (1) Eliminate the error cause. (2) St ore th e err or cod e to be releas ed i n the s pecia[...]

3 - 1 3 COMMON PARAMETERS 3 3. COMMON PARAMETERS 3.1 System Setting s In th e Mult iple C PU s ystem , the com m on s y stem par ameters and indiv idual param eters are s et for each CPU and written to e ach CPU. (1) T he bas e sett ings, M ult iple C PU sett ings an d Mo tion sl ot set tings are set in t he comm on s y stem par am eter sett ing. ([...]

3 - 2 3 COMMON PARAMETERS 3.1.1 System data setti ngs The ta ble be low lis ts t he s ystem data item s to be set . Item Setting range Initial value Remark CPU base 2/3/5/ 8/10/1 2 slots CPU base: 2 slot s Base sett ing E xtensi on base None/ 2/3/5/ 8/10/ 12 slots Non e Set th e num ber of sl ots i n the C PU base or exte nsio n base . Number of Mu[...]

3 - 3 3 COMMON PARAMETERS 3.1.2 Common system parameters (1) Para mete rs for o perating t he Multip le CP U system In th e Mult iple C PU s ystem , the com m on s y stem par ameters and indiv idual param eter f or each CPU ar e set a nd wr itten i nto eac h CPU . Reg arding the Motion CPU, the it em s in S ystem Setti ngs rel ated to the entire Mu[...]

3 - 4 3 COMMON PARAMETERS (2) Parameter s common throug hout the Multiple C PU system In th e Motio n CPU, durin g init ial ization the p aram eters in the t able b elow ar e verif ied agains t the par ameters in the PLC CPU of CPU No. 1. Unm atched param eters ge nerat e a PARAM ETER E RROR (er ror c ode: 3 012), s o the param eters s how be low m[...]

3 - 5 3 COMMON PARAMETERS (a) Multiple CPU settings Set t he fol lowi ng item s id entic all y in Mu ltiple CPU Sett ings (Mot ion C PU settin g) in SW 6RN-G SV P a nd in M ultip le C PU S ettings (PL C CPU sett ing) in GX Dev eloper . • Num ber of C PU m odules • Operation mode when a CPU stop error occurre d • Num ber of a utom atic ref res[...]

3 - 6 3 COMMON PARAMETERS (b) Mo tion s lot sett ings Set t he m odules co ntrol led b y the s elf C PU b y the Mo tion S lot Se ttings (Moti on CPU settin g) in SW 6RN-GS V P. In GX Develo per, set th e slot for Motion CPU c ontrol as the CPU n umber of the Motio n CPU i n I/O Assignm ent S ettings (PLC CPU setting) . Control CPU No. • I/O Assi [...]

3 - 7 3 COMMON PARAMETERS (c) Base setting s Set t he tota l num ber of bases and n um ber of sl ots in each base ident icall y between Base Setti ngs (Mo tion C PU set ting) in SW 6RN-G SV P a nd I/O Assignm ent Settin gs (PL C CPU setti ng) in G X De velop er. In G X De veloper , the det ailed s ett ings m ay be omitte d by s etting the bas e m o[...]

3 - 8 3 COMMON PARAMETERS POINT GOT is reco gnize d as a n int elligent funct ion m odules "1 6 points 10 slots" on the base (n umber of extens ion bases and slo t No . a re se t i n t he GO T pa ram e te r. ) for bus c onnectio n with GO T. Set t he one extens ion b ase (16 po ints 10 slo ts) for connect ion with GOT, then se t "10 [...]

3 - 9 3 COMMON PARAMETERS 3.1.3 Indivi dual parameter s (1) Basic system settings The f ollowi ng exp lains e ach it em to be se t in B asic S yste m Sett ings. (a) O perat ion c ycle se ttin g 1) S et the of m otion o perat ion c ycle (c ycles at whic h a posit ion c omm and is com puted a nd sen t to the ser vo am plifi er). The s etting r ange i[...]

3 - 10 3 COMMON PARAMETERS Condi tion in which t he M2000 turns fro m ON to OFF • Chang e th e RUN/ST OP s witch f rom the RUN s ide to the ST OP s ide. 2) M 2000 O N upon s witc hing ( STO P RUN) + 1 se t in setting regi ster (The M2 000 turns O N when the s witch is set to t he RUN side and 1 is set in the s ettin g regis ter.) Condi tion in wh[...]

3 - 11 3 COMMON PARAMETERS (2) Indiv idual module setting s The s etting item s for each m odule ar e sh own be low. Setting it ems for each module Number of usable modules Module nam e Item Setti ng range Initi al value Q173HCPU Q172HCP U External si gnal sett ing Set the number of axes for which the 8 axes input is used. Unused DOG/CHANGE t urnin[...]

3 - 12 3 COMMON PARAMETERS Setting it ems for each module (Conti nued) Number of usable modules Module nam e I tem Setting range Initi al value Q173HCPU Q172HCPU First I /O No. 00 to FF0 (in units of 16 points ) 0 Number of I/O points 0/ 16/32/64/128/ 256 16 High-spee d read setting Used/ Unused Unused QX Input module Input response tim e setting ([...]

3 - 13 3 COMMON PARAMETERS (3) External signal input Servo exter nal signal (Upper st roke li mit/Low er str oke limit/ Stop signal /Proxi mity DOG) c an be s electe d for ever y axis from the fol lowin g two m ethods . (a) Q 172LX Servo exter nal s ignals interf ace m odule use Set t he ser vo ext ernal s igna ls int erface m odu le, an d set axis[...]

3 - 14 3 COMMON PARAMETERS (4) System setting errors Motion CPUs genera te a s ystem conf igurat ion er ror un der t he fo llowing condit ions: Error name E rror code (Note-1) Error caus e C heck timing Operation at error occ urrence LAY ERROR (S L ) • The s lot set i n system sett ings is vacant or a di fferent m odule is installed. AXIS N o. MU[...]

3 - 15 3 COMMON PARAMETERS 3.2 Assignment of I/O No. I/O No.s use d in the Mu ltipl e CPU system includ e those us ed by the Mot ion CPU to comm unicate wit h I/O m odules /inte lligent func tion m odul es and those used in the comm unicat ion bet ween th e P LC CPU and the Motio n CPU. T he fo llowin g exp lains each I/O N o. and assig nment of I/[...]

3 - 16 3 COMMON PARAMETERS (3) Setting of the Motion CPU control modules by the PLC CPU Follow t he tab le bel ow whe n Motio n CPU co ntrol modules are se t in I/O Assignm ent Sett ings of the PLC CPU . (The PLC CPU h andles the Q172 LX, Q172EX and Q 173PX as int elligent func tion m odules ha ving 3 2 occ upied points .) T y pe an d number of po [...]

3 - 17 3 COMMON PARAMETERS 3.2.2 I/O No. of PLC C PU and Q173HCPU/Q172H CPU In the M ult iple C PU s ystem, I/O No. is ass igned t o the P LC CPU/ Motion CPU to enable comm unicat ion bet ween the PLC C PU and Moti on CPU usi ng the foll owing inst ructions: • The Mult iple CPU de dicated instructi ons • The Motio n CPU d edicat ed ins truc tio[...]

3 - 18 3 COMMON PARAMETERS 3.2.3 Setting I/O No. The proc edur e for the I/O No. s ettin g for the Mot ion CP U in S ystem S ettings of SW6RN-GSV P is sho wn be low. In the Motion CPU , by s etting a modu le use d in each C PU bas e or ex tensi on bas e slot in S ystem Settin gs, the contr ol CP U of th e applic able s lot is ass igned a s the s el[...]

3 - 19 3 COMMON PARAMETERS 3.3 Servo Par ameters (1) T he ser vo p arame ters c ontrol th e da ta fixed b y the s pecific atio ns of t he ser vo amplif ier a nd s ervom otor c ontro lled in the param eter set for eac h ax is an d the contr ol of t he ser vomotor. (2) T he ser vo param eters are s et b y the Set up sof tware (M R Conf igurat or). 3.[...]

3 - 20 3 COMMON PARAMETERS Table 3.1 Serv o parameter ( Basic setting par ameters) list (Conti nued) LED displa y Symbol Item Setting detai ls Sett ing v alue /setti ng ra nge (Setti ng b y setu p sof twar e) Sectio n • Sel ect the gai n adjus tment mode . Name Auto mati cally set param eter 0: Inter polati on mode PB06, PB08, PB09, PB10 1: Aut o[...]

3 - 21 3 COMMON PARAMETERS Table 3.1 Serv o parameter ( Basic setting par ameters) list (Conti nued) LED displa y Symbol Item Setting detai ls Sett ing v alue /setti ng ra nge (Setti ng b y setu p sof twar e) Sectio n PA15 ENR Enco der outpu t pulse • Set the e ncod er puls es (A -phas e, B- phas e) output by the ser vo am plifie r by the num ber[...]

3 - 22 3 COMMON PARAMETERS (2) Gain/filter parameter s Table 3.2 Serv o parameter ( Gain/filter par ameters) li st LED displa y Symbol Item Setting detai ls Sett ing v alue /setti ng ra nge (Setti ng b y setu p sof twar e) Sectio n PB01 FI LT Adap tive tu ning mode (Adaptive filt er ) • Set the ada ptive fil ter tuning. • Sele cting of " 1[...]

3 - 23 3 COMMON PARAMETERS Table 3.2 Serv o parameter ( Gain/filter par ameters) li st (Continued) LED displa y Symbol Item Setting detai ls Sett ing v alue /setti ng ra nge (Setti ng b y setu p sof twar e) Sectio n PB07 PG1 Mode l loop gai n • Set the r espons e gain u p to the targ et positi on. • Increase the g ain to improve track ability i[...]

3 - 24 3 COMMON PARAMETERS Table 3.2 Serv o parameter ( Gain/filter par ameters) li st (Continued) LED displa y Symbol Item Setting detai ls Sett ing v alue /setti ng ra nge (Setti ng b y setu p sof twar e) Sectio n PB1 4 NHQ1 N otch sh ape se lectio n 1 • Set the mach ine res onance su ppre ssion filter 1 (Notc h shape sel ecti on 1). • Set ti[...]

3 - 25 3 COMMON PARAMETERS Table 3.2 Serv o parameter ( Gain/filter par ameters) li st (Continued) LED displa y Symbol Item Setting detai ls Sett ing v alue /setti ng ra nge (Setti ng b y setu p sof twar e) Sectio n PB20 VRF2 Vibrati on s uppre ssion contr ol - resonan ce freque nc y settin g • Set the resona nce frequen cy fo r vib ratio n sup p[...]

3 - 26 3 COMMON PARAMETERS Table 3.2 Serv o parameter ( Gain/filter par ameters) li st (Continued) LED displa y Symbol Item Setting detai ls Sett ing v alue /setti ng ra nge (Setti ng b y setu p sof twar e) Sectio n PB31 VG2B Gai n ch anging - s peed loop gain • Set the sp eed loop gain wh en the gain changi ng is vali d. • Sett ing of " P[...]

3 - 27 3 COMMON PARAMETERS (3) Extension setti ng parameters Table 3.3 Serv o parameter ( Extension setti ng parameters) li st LED displa y Symbol Item Setting detai ls Sett ing v alue /setti ng ra nge (Setti ng b y setu p sof twar e) Sectio n PC01 ERZ Erro r exces sive alar m leve l • Set th e err or excessi ve al arm leve l with rotat ion a mou[...]

3 - 28 3 COMMON PARAMETERS Table 3.3 Serv o parameter ( Extension setti ng parameters) list ( Continued) LED displa y Symbol Item Setting detai ls Sett ing v alue /setti ng ra nge (Setti ng b y setu p sof twar e) Sectio n PC17 COP4 Fu nctio n Selec tion C- 4 • Set the home posi tion setti ng cond itio n. • Set this pa ramet er whe n using t he [...]

3 - 29 3 COMMON PARAMETERS (4) I/O Setting Par ameters Table 3.4 Serv o parameter (I/O Setting Parameters) list LED displa y Symbol Item Setting detai ls Sett ing v alue /setti ng ra nge (Setti ng b y setu p sof twar e) Sectio n PD07 DO1 Outp ut signal de vice se lec tion 1 ( CN3 -13) • Set the sig nal output to th e co nnecto r (C N3- 13 pi n) o[...]

3 - 30 3 COMMON PARAMETERS Table 3.4 Serv o parameter (I/O Setting Parameters) list (Continued) LED displa y Symbol Item Setting detai ls Sett ing v alue /setti ng ra nge (Setti ng b y setu p sof twar e) Sectio n PD14 DOP3 Fu nctio n Selec tion D- 3 • Set the AL M output signal at warni ng occu rrence. 0: W hen the war ning oc curs ; W NG (W arni[...]

3 - 31 3 COMMON PARAMETERS 3.3.2 Regener ative brake option This param eter is set t o use the re gener ative brake option. Selection of regenerative brake option 00 : Regenerative brake option is not used. EMR-J3-10B: Regenerative brake resistor is not us ed. EMR-J3-20B o r more and -700B or less: Built-in regenerative brake resistor is used. ESup[...]

3 - 32 3 COMMON PARAMETERS 3.3.6 Auto tuning response (1) T his p aram eter is use d to inc rease the r espons e of serv o ampl ifier . The r espon se of servo am plif ier incre ases b y changing (as 1, 2, … 5) the sett ing value of auto tuning r esp onse. Setting value Response Guideline for machine resonance f requency [ Hz] Setting value Respo[...]

3 - 33 3 COMMON PARAMETERS 3.3.8 Rotation directi on selection This param eter is used to s et the r otati on direc tion at l oad sid e of the ser vom otor. Servomot or rotation di rection Setti ng value W hen positioning address increases When positioning address decreases 0 CCW CW 1 CW CCW 3.3.9 Encoder output p ulse This param eter is used to s [...]

3 - 34 3 COMMON PARAMETERS 3.3.10 Adaptiv e tuning mode (1) T his p aram eter is used to set the ada ptive filter tuning. Setti ng value Nam e Automatical ly set paramet er 0 Filter OFF PB13, PB14 (Fixed to the init ial value) 1 Filter t uning mode PB13, PB14 2 Manual mode — (2) Select ing of "1: F ilter tuning m ode" aut om aticall y s[...]

3 - 35 3 COMMON PARAMETERS 3.3.14 Notch shape selecti on 2 This param eter is used to s elect the m achine r eso nance s uppr ession f ilter 2 (N otch shape s elec tion 2) . 1: In va lid Notch depth sel ection 0 1 2 3 Notch w idth selectio n Setting value Depth Gain Shallow Deep -40dB -14dB -8dB -4dB 0 1 2 3 Setting value Width Wide Standard 2 3 4 [...]

3 - 36 3 COMMON PARAMETERS 3.3.17 Gain chang ing selection This param eter is used to s elect the ga in cha nging c onditi on. 00 Gain changing selection 0: In va lid Under any of the following conditions, the gains change based on the setting value of servo parameter PB29 to PB32. 1: Control in structions from Motion CP U 2: Command frequency (Set[...]

3 - 37 3 COMMON PARAMETERS 3.3.20 Function selecti on C-2 This param eter is used to s elect the m otor-les s oper ation. 000 Motor-less operation selection 0: Valid 1: Invalid If m otor-less oper ation is se t to v alid, the out put s igna l can be out put and status dis pla y is possi ble as well as the cas e in which the m otor operat es actua l[...]

3 - 38 3 COMMON PARAMETERS 3.3.22 Analog monitor 2 output This param eter is used to outp ut th e oper ating s tatus of s ervo am plif ier to analog monitor in re al t ime. T he oper ating s tatus can be check ed b y anao lg outp ut. This funct ion is used to m onitor t he stat us of serv o am plif ier usin g an am m eter or synchr onize the torque[...]

3 - 39 3 COMMON PARAMETERS 3.3.25 Output sig nal device selection 1 This param eter is used to s et the s igna l outpu t to the conn ector ( CN3- 13 pin) of ser vo amplif ier. The de vice that c an be assi gned c hanges dep ending on the cont rol m ode. 000 Select the output device of the CN3-13 pin. The de vices that c an be as sig ned in each c o[...]

3 - 40 3 COMMON PARAMETERS 3.3.28 Function selecti on D-3 This param eter is used to s et the ALM output s igna l at warn ing occurre nce. Selection of output device at warning occurrence Select the w arning (WNG) and trouble (ALM) ou tput status at warning occurrence. 0 1 Settin g value 1 0 1 WNG ALM 0 1 0 1 WNG ALM 00 0 Out put of se rvo a mpl if[...]

4 - 1 4 AUXILIA RY AND A PPLIED FUNCT IONS 4 4. AUXILI ARY AND APPLIED FUNCTI ONS 4.1 Limit Sw itch Output Function This funct ion is us ed to outp ut the O N/OFF signa l corr espo nding t o th e data r ange of the wa tch dat a set per output device. Motion c ontr ol dat a or o ptiona l word data c an be used as watc h data . (Ref er to Sectio n &q[...]

4 - 2 4 AUXILIA RY AND A PPLIED FUNCT IONS 3) (ON Va lue) = (OFF Valu e) Output device ON region setting Watc h data valu e ON Value OFF Value OFF i n wh ole re gion (b) Th e limit swi tch ou tputs a re contr olled ba sed on the e ach wat ch data du ring the PCP U ready statu s (M90 74: ON) by the PLC ready flag (M20 00) fr om OFF to ON. W hen the [...]

4 - 3 4 AUXILIA RY AND A PPLIED FUNCT IONS (4) W hen the m ultiple watch d ata, O N reg ion, ou tput e nable/ disab le bit and for ced outpu t bit ar e set t o the s ame o utpu t devic e, th e logic al add of outpu t resul ts of t he settin gs is out put. ON Enable/disable bit Outp ut d evic e Watch data value ON reg ion setting Outp ut d evic e Ou[...]

4 - 4 4 AUXILIA RY AND A PPLIED FUNCT IONS 4.1.2 Limit out put setting data Limit out put dat a list are sho wn belo w. Up to 32 points of o utput dev ices ca n be s et. (The f ollowi ng item s of No.1 to No.5 are set t ogether as one po int.) No. Item Setting range Fetch cycle Refresh cycle Remarks 1 Output device Bit device (X, Y, M, L, B) — O [...]

4 - 5 4 AUXILIA RY AND A PPLIED FUNCT IONS (2) W atch data (a) T his d ata is used to per form the l imit s witch output f unct ion. T his d ata is com parison data t o out put the O N/OFF si gnal. T he out put d evic e is ON/OF F-contr olled acco rding to the ON regi on setti ng. (b) A s the wat ch data, motio n contr ol data or opti onal word dev[...]

4 - 6 4 AUXILIA RY AND A PPLIED FUNCT IONS 3) W hen the optio nal de vice d ata is set, the f ollowin g data type is set as the data t ype t o be com pared. Data type Device No. setting range 16-bit integer type 32-bit integer type 64-bit floating-point type Set the device No. as an even No.. (3) ON region setting (a) T he dat a rang e whic h m ake[...]

4 - 7 4 AUXILIA RY AND A PPLIED FUNCT IONS (5) Forced output bi t (a) S et th e "forc ed outp ut b it" whe n you want to forcib ly pr ovide t he l imit s witch outpu ts duri ng oper atio n. 1) Th e fol lowin g contro l is exerc ised. Forced output bit Control description Without setting OFF Limit switch outputs are turn ed ON/OFF on the b[...]

4 - 8 4 AUXILIA RY AND A PPLIED FUNCT IONS 4.2 Absolute Position S ystem The pos itio ning c ontr ol for abso lute posit ion s ystem can be perform ed us ing the absol ute-pos itio n-com patib le ser vom otors and s ervo a m plifiers . If the mac hine pos itio n is s et at t he s ystem starting , hom e pos ition return is n ot nec essary becau se t[...]

4 - 9 4 AUXILIA RY AND A PPLIED FUNCT IONS POINT (1) T he addr ess setti ng ra nge of abso lute posit ion s ystem is 21 474836 48 to 214748 3647. It is n ot pos sibl e to res tore p ositi on com mands that ex ceed this limit, or c urrent values after a po wer inter rupt ion. Corres pond b y the [degree ] sett ing for an inf inite f eed operat ion. [...]

4 - 10 4 AUXILIA RY AND A PPLIED FUNCT IONS 4.2.1 Current v alue control The curr ent value when usi ng the ABS encoder is control led b y foll owing func tions . (1) T he va lid ity of an enc oder data dur ing operat ion is check ed. (a) Ch eck s that th e am ount of change of t he enc oder in a 3 .5[ms ] is with in 180 degrees at t he m otor ax i[...]

4 - 11 4 AUXILIA RY AND A PPLIED FUNCT IONS 4.3 High- Speed Reading of Specified Data This funct ion is used to stor e the spec ified posit ioni ng data in th e spec ified devic e ( D, W ). The sign al fr om inp ut mod ule co ntrol led in the M otion C PU is use d as a trigger . It can be set in the system sett ing of SW 6RN-GSV P. (1) Positioni ng[...]

4 - 12 4 AUXILIA RY AND A PPLIED FUNCT IONS 4.4 ROM Operati on Function This funct ion is us ed to stor e befor ehand the user pr ogram s and param eters in the intern al FLASH ROM mem ory built- in the Mot ion CPU mod ule, and op erate it based on the dat a of interna l FLA SH ROM m em ory. 4.4.1 About the ROM operation functi on The ou tline proc[...]

4 - 13 4 AUXILIA RY AND A PPLIED FUNCT IONS Servo program Motion SFC paramet er Motion CPU module Motion SFC program Intern al SRAM m emory System setting data Each parameter for servo control 1) ROM writing request Servo program Motion S FC par ameter Motion SFC progra m Interna l FLASH ROM memory System setting data Each parameter for servo contr[...]

4 - 14 4 AUXILIA RY AND A PPLIED FUNCT IONS Motion CPU module Internal SRAM me mory System setting data Each parameter f or servo contr ol 1) ROM writing request Interna l FLASH ROM memory Personal computer MT Developer 2) ROM w riting Examp le 2) SV 43 u se Installation mo de mode written i n ROM Motion CPU module Internal SRAM me mory System sett[...]

4 - 15 4 AUXILIA RY AND A PPLIED FUNCT IONS 4.4.2 Specifications o f LED • switch (1) Name of par ts Side f ace Front face W ith Front c over open SW 7 6 ON 1) 2) 3) 4) 5) 6) Put you r finger he re to open the cove r. Q17 HCPU-T USB MODE RUN ERR. M.RUN BAT. BOOT PUL L FRONT SSCNE T CN1 CN2 TU BAT PC 9) 7) 8) 1 2 3 4 5 ON SW MOD E RUN ERR. M.RUN B[...]

4 - 16 4 AUXILIA RY AND A PPLIED FUNCT IONS (2) Applications of swi tches No. Nam e Application 7) RUN/STOP switch • Move to RUN/ STOP. RUN : Motion SFC program (SV13/SV 22)/Motion progr am (SV 43) is started. STOP : Stops Motion SFC program (SV13/ SV22)/Motion pro gram (SV 43) is stopped. 8) RESET/L.CL R switch (Note-1) (Momentary s witch) RESET[...]

4 - 17 4 AUXILIA RY AND A PPLIED FUNCT IONS 4.4.3 ROM operati on function detail s (1) O perat ion m ode "Opera tion m ode" of CPU is s et b y the sta te of DI P swi tch 2 , 3, 5 of Mot ion C PU module at t he power sup ply on or r eset of Multip le C PU s ystem. DIP s witch s etting , oper ation m ode and op erati on mode overv iew ar e [...]

4 - 18 4 AUXILIA RY AND A PPLIED FUNCT IONS POINT Do not c hange the DIP s witch s etting duri ng oper atio n. Be sur e to t urn of f the p ower suppl y of the Mult iple C PU s ystem to c hange the D IP swit ch setting. (2) Applic able dat a int o RO M The da ta con tents batch written t o th e inter nal FL ASH R OM b y ROM writin g are shown be lo[...]

4 - 19 4 AUXILIA RY AND A PPLIED FUNCT IONS (b) O perat ion at applic able data i nto RO M W hen the ROM writ ing is re queste d to the Motio n CPU m odule usin g "Com munic ation " menu of SW 6RN- GSV P, the ap pli cable da ta into ROM store d in the inter nal SR AM are ba tch-wr itten to the inter nal FLA SH ROM after er ase of an user [...]

4 - 20 4 AUXILIA RY AND A PPLIED FUNCT IONS Motion pa rameter Motion CPU module Inte rnal SR AM m emory System settin g data Each parameter for se rvo control 1) ROM writing request Motion parameter Intern al FLASH ROM memor y Syste m setting data Each parameter for serv o control Personal compute r MT Deve loper 2) ROM w riti ng Exampl e 2) SV43 u[...]

4 - 21 4 AUXILIA RY AND A PPLIED FUNCT IONS (3) RO M oper atio n proc edur e The f lowchar t to s tart t he R OM oper atio n is sh own below. Mode operated by RAM ROM opera tion sta rt procedure Set "Install ation mode mode wri tten in ROM" as a DIP switch 5 of the Motion CPU module. Create or cor rect the syste m setting, pa rameters and[...]

4 - 22 4 AUXILIA RY AND A PPLIED FUNCT IONS (4) O perat ion at the " Mode ope rated by ROM " Oper ation at the "Mod e operat ed by ROM" is show n below . (Prog rams and param eters writ ten in the intern al FLASH R OM are a bnormal .) Mode op erated by ROM s tart After tha t, it cann ot be opera ted because of stop status. Retry[...]

4 - 23 4 AUXILIA RY AND A PPLIED FUNCT IONS 4.4.4 Operating procedure of "ROM w riting" The op erating proc edure of ROM writi ng usin g the SW 6RN-GSV P is sh own belo w. (1) SV13/SV22 System se tting screen "When selecting the RAM." (Default screen at " Transfer" selecting.) "W hen selecting the ROM." (ROM [...]

4 - 24 4 AUXILIA RY AND A PPLIED FUNCT IONS (2) SV43 System setting screen "When selectin g the RAM." (Default screen at "Transfer" selecting.) "W hen selecting the ROM." (ROM writing window) RAM /RO M RAM ROM Operati ng proce dure Not select these items. 3) "R AM/ROM" com municatio n dialog i s left screen ([...]

4 - 25 4 AUXILIA RY AND A PPLIED FUNCT IONS 4.5 Security Function This funct ion is us ed to prot ect the user data of Moti on CPU b y regist ering a pass word. The f ollowi ng user data c an be protec ted i n th is funct ion. "W rite Protec tion " or "Read/ W rite Prot ection " can b e set ever y user data . Operating system so[...]

4 - 26 4 AUXILIA RY AND A PPLIED FUNCT IONS Items Details Type • Type of user data Registration • " " is display ed when a password is registered in the Motion C PU. Password • Enter new passw ord. • Set a password by the alphanumeric charac ter (ASCII) of 6 or less chara cters. • Match case (Full-size charact er cannot be used.[...]

4 - 27 4 AUXILIA RY AND A PPLIED FUNCT IONS 4.5.2 Password cl earance There ar e tw o fol lowing metho ds to d elete a pass word. • [Com munic ation] [Pass word] [Delet e] • Pass word [Delete ] ke y of the c omm unicat ion s etting s creen disp layed by "[Com munic ation] [T ransf er]". <SV13/ SV22> <SV43> Items Details Ty[...]

4 - 28 4 AUXILIA RY AND A PPLIED FUNCT IONS 4.5.3 Password check W hen the user data progra m set in a passwor d is c orre cted, t he pas sword check screen is displ ayed aut om aticall y. <SV13/ SV22> <SV43> Items Details Type • Type of user data Password • Enter old password. (1) Proced ure f or pas sword c heck (a) Ent er old pa [...]

4 - 29 4 AUXILIA RY AND A PPLIED FUNCT IONS 4.5.4 Password sav e There ar e two fol lowing m etho ds to sa ve a p ass word in the pr oject da ta. • Reg istration /chang e or c learanc e pas sword • A pas sword r ead with us er da ta b y [Transf er] [Re ad]. A pass word save d in the proj ect data c an be regis tered with user data , when the us[...]

4 - 30 4 AUXILIA RY AND A PPLIED FUNCT IONS 4.6 Clear Al l This funct ion is used to clea r the a ll us er da ta, pas swor d sett ing, a nd b ackup ar ea in Motion C PU. Clear all ca n be ex ecut ed in the fo llow ing op eratio n. • Selec t "[Op tion] [Cle ar Al l]" of the com m unicati on sc reen displa yed by "[Com munic ation] [[...]

4 - 31 4 AUXILIA RY AND A PPLIED FUNCT IONS 4.7 Communicati on via Netw ork The co mmunica tion between the per sonal compute r and the Mo tion CPU i s possible via Q s eries Network m odule (ME LSECN ET/10(H) , Eth ernet, CC-Link and e tc.) in the Motion C PU (Q173HC PU/Q 172HCPU) . Refer t o the follo wing m anu als for the s pecif icat ions of e[...]

4 - 32 4 AUXILIA RY AND A PPLIED FUNCT IONS 4.7.1 Specifications o f the communications v ia network (1) Com m unications via n et work of th e Mo tion C PU is pos sible by SW 6RN-G SV P. (2) Ac cess r ange of t he co mm unications via n etwork of the Motion CPU is an acces s range equiv alent t o Qn(H )CPU. (Ref er to Sectio n "4.7 .2 Acc ess[...]

4 - 33 4 AUXILIA RY AND A PPLIED FUNCT IONS 4.7.2 Access range of the com munications via netw ork (1) Ne twork confi gurat ion v ia the MELSECN ET/10( H) or the Et hernet (a) It c an ac cess the o ther CPU vi a the n etwork fr om the pr ogram m ing soft ware (GX Developer , SW 6RN-GSV P, etc .) of the per sona l com puter c onnect ed with the CPU [...]

4 - 34 4 AUXILIA RY AND A PPLIED FUNCT IONS Q173H CPU Qn(H) CPU C24 MNET or Ether Q173H CPU Qn(H) CPU MNET or Ether Q173H CPU Qn(H) CPU MNET or Ether MNET or Ether Network N o.1 Q173H CPU Qn(H) CPU MNET or Ether MNET or Ether Q173H CPU Qn(H) CPU MNET or Ether Q173H CPU Qn(H) CPU MNET or Ether MNET or Ether Network N o.3 Q173H CPU Qn(H) CPU MNET or [...]

4 - 35 4 AUXILIA RY AND A PPLIED FUNCT IONS (2) Ne twork confi gurat ion via the CC- Link (a) It c an ac cess the o ther CPU vi a the CC- link from the pr ogramm ing sof tware (GX Developer , SW 6RN-GSV P, etc .) of the per sona l com puter c onnect ed with the CPU or s erial c omm unicat ion m odule i n US B/RS-23 2. (b) It c an ac cess the o ther[...]

4 - 36 4 AUXILIA RY AND A PPLIED FUNCT IONS (3) Ne twork confi gurat ion v ia the RS422/ 485 (a) It c an ac cess the o ther CPU vi a the R S-422 /485 fr om the program m ing software (GX De veloper, SW 6RN-GSV P , etc.) of th e person al com puter connec ted with the CPU or seria l comm unicatio n modul e in USB/R S-232. (b) Th e access rang e of a[...]

4 - 37 4 AUXILIA RY AND A PPLIED FUNCT IONS (4) Ne twork confi gurat ion wh ich M ELSECN ET/10( H), Et hernet , CC- Link , RS-4 22/48 5 were m ixed (a) W hen the ME LSECNE T/10(H) or Eth ernet is def ined as "N etwork " and CC- Link or RS-422/ 485 is def ined as "Link ", com binatio n of whet her to be abl e to acc ess fr om the[...]

4 - 38 4 AUXILIA RY AND A PPLIED FUNCT IONS Q173H CPU Qn(H) CPU CC- Link MNET or Ether RS-422/4 85 Persona l computer USB/ RS-232 Person al compute r USB Person al compute r RS-232 Q173H CPU Qn(H) CPU CC- Link MNET or Ether Q173H CPU Qn(H) CPU C24 MNE T or Ether Q173H CPU Qn(H) CPU CC- Link Q173H CPU Qn(H) CPU CC- Link C24 CC- Link C24 Q173H CPU Qn[...]

4 - 39 4 AUXILIA RY AND A PPLIED FUNCT IONS 4.8 Monitor Functi on of the Main Cy cle (1) Inf orm ation for mai n c ycle of th e Moti on CPU proce ssing (proces s c ycle ex ecuted at free tim e excep t for m otio n contro l) is store d to the sp ecial reg ister . (2) S ince t he autom atic refres h of s hared CPU m emory an d norm al tas k of Motion[...]

4 - 40 4 AUXILIA RY AND A PPLIED FUNCT IONS 4.9 Servo Par ameter Reading Function (1) W hen the ser vo param eters are c hange d, th e Moti on CPU will be autom atica lly read t he ser vo par ameter s an d reflec ted th em to t he se rvo p arameter stora ge area i n the Motion CPU. Th erefor e, an operat ion to rea d servo param eters is unneces sa[...]

4 - 41 4 AUXILIA RY AND A PPLIED FUNCT IONS 4.10 Optional Data Mo nitor Function This funct ion is us ed to stor e the data (r efer t o foll owin g tabl e) up to three poin ts per axis to the s pecif ied d evic es (D, W , #) a nd m onitor t hem . It can be set by th e s y stem sett ing of SW 6RN-GSV P. (1) Da ta that c an b e set (2) Devices that c[...]

4 - 42 4 AUXILIA RY AND A PPLIED FUNCT IONS 4.11 Connect/Disconne ct Function This funct ion is used to con nect/d isconnec t t he SSC NET comm unicatio n tem poraril y, when the ser vo am plifier or SSCNET ca ble on th e SSCNET sy stem are exchange d durin g the p ower s uppl y ON of Mot ion CPU . An us er si de re quires con nect/d isconn ect to [...]

4 - 43 4 AUXILIA RY AND A PPLIED FUNCT IONS (2) Proced ure f or co nnect/ disconn ect f unct ion to exch ange th e serv o ampl ifier or SSCNE T cable a re shown be low. (a) O perat ion pr ocedur e to discon nect 1) Set the axis No . of servo amplif ier t o disc onnec t in D 911 2. (1 t o 32) 2) Chec k tha t D91 12 is "-1: Disconn ect ex ecute [...]

4 - 44 4 AUXILIA RY AND A PPLIED FUNCT IONS (3) F low of devic e va lue for connec t/d isconn ect op erati on are s hown belo w. (a) Dis con nect o perati on Comm and D9112 Monitor 0 1 to 32 Motion CP U (Set by system side) Motion CP U (Set by system side) Set by use r side Set by user side -1 -2 0 Mo tion CP U (System sid e) Disconn ect execute co[...]

4 - 45 4 AUXILIA RY AND A PPLIED FUNCT IONS <Progr am ex ample > (1) Connec t/disc onnect progr am f or serv o ampl ifier afte r axis 5 of s elf C PU Disco nnect procedur e: After check ing th e LED displ ay "AA " of s ervo amplif ier, turn the po wer s uppl y of ser vo am plifier OFF. Reconn ect proc edur e: After c heck ing the s [...]

4 - 46 4 AUXILIA RY AND A PPLIED FUNCT IONS (2) Co nnect/ disc onnect progr am f or serv o ampl ifier after axis 5 c onnec ted to the Mo tion CPU (CPU No .2) fr om PLC CP U (CP U No.1 ). Disco nnect procedur e: Af ter turn ing X 0 OFF to ON, check the LED disp la y "AA" of servo am plifier an d then tur n the power suppl y of servo am pli[...]

4 - 47 4 AUXILIA RY AND A PPLIED FUNCT IONS MEM O[...]

WA RRA NTY Please confir m the fo llowing pr oduct w arranty details before usin g this product. 1. Gratis W arranty Term and Gratis W arra nty Range If any faults or defects ( hereinafter " Failure") fou nd to be the responsi bility of M itsubishi o ccurs during use of the product within the grati s warranty term, the product shall be r [...]

IB(NA)-0300111-C(0609)MEE P Q MOTION CONTROLLER Qseries Programming Manual (COMMON) (Q173HCPU/Q172HCPU) MOTION CONTROLLERS Programming Manual MODEL MODEL CODE Q173H-P-COM-E 1XB911 IB(NA)-0300111-C(0609)MEE When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permis[...]