P MOTION CONTROLLER Qseries Programming Manual (COMMON) (Q173HCPU/Q172HCPU) MOTION CONTROLLERS MOTION CONTROLLER Qseries Programming Manual (COMMON) (Q173HCPU/Q172HCPU) COMMON Q173HCPU Q172HCPU HEAD OFFICE : 1-8-12, OFFICE TOWER Z 14F HARUMI CHUO-KU 104-6212,JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN MODEL Q173H-P-COM-E MODEL CODE 1XB911 IB(NA)-0300111-A(0506)MEE IB(NA)-0300111-A(0506)MEE Programming Manual When exported from Japan, this manual does not require a
SAFETY PRECAUTIONS (Read these precautions before using.) When using this equipment, thoroughly read this manual and the associated manuals introduced in this manual. Also pay careful attention to safety and handle the module properly. These precautions apply only to this equipment. Refer to the Q173HCPU/Q172HCPU Users manual for a description of the Motion controller safety precautions. These SAFETY PRECAUTIONS classify the safety precautions into two categories: "DANGER" and "CAUTION".
For Safe Operations 1. Prevention of electric shocks DANGER ! Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks. Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks. Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF.
3. For injury prevention ! CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity ( + / - ), as this may lead to destruction or damage. Do not touch the servo amplifier's heat radiating fins, regenerative resistor and servomotor, etc., while the power is ON and for a short time after the power is turned OFF.
! CAUTION 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.
! 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.
! CAUTION Securely fix the Motion controller and servo amplifier to the machine according to the instruction manual. If the fixing is insufficient, these may come off during operation. Always install the servomotor with reduction gears in the designated direction. Failing to do so may lead to oil leaks. Store and use the unit in the following environmental conditions.
(4) Wiring ! CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier. Correctly connect the output side (terminals U, V, W).
(6) Usage methods ! CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. The units must be disassembled and repaired by a qualified technician. Do not make any modifications to the unit.
! 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 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.) (8) Maintenance, inspection and part replacement ! CAUTION Perform the daily and periodic inspections according to the instruction manual.
(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.
REVISIONS The manual number is given on the bottom left of the back cover. Print Date Jun., 2005 May., 2006 Sep.
INTRODUCTION Thank you for choosing the Q173HCPU/Q172HCPU Motion Controller. Please read this manual carefully so that equipment is used to its optimum. CONTENTS Safety Precautions .........................................................................................................................................A- 1 Revisions ........................................................................................................................................................A-11 Contents .............
3.1.2 Common system parameters ........................................................................................................... 3- 3 3.1.3 Individual parameters........................................................................................................................ 3- 9 3.2 Assignment of I/O No............................................................................................................................... 3-15 3.2.1 I/O No.
4.5 Security Function ..................................................................................................................................... 4-25 4.5.1 Password registration/change .......................................................................................................... 4-25 4.5.2 Password clearance.......................................................................................................................... 4-27 4.5.3 Password check ...............................
About Manuals The following manuals are related to this product. Referring to this list, please request the necessary manuals.
(2) PLC Manual Number (Model Code) Manual Name QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains the specifications of the QCPU modules, power supply modules, base modules, extension cables, memory card battery and others. SH-080483ENG (13JR73) (Optional) QCPU User's Manual (Function Explanation, Program Fundamentals) This manual explains the functions, programming methods and devices and others to create programs with the QCPU.
1 OVERVIEW 1. OVERVIEW 1 1.1 Overview This programming manual describes the common items of each operating system software, such as the Multiple CPU system of the operating system software packages "SW5RN-SV Q ", "SW6RN-SV Q " for Motion CPU module (Q173HCPU/Q172HCPU). In this manual, the following abbreviations are used.
1 OVERVIEW Generic term/Abbreviation SSC I/F communication cable Teaching unit Description Abbreviation for "Cable for SSC I/F board/card" A31TU-D3 /A31TU-DN or A31TU-D3 /A31TU-DN (Note-4) Teaching unit Abbreviation for "MELSECNET/H module/Ethernet module/CC-Link module/ Intelligent function module Serial communication module" (Note-1) : Q172EX can be used in SV22. (Note-2) : Refer to Section "1.3.4 Software packages" for the correspondence version.
1 OVERVIEW 1.2 Features The Motion CPU and Multiple CPU system have the following features. 1.2.1 Features of Motion CPU (1) Q series PLC Multiple CPU system (a) The load of control processing for each CPU can be distributed by controlling the complicated servo control with the Motion CPU, and the machine control or information control with the PLC CPU, and flexible system configuration can be realized.
1 OVERVIEW (3) Connection between the Motion controller and servo amplifier with high speed synchronous network by SSCNET (a) High speed synchronous network by SSCNET connect between the Motion controller and servo amplifier, and batch control the charge of servo parameter, servo monitor and test operation, etc. It is also realised reduce the number of wires.
1 OVERVIEW 1.2.2 Basic specifications of Q173HCPU/Q172HCPU (1) Module specifications Item Q173HCPU Q173HCPU-T Q172HCPU Q172HCPU-T Teaching unit —— Usable —— Usable Internal current consumption (5VDC) [A] 1.25 1.56 (Note) 1.14 1.45 (Note) Mass [kg] 0.23 0.24 0.22 0.23 Exterior dimensions [mm(inch)] 104.6 (4.11)(H) 27.4 (1.08)(W) 114.3 (4.50)(D) (Note) : Current consumption 0.26[A] of the teaching unit is included.
1 OVERVIEW Motion control specifications (continued) Item Q173HCPU Q173HCPU-T Manual pulse generator operation function Possible to connect 12 modules M-code completion wait function provided Limit switch output Number of output points 32 points function Watch data: Motion control data/Word device Absolute position system Number of SSCNET (Note-1) Motion related interface module Possible to connect 8 modules M-code output function provided M-code function systems Q172HCPU-T Possible to co
1 OVERVIEW (b) Motion SFC Performance Specifications Item Q173HCPU/Q172HCPU Code total (Motion SFC chart+ Operation control+ Motion SFC program capacity Transition) 543k bytes Text total (Operation control+ Transition) 484k bytes Number of Motion SFC programs 256 (No.
1 OVERVIEW (3) SV43 Motion control specifications/performance specifications (a) Motion control specifications Item Number of control axes Q173HCPU Q172HCPU Up to 32 axes Up to 8 axes 0.88ms/ 1 to 5 axes Operation cycle 1.77ms/ 6 to 14 axes 0.88ms/ 1 to 5 axes (default) 3.55ms/15 to 28 axes 1.77ms/ 6 to 8 axes 7.
1 OVERVIEW (b) Motion program performance specifications Item Program capacity Q173HCPU/Q172HCPU Total of program files Number of programs Arithmetic operation Operation controls Comparison operation M-codes Special M-codes Variable Functions Positioning command Numerical function Speed/torque setting Motion control Jump/repetition processing Data operation Number of controls G00, G01, G02, G03, G04, G09, G12, G13, G23, G24, G25, G26, G28, G30, G32, G43, G44, G49, G53, G54, G55, G56, G61, G64, G90
1 OVERVIEW 1.3 Hardware Configuration This section describes the Q173HCPU/Q172HCPU system configuration, precautions on use of system, and configured equipments. 1.3.1 Motion system configuration This section describes the equipment configuration, configuration with peripheral devices and system configuration in the Q173HCPU/Q172HCPU system.
1 OVERVIEW (2) Peripheral device configuration for the Q173HCPU/Q172HCPU The following (a)(b) can be used.
1 OVERVIEW 1.3.
1 OVERVIEW CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system. The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor.
1 OVERVIEW 1.3.
1 OVERVIEW CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system. The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor.
1 OVERVIEW 1.3.
1 OVERVIEW It is necessary the following capacity depending on the installed software. Size Model name SW6RNC-GSVE SW6RNC-GSVHELPE SW6RN-GSV13P 65MB 40MB SW6RN-GSV22P 66MB 45MB SW6RN-GSV43P 55MB 32MB SW3RN-CAMP 5MB 3MB SW6RN-DOSCP 35MB 10MB SW6RN-SNETP Standard 60MB Custom (When all selection) 60.
1 OVERVIEW (4) Relevant software packages (a) PLC software package Model name Software package GX Developer SW D5C-GPPW-E (Note) : =used "6" or later. (b) Servo setup software package Model name Software package MR Configurator MRZJW3-SETUP221E POINT (1) When the operation of Windows is not unclear in the operation of this software, refer to the manual of Windows or guide-book from the other supplier. (2) The screen might not be correctly displayed depending on the system font size of WindowsNT 4.
1 OVERVIEW 1.3.5 Restrictions on motion systems (1) It is not allowed to use the Motion CPU as the control CPU of a module installed on the QA1S6 B extension base unit. PLC CPU must be used as the control CPU. (2) Motion CPU module cannot be used as standalone module. It must always be used in combination with the PLC CPU module (version that supports Multiple CPU systems). Moreover, it must be installed on the right side of PLC CPU module.
1 OVERVIEW (Note-2) (11) Installation position of the Q172EX is only CPU base unit. (12) When combining the Q173HCPU(-T)/Q172HCPU(-T) with Q173CPU(N)/ Q172CPU(N)/Q173CPUN-T/Q172CPUN-T, set as following combination. If it is used in combination except for the following, the Q173HCPU(-T)/ Q172HCPU(-T) does not operate normally, such as Q173HCPU(-T)/ Q172HCPU(-T) does not start or communication error with servo amplifier will occur.
2 MULTIPLE CPU SYSTEM 2. MULTIPLE CPU SYSTEM 2.1 Multiple CPU System 2.1.1 Overview (1) Multiple CPU System Multiple (up to 4 modules) PLC CPUs and Motion CPUs are installed to the CPU base unit, and each CPU controls the I/O modules and intelligent function modules of the CPU base unit/extension base unit slot by slot in the Multiple CPU system. Each Motion CPU controls the servo amplifiers connected by SSCNET cable.
2 MULTIPLE CPU SYSTEM 2.1.2 Installation of PLC CPU and Motion CPU Up to a total four PLC CPUs and Motion CPUs can be installed in the CPU base unit, in the four slots starting from the CPU slot (the slot located to the immediate right of the power supply module) to slot 2 in series. There must be no non-installation slot left, between a PLC CPU and a Motion CPU, or between Motion CPUs.
2 MULTIPLE CPU SYSTEM 2.1.3 Precautions for using Q series I/O modules and intelligent function modules (1) Modules controllable by the Motion CPU I/O modules (QX , QY , QH , QX Y , Q6 AD , Q6 DA , interrupt module (QI60) and motion modules (Q172LX, Q172EX, Q173PX) can be controlled by the Motion CPU. (2) Compatibility with the Multiple CPU system (a) All I/O modules (QX , QY , QH , QX Y , Q6 AD , Q6 DA ) support the Multiple CPU system.
2 MULTIPLE CPU SYSTEM 2.1.4 Modules subject to installation restrictions (1) Modules subject to installation restrictions in the Motion CPU are sown below. Use within the restrictions listed below.
2 MULTIPLE CPU SYSTEM (3) A total of eight base units including one CPU base unit and seven extension base units can be used. However, the usable slots (number of modules) are limited to 64 per system including vacant 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.
2 MULTIPLE CPU SYSTEM 2.1.5 Processing time of the Multiple CPU system (1) Processing of the Multiple CPU system Each CPU module of the Multiple CPU system accesses to the modules controlled by self CPU with which the CPU base unit or extension base unit is installed, and the other CPU through the bus (base unit patterns and extension cables). However, a multiple CPU module cannot use the bus simultaneously.
2 MULTIPLE CPU SYSTEM 2.1.6 How to reset the Multiple CPU system With the Multiple CPU system, resetting the PLC CPU of CPU No. 1 resets the entire system. When the PLC CPU of CPU No. 1 is reset, the CPUs, I/O modules and intelligent function modules of all CPUs will be reset. To recover any of the CPUs in the Multiple CPU system that generated a CPU stop error, reset the PLC CPU of CPU No. 1 or restart the power (i.e., turning the power ON, OFF and then ON). (If the PLC CPUs or Motion CPUs of CPU Nos.
2 MULTIPLE CPU SYSTEM 2.1.7 Processing at a CPU DOWN error occurrence by a PLC CPU or Q173HCPU/ Q172HCPU In the Multiple CPU system, the system operates differently when CPU No. 1 generated a CPU DOWN error as compared with when CPU No. 2, 3 or 4 did. (1) When CPU No. 1 generated a CPU DOWN error (a) When the PLC CPU of CPU No. 1 generated a CPU DOWN error, all PLC CPU/Q173HCPU/Q172HCPU of CPU Nos. 2, 3 and 4 generate a MULTI CPU DOWN error (error code: 7000) and the Multiple CPU system stops.
2 MULTIPLE CPU SYSTEM (a) When a CPU DOWN error occurs in the CPU of the CPU in a checked "Stop all CPUs upon error in CPU No. n" item, all PLC CPU/Q173HCPU/ Q172HCPU of the other CPUs will generate a MULTI CPU DOWN error (error code: 7000) and the Multiple CPU system will stop. (Note-1) (b) When a CPU DOWN error occurs in the CPU of the PLC in an unchecked "Stop all CPUs upon error in CPU No.
2 MULTIPLE CPU SYSTEM (c) Use the following procedure to recover the system: 1) Check the CPU generating the error and cause of the error using the PC diagnostic function of GX Developer. 2) If the error occurred in a Q173HCPU/Q172HCPU and the error code is 10000, check the cause of the error using error list of SW6RN-GSV P. 3) Remove the cause of the error. 4) Reset the PLC CPU of CPU No. 1 or restart the power. 5) Resetting the PLC CPU of CPU No.
2 MULTIPLE CPU SYSTEM 2.2 Starting Up the Multiple CPU System This section describes a standard procedure to start up the Multiple CPU system. 2.2.1 Startup Flow of the Multiple CPU System Multiple CPU system Multiple CPU system design Clarify control/function executed by each CPU. Device application and assignment • Refer to Section 2.3 for automatic refresh function of device data. Secure the refresh points continuously for automatic refresh of device data.
2 MULTIPLE CPU SYSTEM 1) Write to the PLC CPU PLC CPU Write the parameters and PLC programs to the PLC CPU (CPU No.1). Set the connect destinations of PLC CPU (CPU No. 2 to 4), and write them. SW6RN-GSV Start the SW6RN-GSV P start • Refer to the help for operation of SW6RN-GSV P. P. System settings and program, etc. create Motion CPU Create the system settings, servo data and Motion SFC program (SV13/SV22)/ Motion program (SV43). • Refer to Section 3.1 for system settings.
2 MULTIPLE CPU SYSTEM 2.3 Communication between the PLC CPU and the Motion CPU in the Multiple CPU System The following tasks can be performed between the PLC CPU and the Motion CPU in the Multiple CPU system. • Data transfer between CPUs by the automatic refresh function of the shared CPU memory • Control instruction from the PLC CPU to Motion CPU by the Motion dedicated Instructions • Reading/writing device data from the PLC CPU to Motion CPU by the dedicated instruction 2.3.
2 MULTIPLE CPU SYSTEM Processing details of CPU No.2 (Motion CPU) at main cycle processing. 2) : Data of transmitting devices B20 to B3F for CPU No.2 is transferred to the automatic refresh area of shared memory in the self CPU. 3) : Data in the automatic refresh area of shared memory in CPU No.1 is transferred to B0 to B1F in the self CPU. By the above operations, the data written to B0 to B1F in CPU No.1 can be read as B0 to B1F of CPU No.2, while the data written to B20 to B3F in CPU No.
2 MULTIPLE CPU SYSTEM (2) Automatic refresh settings 1 (Automatic setting) (a) When executing the automatic refresh function of shared CPU memory, set the number of each CPU's transmitting points and devices in which data is to be stored using Multiple CPU Settings of System Settings. Refer to the "QCPU User's Manual (Functions Explanation/Program Fundamentals)" about the setting of the PLC CPU. • Select the setting No.. • Set the first device No. from which the automatic refresh function is executed.
2 MULTIPLE CPU SYSTEM 4) The shared CPU memory to be occupied during execution of the automatic refresh function covers all areas corresponding to settings 1 to 4. When the number of transmitting points is set, the first and last addresses of the shared CPU memory to be used are indicated in hexadecimals. The CPU for which the number of transmitting points is set in settings 1 and 2 use the last address of shared CPU memory in setting 2. (In the example below, CPU No.1 and No.
2 MULTIPLE CPU SYSTEM 2) Set the CPU-side device as follows. • Settings 1 to 4 may use different devices. If the device ranges do not overlap, the same device may be used for settings 1 to 4. Setting 1: Link relay • Settings 1 to 4 may use different devices. Setting 2: Link register • The same device may be used for settings 1 to 4. In setting 1 shown to the left, 160 points from B0 to B9F are used. Therefore, setting 3 can use device No. after BA0.
2 MULTIPLE CPU SYSTEM • The devices in settings 1 to 4 can be set individually for each CPU. For example, you may set link relay for CPU No.1 and internal relay for CPU No.2. Refresh settings of CPU No.1 • When the CPU-side device for CPU No.1 is different from that for CPU No.2. • Set the same number of points for all CPUs. Refresh settings of CPU No.2 • When the CPU-side device for CPU No.1 is the same as that for CPU No.2.
2 MULTIPLE CPU SYSTEM 3) The block diagram below illustrates the automatic refresh operation over four ranges of setting 1: link relay (B), setting 2: link register (W), setting 3: data register (D), and setting 4: internal relay (M). CPU No.1 Device Setting 1 B0 CPU No.1 transmitting data (No.1) to CPU No.3 transmitting data (No.3) CPU No.3 transmitting data (No.4) CPU No.4 CPU No.4 transmitting data (No.1) Maximum 2k words CPU No.4 transmitting data (No.2) CPU No.4 transmitting data (No.3) CPU No.
2 MULTIPLE CPU SYSTEM (3) Automatic refresh settings 2 (Manual setting) (a) When the automatic refresh setting (Manual setting) of Motion CPU is used, there are the following advantages. 1) A device setting which executes the automatic refresh setting between the PLC CPU and Motion CPU can be performed flexibly.
2 MULTIPLE CPU SYSTEM 5) "DUMMY" setting can be set to the first device column B of the automatic refresh setting. ("DUMMY" setting cannot be set to the self CPU.) "DUMMY" setting should set "*" as the first devise column B. The self CPU does not execute the automatic refresh to the other CPU which carried out "DUMMY(*)" setting. A B • A white portion can be set. 6) Set the same number of transmitting points for all CPUs in the Multiple CPU system.
2 MULTIPLE CPU SYSTEM (c) CPU-side device The following devices can be used for automatic refresh. (Other devices cannot be set in SW6RN-GSV P.) Settable device Data resister (D) Link resister (W) Motion resister (#) Link relay (B) Internal relay (M) Output (Y) Restriction None • Specify 0 or a multiple of 16 as the first No.. • One transmitting point occupies 16 points. • Self CPU (CPU No.2) Refresh setting 1 • If the device No. does not overlap, it is right. • The device of CPU No.
2 MULTIPLE CPU SYSTEM [Dummy setting] Usually, the automatic refresh setting is executed between PLC CPU and Motion CPU for the instructions to each Motion CPU and the monitor of a state by the PLC CPU at the time of operation. However, the automatic refresh is not necessary between each Motion CPU.
2 MULTIPLE CPU SYSTEM (4) The layout example of automatic refresh setting The layout example of automatic refresh when Read/Write does a Motion dedicated device in the Motion CPU with PLC CPU is shown below. (a) SV13 • Overall configuration Table of the internal relays Device No. M0 to M2000 to M2320 to Table of the data registers Application Device No.
2 MULTIPLE CPU SYSTEM 1) PLC CPU (1 module) + Motion CPU (1 module) The outline operation and the automatic refresh setting are as follows. CPU No.1 (PLC CPU) CPU No.
2 MULTIPLE CPU SYSTEM 2) PLC CPU (1 module) + Motion CPU (2 modules) The outline operation and the automatic refresh setting are shown below. CPU No.1 (PLC CPU) CPU No.2 (Motion CPU) Internal relays M0 Command device for the Motion CPU No.2 M768 Monitor device for the Motion CPU No.2 Internal relays M0 (768 points) M2000 (1056 points) M1824 Command device for the Motion CPU No.3 (768 points) M2592 Monitor device for the Motion CPU No.
2 MULTIPLE CPU SYSTEM • Automatic refresh setting 1 PLC CPU (CPU No.1) Send range for each CPU CPU CPU share memory G Point Start End Motion CPU (CPU No.2) CPU side device Dev. starting Start Send range for each CPU M0 CPU End CPU share memory G Point Start End CPU side device * Dev. starting Start End No.1 48 M0 M767 No.1 48 M3072 M3839 No.2 66 M768 M1823 No.2 66 M2000 M3055 No.3 0 No.3 0 No.4 No.4 • Automatic refresh setting 2 PLC CPU (CPU No.
2 MULTIPLE CPU SYSTEM • Automatic refresh setting 1 Motion CPU (CPU No.3) Send range for each CPU CPU CPU share memory G Point No.1 48 No.2 66 No.3 0 Start End CPU side device * Dev. starting Start End * * * * No.4 (Note) : A dummy setting is made so that an excessive device may not be refreshed in the Motion CPU No.3. • Automatic refresh setting 2 Motion CPU (CPU No.3) Send range for each CPU CPU CPU share memory G Point No.1 118 No.2 640 No.
2 MULTIPLE CPU SYSTEM (b) SV22 • Overall configuration Table of the internal relays Device No. M0 to M2000 to M2320 to M2400 to Table of the data registers Application Device No.
2 MULTIPLE CPU SYSTEM 1) PLC CPU (1 module) + Motion CPU (1 module) The outline operation and the automatic refresh setting are as follows. CPU No.1 (PLC CPU) CPU No.
2 MULTIPLE CPU SYSTEM • Automatic refresh setting 1 PLC CPU (CPU No.1) Send range for each CPU CPU CPU share memory G Point Start End Motion CPU (CPU No.2) CPU side device Dev. starting Start Send range for each CPU M0 CPU End CPU share memory G Point Start End CPU side device * Dev. starting Start End No.1 48 M0 M767 No.1 48 M3072 M3839 No.2 66 M768 M1823 No.2 66 M2000 M3055 No.3 No.3 No.4 No.4 • Automatic refresh setting 2 PLC CPU (CPU No.
2 MULTIPLE CPU SYSTEM (c) SV43 • Overall configuration Table of the internal relays Device No. M0 to M2000 to M2320 to M2400 to M3040 to M3072 to M3136 to M3200 to M3840 to M4000 to M4320 to M4400 to Table of the Data registers Application Device No.
2 MULTIPLE CPU SYSTEM 1) PLC CPU (1 module) + Motion CPU (1 module) The outline operation and the automatic refresh setting are shown below. CPU No.1 (PLC CPU) M0 M768 CPU No.
2 MULTIPLE CPU SYSTEM • Automatic refresh setting 3 PLC CPU (CPU No.1) Send range for each CPU CPU CPU share memory G Point Start End Motion CPU (CPU No.2) CPU side device Dev. starting Start Send range for each CPU M0 CPU End CPU share memory G Point Start End CPU side device * Dev. starting Start End No.1 20 M1824 M2143 No.1 20 M4400 M4719 No.2 20 M2144 M2463 No.2 20 M4000 M4319 No.3 No.3 No.4 No.4 • Automatic refresh setting 4 PLC CPU (CPU No.
2 MULTIPLE CPU SYSTEM 2) PLC CPU (1 module) + Motion CPU (2 modules) The outline operation and the automatic refresh setting are as follows. CPU No.1 (PLC CPU) CPU No.2 (Motion CPU) Internal relays M0 Command device for the Motion CPU No.2 M768 Monitor device for the Motion CPU No.2 Internal relays M0 (768 points) M2000 (1056 points) M1824 Command device for the Motion CPU No.3 M2592 Monitor device for the Motion CPU No.
2 MULTIPLE CPU SYSTEM • Automatic refresh setting 1 PLC CPU (CPU No.1) Send range for each CPU CPU CPU share memory G Point Start End Motion CPU (CPU No.2) CPU side device Dev. starting Start Send range for each CPU M0 CPU End CPU share memory G Point Start End CPU side device * Dev. starting Start End No.1 48 M0 M767 No.1 48 M3072 M3839 No.2 66 M768 M1823 No.2 66 M2000 M3055 No.3 0 No.3 0 No.4 No.4 • Automatic refresh setting 2 PLC CPU (CPU No.
2 MULTIPLE CPU SYSTEM • Automatic refresh setting 1 Motion CPU (CPU No.3) Send range for each CPU CPU CPU share memory G Point No.1 48 No.2 66 No.3 0 Start End CPU side device * Dev. starting Start End * * * * No.4 (Note): A dummy setting (*) is made so that an excessive device may not be refreshed in the Motion CPU No.2. • Automatic refresh setting 2 Motion CPU (CPU No.3) Send range for each CPU CPU CPU share memory G Point No.1 118 No.2 640 No.
2 MULTIPLE CPU SYSTEM POINT In the case of the combination "PLC CPU (1 module) + Motion CPU (3 modules)" with SV43, make all the devices of all the CPUs refresh as mentioned above because the setting that Read/Write is made of the PLC CPU can not be executed.
2 MULTIPLE CPU SYSTEM 2.3.2 Control Instruction from the PLC CPU to The Motion CPU (Motion dedicated instructions) 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 "Q173HCPU/Q172HCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)" or "Q173HCPU/Q172HCPU Motion controller (SV43) Programming Manual" for the details of each instruction.
2 MULTIPLE CPU SYSTEM 2.3.3 Reading/Writing Device Data Device data can be written or read to/from the Motion CPU by the PLC CPU using the dedicated instructions listed in the table below. Refer to the "Q173HCPU/Q172HCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)" or "Q173HCPU/Q172HCPU Motion controller (SV43) Programming Manual for the details of each instruction.
2 MULTIPLE CPU SYSTEM 2.3.4 Shared CPU Memory Shared CPU memory is used to transfer data between the CPUs in the Multiple CPU system and has a capacity of 4096 words from 0H to FFFH. Shared CPU memory has four areas: "self CPU operation data area", "system area", "automatic refresh area" and "user-defined area". When the automatic refresh function of shared CPU memory is set, the area corresponding to the number of automatic refresh points starting from 800H is used as the automatic refresh area.
2 MULTIPLE CPU SYSTEM (1) Self CPU operation data area (0H to 1FFH) (a) The following data of the self CPU are stored in the Multiple CPU system, Table 2.
2 MULTIPLE CPU SYSTEM (2) System area (200H to 7FFH) This area is used by the operating systems (OS) of the PLC CPU/Motion CPU. OS uses this area when executing dedicated Multiple CPU communication instructions. • System area used by Motion dedicated PLC instruction (204H to 20DH) The complete status is stored in the following. Table 2.3 Table of System Area used by the Motion Dedicated PLC Instruction Shared memory address Name Description The start accept flag is stored by the 1 to 32 axis, each bit.
2 MULTIPLE CPU SYSTEM (3) Automatic refresh area This area is used at the automatic refresh of the Multiple CPU system. This area cannot be written using S. TO instruction/read using FROM instruction of the PLC CPU and written using MULTW instruction/read using MULTR instruction of the Motion CPU. (4) User-defined area This area is used for the communication among each CPU in the Multiple CPU system using FROM/S. TO instructions and the intelligent function module devices of the PLC CPU.
2 MULTIPLE CPU SYSTEM 2.4 Multiple CPU Error Codes 2.4.1 Self-diagnosis error code This section explains the self-diagnosis error code. A self-diagnosis error code is stored in D9008. And, it can be confirmed with device monitor of the PC diagnosis/SW6RN-GSV P of GX Developer. Each digit is defined as the error code as follows.
2 MULTIPLE CPU SYSTEM Table 2.
2 MULTIPLE CPU SYSTEM Error code Error contents and cause Corrective action Remark 1000 1001 1002 Run-away or failure of main CPU (1) Malfunctioning due to noise or other reason (2) Hardware fault (1) Measure noise level. (2) Reset and establish the RUN status again. If the same error is displayed again, this suggests a CPU hardware error. Explain the error symptom and get advice from our sales representative. 1105 Shared CPU memory fault in the CPU. (1) Measure noise level.
2 MULTIPLE CPU SYSTEM Table 2.
2 MULTIPLE CPU SYSTEM Error code Error contents and cause Corrective action (1) Read the error detailed information at the peripheral device, check and correct the parameter items corresponding to the numerical values (parameter No.). (2) If the error still occurred after correcting of the parameter settings, it may be an error for internal RAM of CPU or memory. Explain the error symptom and get advice from our sales representative. 3001 Parameter contents have been destroyed.
2 MULTIPLE CPU SYSTEM 2.4.2 Release of self-diagnosis error The CPU can perform the release operation for errors only when the errors allow the CPU to continue its operation. To release the errors, follow the steps shown below. (1) Eliminate the error cause. (2) Store the error code to be released in the special register D9060. (3) Turn the special relay M9060 off to on. (4) The target error is released.
3 COMMON PARAMETERS 3. COMMON PARAMETERS 3.1 System Settings In the Multiple CPU system, the common system parameters and individual parameters are set for each CPU and written to each CPU. (1) The base settings, Multiple CPU settings and Motion slot settings are set in the common system parameter setting. (2) The basic system settings, self CPU installation position setting, servo amplifier/motor setting, high-speed read setting and battery setting are set in the individual parameter setting.
3 COMMON PARAMETERS 3.1.1 System data settings The table below lists the system data items to be set. Item Base setting Common system parameters CPU base Extension base Number of Multiple CPUs Remark Set the number of slots in the CPU base or extension base. None/2/3/5/8/10/12 slots None 2 modules Set the total number of Multiple CPUs including PLC CPU(s). Automatic refresh setting Up to 2k words of devices (D/W/#/M/Y/B) can be set per CPU for settings 1 to 4.
3 COMMON PARAMETERS 3.1.2 Common system parameters (1) Parameters for operating the Multiple CPU system In the Multiple CPU system, the common system parameters and individual parameter for each CPU are set and written into each CPU. Regarding the Motion CPU, the items in System Settings related to the entire Multiple CPU system must be identical to the parameter settings in the PLC CPU.
3 COMMON PARAMETERS (2) Parameters common throughout the Multiple CPU system In the Motion CPU, during initialization the parameters in the table below are verified against the parameters in the PLC CPU of CPU No. 1. Unmatched parameters generate a PARAMETER ERROR (error code: 3012), so the parameters show below must be set identically between Motion CPUs and the PLC CPU of CPU No.1. (If the system settings are changed in a Motion CPU, it is necessary to reset.
3 COMMON PARAMETERS (a) Multiple CPU settings Set the following items identically in Multiple CPU Settings (Motion CPU setting) in SW6RN-GSV P and in Multiple CPU Settings (PLC CPU setting) in GX Developer.
3 COMMON PARAMETERS (b) Motion slot settings Set the modules controlled by the self CPU by the Motion Slot Settings (Motion CPU setting) in SW6RN-GSV P. In GX Developer, set the slot for Motion CPU control as the CPU number of the Motion CPU in I/O Assignment Settings (PLC CPU setting). • Motion Slot Setting (Motion CPU setting) in SW6RN-GSV P Control CPU No.
3 COMMON PARAMETERS (c) Base settings Set the total number of bases and number of slots in each base identically between Base Settings (Motion CPU setting) in SW6RN-GSV P and I/O Assignment Settings (PLC CPU setting) in GX Developer. In GX Developer, the detailed settings may be omitted by setting the base mode "Automatic".
3 COMMON PARAMETERS POINT GOT is recognized as an intelligent function modules "16 points 10 slots" on the base (number of extension bases and slot No. are set in the GOT parameter.) for bus connection with GOT. Set the one extension base (16 points 10 slots) for connection with GOT, then set "10 slots" as number of extension bases for connection with GOT in the system setting (base setting). When the "2nd stage" of extension base is set as connection with GOT.
3 COMMON PARAMETERS 3.1.3 Individual parameters (1) Basic system settings The following explains each item to be set in Basic System Settings. (a) Operation cycle setting 1) Set the of motion operation cycle (cycles at which a position command is computed and sent to the servo amplifier). The setting range is 0.4ms/0.8ms/1.7ms/3.5ms/7.1ms/14.2ms/Automatic setting. The actual operation cycle corresponding to 0.4ms is 0.444...ms. Similarly, 0.8ms corresponds to 0.888…ms, 1.7ms to 1.777...ms, 3.5ms to 3.555..
3 COMMON PARAMETERS Condition in which the M2000 turns from ON to OFF • Change the RUN/STOP switch from the RUN side to the STOP side. 2) M2000 ON upon switching (STOP RUN) + 1 set in setting register (The M2000 turns ON when the switch is set to the RUN side and 1 is set in the setting register.) Condition in which the M2000 turns from OFF to ON • With the RUN/STOP switch set to the RUN side, set 1 in the setting register for "PLC ready" flag (D704).
3 COMMON PARAMETERS (2) Individual module settings The setting items for each module are shown below. Setting items for each module Module name Servo external Q172LX signals input module Q172EX Serial encoder input module Manual pulse Q173PX generator input module QI60 Item Setting range Initial value External signal setting Set the number of axes for which the 8 axes input is used.
3 COMMON PARAMETERS Setting items for each module (Continued) Module name Item Setting range Initial value Number of usable modules Q173HCPU Q172HCPU QX Input module QY Output module QH /QX Y Input/Output composite module 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-speed read setting Used/Unused Input response time setting 1/5/10/20/70 ms (setting for high-speed (0.1/0.2/0.4/0.6/1 ms) input module in parentheses) First I/O No.
3 COMMON PARAMETERS (3) External signal input Servo external signal (Upper stroke limit/Lower stroke limit/Stop signal/Proximity DOG) can be selected for every axis from the following two methods. (a) Q172LX Servo external signals interface module use Set the servo external signals interface module, and set axis No. as the "External signal setting" in the system setting.
3 COMMON PARAMETERS (4) System setting errors Motion CPUs generate a system configuration error under the following conditions: Error code Error name LAY ERROR (SL Error cause (Note-1) Operation at error occurrence • The slot set in system settings is vacant or a different module is installed. ) AXIS No. MULTIDEF • Duplicate axis No. is set in system settings. AMP No. SETTING • Not a single axis is set in system settings. AXIS No. ERROR • System setting data is not written.
3 COMMON PARAMETERS 3.2 Assignment of I/O No. I/O No.s used in the Multiple CPU system include those used by the Motion CPU to communicate with I/O modules/intelligent function modules and those used in the communication between the PLC CPU and the Motion CPU. The following explains each I/O No. and assignment of I/O No.. 3.2.1 I/O No. for I/O modules and intelligent function modules In the Multiple CPU system, the "0H" position(slot) of I/O No.
3 COMMON PARAMETERS (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 Q172LX, Q172EX and Q173PX as intelligent function modules having 32 occupied points.) Type and number of points may be left unset.
3 COMMON PARAMETERS 3.2.2 I/O No. of PLC CPU and Q173HCPU/Q172HCPU In the Multiple CPU system, I/O No. is assigned to the PLC CPU/Motion CPU to enable communication between the PLC CPU and Motion CPU using the following instructions: • The Multiple CPU dedicated instructions • The Motion CPU dedicated instructions • The Multiple CPU communication dedicated instructions The I/O No. of the PLC CPU/Motion CPU are fixed based on the installed slots and cannot be changed. The table below lists the I/O No.
3 COMMON PARAMETERS 3.2.3 Setting I/O No. The procedure for the I/O No. setting for the Motion CPU in System Settings of SW6RN-GSV P is shown below. In the Motion CPU, by setting a module used in each CPU base or extension base slot in System Settings, the control CPU of the applicable slot is assigned as the self CPU. Input modules, output modules and composite I/O modules require an I/O No. to be set. Refer to the help of SW6RN-GSV P for the detailed operating procedure on the System Settings screen.
3 COMMON PARAMETERS 3.3 Servo Parameters (1) 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. (2) The servo parameters are set by the Setup software (MR Configurator). 3.3.1 Servo parameters of servo amplifier The servo parameters to be set are shown in Tables 3.1 to 3.4. Refer to the "Servo amplifier Instruction Manual" for details of the servo parameters.
3 COMMON PARAMETERS Table 3.1 Servo parameter (Basic setting parameters) list (Continued) LED display PA08 Symbol ATU Item Auto tuning mode Setting value/setting range (Setting by setup software) Setting details • Select the gain adjustment mode.
3 COMMON PARAMETERS Table 3.1 Servo parameter (Basic setting parameters) list (Continued) LED display PA15 Symbol ENR Item Encoder output pulse Setting details Setting value/setting range (Setting by setup software) • Set the encoder pulses (A-phase, B-phase) output by the servo amplifier by the number of output pulses per servomotor revolution or output division ratio.
3 COMMON PARAMETERS (2) Gain/filter parameters Table 3.2 Servo parameter (Gain/filter parameters) list LED display PB01 PB02 PB04 PB06 Symbol FILT VRFT FFC GD2 Item Setting value/setting range (Setting by setup software) Setting details Section Adaptive tuning mode (Adaptive filter ) • Set the adaptive filter tuning. • Selecting of "1: Filter tuning mode" automatically sets "PB13: Machine resonance suppression filter 1" and "PB14 Notch form selection 1".
3 COMMON PARAMETERS Table 3.2 Servo parameter (Gain/filter parameters) list (Continued) LED display PB07 PB08 PB09 Symbol PG1 PG2 VG2 Item Setting value/setting range (Setting by setup software) Setting details Model loop gain • Set the response gain up to the target position. • Increase the gain to improve trackability in response to the position command. • When the auto tuning mode 1 or 2 is 1 to 2000[rad/s] selected, the result of auto tuning is automatically used.
3 COMMON PARAMETERS Table 3.2 Servo parameter (Gain/filter parameters) list (Continued) LED display PB14 PB15 PB16 PB18 PB19 Symbol NHQ1 NH2 NHQ2 LPF VRF1 Item Setting details Setting value/setting range (Setting by setup software) Section Notch shape selection 1 Notch depth selection 0: Deep (-40db) • Set the machine resonance suppression filter 1: (-14db) 1 (Notch shape selection 1).
3 COMMON PARAMETERS Table 3.2 Servo parameter (Gain/filter parameters) list (Continued) LED display Symbol Item Setting details Setting value/setting range (Setting by setup software) Section PB20 VRF2 Vibration suppression control - resonance frequency setting • Set the resonance frequency for vibration suppression control to suppress lowfrequency machine vibration, such as enclosure vibration.
3 COMMON PARAMETERS Table 3.2 Servo parameter (Gain/filter parameters) list (Continued) LED display Symbol Item Setting details Setting value/setting range (Setting by setup software) Section • Set the speed loop gain when the gain changing is valid. • Setting of "PA08: Auto tuning mode" to "3: Manual mode" validates this parameter. 20 to 50000[rad/s] — • Set the speed integral compensation when the gain changing is valid.
3 COMMON PARAMETERS (3) Extension setting parameters Table 3.3 Servo parameter (Extension setting parameters) list LED display Symbol Item Setting value/setting range (Setting by setup software) Setting details Section PC01 ERZ Error excessive alarm level • Set the error excessive alarm level with rotation amount of servomotor.
3 COMMON PARAMETERS Table 3.3 Servo parameter (Extension setting parameters) list (Continued) LED display PC17 PC21 Symbol COP4 BPS Item Function Selection C-4 Alarm history clear Setting details • Set the home position setting condition. • Set this parameter when using the absolute position encoder. • Clear the alarm history.
3 COMMON PARAMETERS (4) I/O Setting Parameters Table 3.
3 COMMON PARAMETERS Table 3.4 Servo parameter (I/O Setting Parameters) list (Continued) LED display PD14 Symbol DOP3 Item Function Selection D-3 Setting details • Set the ALM output signal at warning occurrence. Setting value/setting range (Setting by setup software) 0: When the warning occurs; WNG (Warning): OFF to ON ALM (Trouble): ON 1: When the warning occurs; WNG (Warning): OFF to ON ALM (Trouble): ON to OFF Section 3.3.
3 COMMON PARAMETERS 3.3.2 Regenerative brake option This parameter is set to use the regenerative brake option. 0 0 Selection of regenerative brake option 00 : Regenerative brake option is not used. EMR-J3-10B: Regenerative brake resistor is not used. EMR-J3-20B or more and -700B or less: Built-in regenerative brake resistor is used. ESupplied regenerative brake resistors or regenerative brake option is used with the MR-J3-11KB(4) or more servo amplifier.
3 COMMON PARAMETERS 3.3.6 Auto tuning response (1) This parameter is used to increase the response of servo amplifier. The response of servo amplifier increases by changing (as 1, 2, … 5) the setting value of auto tuning response. Setting value Response Guideline for machine resonance frequency [Hz] Setting value Response Guideline for machine resonance frequency [Hz] 1 Low response Middle response 67.1 10.0 17 2 11.3 18 75.6 3 12.7 19 85.2 4 14.3 20 95.9 5 16.1 21 108.0 6 18.
3 COMMON PARAMETERS 3.3.8 Rotation direction selection This parameter is used to set the rotation direction at load side of the servomotor. Setting value Servomotor rotation direction When positioning address increases When positioning address decreases 0 CCW CW 1 CW CCW 3.3.9 Encoder output pulse This parameter is used to set the encoder pulses (A-phase, B-phase) output by the servo amplifier. Set the value 4 times greater than the A-phase or B-phase pulses. Setting range is 1 to 65535[PLS/rev].
3 COMMON PARAMETERS 3.3.10 Adaptive tuning mode (1) This parameter is used to set the adaptive filter tuning. Setting value Name Automatically set parameter 0 Filter OFF PB13, PB14 (Fixed to the initial value) 1 Filter tuning mode PB13, PB14 2 Manual mode — (2) Selecting of "1: Filter tuning mode" automatically sets "PB13: Machine resonance suppression filter 1" and "PB14 Notch form selection 1". 3.3.
3 COMMON PARAMETERS 3.3.14 Notch shape selection 2 This parameter is used to select the machine resonance suppression filter 2 (Notch shape selection 2). 0 Machine resonance suppression filter 2 selection 1: Invalid 2: Valid Notch depth selection Setting value Depth 0 Deep 1 2 Shallow 3 Gain -40dB -14dB -8dB -4dB Notch width selection Setting value Width 0 Standard 1 2 Wide 3 2 3 4 5 3.3.15 Low pass filter selection This parameter is used to select the low pass filter.
3 COMMON PARAMETERS 3.3.17 Gain changing selection This parameter is used to select the gain changing condition. 0 0 Gain changing selection Under any of the following conditions, the gains change based on the setting value of servo parameter PB29 to PB32.
3 COMMON PARAMETERS 3.3.20 Function selection C-2 This parameter is used to select the motor-less operation. 0 0 0 Motor-less operation selection 0: Valid 1: Invalid If motor-less operation is set to valid, the output signal can be output and status display is possible as well as the case in which the motor operates actually without connecting the servomotor. It can be checked the Motion SFC program (SV13/SV22)/Motion program (SV43) of Multiple CPU system without connecting a motor.
3 COMMON PARAMETERS 3.3.22 Analog monitor 2 output This parameter is used to output the operating status of servo amplifier to analog monitor in real time. The operating status can be checked by anaolg output. This function is used to monitor the status of servo amplifier using an ammeter or synchronize the torque/speed with the other servo amplifiers. Set the signal provided to the analog monitor 1 output. 0 0 0 Analog monitor 2 output Setting value Setting details 0 Servomotor speed (±8V/max.
3 COMMON PARAMETERS 3.3.25 Output signal device selection 1 This parameter is used to set the signal output to the connector (CN3-13 pin) of servo amplifier. The device that can be assigned changes depending on the control mode. 0 0 0 Select the output device of the CN3-13 pin. The devices that can be assigned in each control mode are shown below. If any other device is set, it is invalid.
3 COMMON PARAMETERS 3.3.28 Function selection D-3 This parameter is used to set the ALM output signal at warning occurrence. 0 0 0 Selection of output device at warning occurrence Select the warning (WNG) and trouble (ALM) output status at warning occurrence.
4 AUXILIARY AND APPLIED FUNCTIONS 4. AUXILIARY AND APPLIED FUNCTIONS 4.1 Limit Switch Output Function This function is used to output the ON/OFF signal corresponding to the data range of the watch data set per output device. Motion control data or optional word data can be used as watch data. (Refer to Section "4.1.2 Limit output setting data" for details.) A maximum output device for 32 points can be set regardless of the number of axes. 4.1.
4 AUXILIARY AND APPLIED FUNCTIONS 3) (ON Value) = (OFF Value) Output device ON region setting OFF in whole region ON Value OFF Value Watch data value (b) The limit switch outputs are controlled based on the each watch data during the PCPU ready status (M9074: ON) by the PLC ready flag (M2000) from OFF to ON. When the PCPU ready flag (M9074) turns OFF by turning the PLC ready flag (M2000) from ON to OFF, all points turn OFF.
4 AUXILIARY AND APPLIED FUNCTIONS (4) When the multiple watch data, ON region, output enable/disable bit and forced output bit are set to the same output device, the logical add of output results of the settings is output.
4 AUXILIARY AND APPLIED FUNCTIONS 4.1.2 Limit output setting data Limit output data list are shown below. Up to 32 points of output devices can be set. (The following items of No.1 to No.5 are set together as one point.) No.
4 AUXILIARY AND APPLIED FUNCTIONS (2) Watch data (a) This data is used to perform the limit switch output function. This data is comparison data to output the ON/OFF signal. The output device is ON/OFF-controlled according to the ON region setting. (b) As the watch data, motion control data or optional word device data can be used. 1) Motion control data a) SV13/SV22 Item Feed current value Real current value Unit Data type Position command 32-bit Deviation counter value PLS Motor current 0.
4 AUXILIARY AND APPLIED FUNCTIONS 3) When the optional device data is set, the following data type is set as the data type to be compared. Data type Device No. setting range 16-bit integer type Set the device No. as an even No.. 32-bit integer type 64-bit floating-point type (3) ON region setting (a) The data range which makes the output device turn ON/OFF toward the watch data. (b) The following devices can be used as the ON Value and OFF Value of the data range.
4 AUXILIARY AND APPLIED FUNCTIONS (5) Forced output bit (a) Set the "forced output bit" when you want to forcibly provide the limit switch outputs during operation. 1) The following control is exercised. Forced output bit Without setting Control description Limit switch outputs are turned ON/OFF on the basis of the "output With setting OFF enable/disable bit" and ON region setting (ON Value, OFF Value). ON Limit switch outputs are turned ON. (b) Usable devices Item Input relay Device No.
4 AUXILIARY AND APPLIED FUNCTIONS 4.2 Absolute Position System The positioning control for absolute position system can be performed using the absolute-position-compatible servomotors and servo amplifiers. If the machine position is set at the system starting, home position return is not necessary because the absolute position is detected at the power on. The machine position is set with the home position return using the Motion SFC program (SV13/SV22)/Motion program (SV43) or a peripheral device.
4 AUXILIARY AND APPLIED FUNCTIONS POINT (1) The address setting range of absolute position system is 2147483648 to 2147483647. It is not possible to restore position commands that exceed this limit, or current values after a power interruption. Correspond by the [degree] setting for an infinite feed operation.
4 AUXILIARY AND APPLIED FUNCTIONS 4.2.1 Current value control The current value when using the ABS encoder is controlled by following functions. (1) The validity of an encoder data during operation is checked. (a) Checks that the amount of change of the encoder in a 3.5[ms] is within 180 degrees at the motor axis. (An error is displayed at the abnormal.) (b) Checks that adjustment of the encoder data and feed-back positions controlled with the servo amplifier. (An error is displayed at the abnormal.
4 AUXILIARY AND APPLIED FUNCTIONS 4.3 High-Speed Reading of Specified Data This function is used to store the specified positioning data in the specified device (D, W). The signal from input module controlled in the Motion CPU is used as a trigger. It can be set in the system setting of SW6RN-GSV P. (1) Positioning data that can be set (a) SV13/SV22 Setting data Word No.
4 AUXILIARY AND APPLIED FUNCTIONS 4.4 ROM Operation Function This function is used to store beforehand the user programs and parameters in the internal FLASH ROM memory built-in the Motion CPU module, and operate it based on the data of internal FLASH ROM memory. 4.4.1 About the ROM operation function The outline procedure of ROM operation function is shown below. (1) Turn on or reset the power supply of Multiple CPU system in the "Mode operated by RAM".
4 AUXILIARY AND APPLIED FUNCTIONS Installation mode mode written in ROM Motion CPU module Example 1) SV13 use Internal SRAM memory System setting data Each parameter for servo control Servo program Motion SFC parameter Motion SFC program Personal computer 1) ROM writing request Internal FLASH ROM memory MT Developer System setting data Each parameter for servo control Servo program Motion SFC parameter Motion SFC program 2) ROM writing Registration code (Note-1) Mode operated by ROM Motion CPU mo
4 AUXILIARY AND APPLIED FUNCTIONS Installation mode mode written in ROM Motion CPU module Example 2) SV43 use Internal SRAM memory System setting data Each parameter for servo control Motion parameter Motion program Personal computer 1) ROM writing request MT Developer Internal FLASH ROM memory System setting data Each parameter for servo control Motion parameter Motion program 2) ROM writing Registration code (Note-1) Mode operated by ROM Motion CPU module Internal SRAM memory System setting data
4 AUXILIARY AND APPLIED FUNCTIONS 4.4.2 Specifications of LED • switch (1) Name of parts Side face Front face With Front cover open Q17 HCPU-T MODE RUN ERR. M.RUN BAT. BOOT FRONT 1) 2) 3) 4) 5) 6) MODE RUN ERR. M.RUN BAT. BOOT ON SW 1 2 3 4 5 SSCNET CN1 BAT PC CN2 TU STOP RUN RESET L CLR PULL USB SW 67 ON Put your finger here to open the cover. No.
4 AUXILIARY AND APPLIED FUNCTIONS (2) Applications of switches No. Name Application • Move to RUN/STOP. RUN : Motion SFC program (SV13/SV22)/Motion program (SV43) is started. STOP : Stops Motion SFC program (SV13/SV22)/Motion program (SV43) is stopped. 7) RUN/STOP switch 8) RESET/L.CLR switch (Note-1) (Momentary switch) RESET : Set the switch to the "RESET" position once to reset the hardware. Applies a reset after an operation error and initialized the operation. L.
4 AUXILIARY AND APPLIED FUNCTIONS 4.4.3 ROM operation function details (1) Operation mode "Operation mode" of CPU is set by the state of DIP switch 2, 3, 5 of Motion CPU module at the power supply on or reset of Multiple CPU system. DIP switch setting, operation mode and operation mode overview are shown below.
4 AUXILIARY AND APPLIED FUNCTIONS POINT Do not change the DIP switch setting during operation. Be sure to turn off the power supply of the Multiple CPU system to change the DIP switch setting. (2) Applicable data into ROM The data contents batch written to the internal FLASH ROM by ROM writing are shown below. Backup data except the followings (current position of servomotor in absolute position system, home position and latch device, etc.) cannot be written to the internal FLASH ROM.
4 AUXILIARY AND APPLIED FUNCTIONS (b) Operation at applicable data into ROM When the ROM writing is requested to the Motion CPU module using "Communication" menu of SW6RN-GSV P, the applicable data into ROM stored in the internal SRAM are batch-written to the internal FLASH ROM after erase of an user memory area of FLASH ROM built-in Motion CPU module. (Note-1) When the writing completes normally, the registration code is written and ROM writing ends. The process overview is shown below.
4 AUXILIARY AND APPLIED FUNCTIONS Motion CPU module Example 2) SV43 use Internal SRAM memory System setting data Each parameter for servo control Motion parameter Motion program Personal computer 1) ROM writing request Internal FLASH ROM memory MT Developer System setting data Each parameter for servo control Motion parameter Motion program Registration code 2) ROM writing (Note-1) (Note-1) : "Registration code" is used to judge whether the programs and parameters written in the internal FLASH ROM ar
4 AUXILIARY AND APPLIED FUNCTIONS (3) ROM operation procedure The flowchart to start the ROM operation is shown below. ROM operation start procedure Set "Installation mode mode written in ROM" as a DIP switch 5 of the Motion CPU module. Turn ON the power supply of Multiple CPU system. Installation mode mode written in ROM (Install the operating system software.) Install the operating system software to the Motion CPU module using the SW6RN-GSV P. Turn OFF the power supply of Multiple CPU system.
4 AUXILIARY AND APPLIED FUNCTIONS (4) Operation at the "Mode operated by ROM" Operation at the "Mode operated by ROM" is shown below. Mode operated by ROM start Is the registration code of internal FLASH ROM normal ? NO (Programs and parameters written in the internal FLASH ROM are abnormal.) YES (Programs and parameters written in the internal FLASH ROM are normal.) Read the followings in the internal FLASH ROM to the internal SRAM.
4 AUXILIARY AND APPLIED FUNCTIONS 4.4.4 Operating procedure of "ROM writing" The operating procedure of ROM writing using the SW6RN-GSV P is shown below. (1) SV13/SV22 System setting screen Operating procedure 1) Display "ROM/RAM" communication dialog screen after clicking on "Communication" "Transfer" of the system setting menu screen. (Note) : Select "Transfer" at the ROM writing. "When selecting the RAM." (Default screen at "Transfer" selecting.) RAM/ROM RAM ROM "When selecting the ROM.
4 AUXILIARY AND APPLIED FUNCTIONS (2) SV43 System setting screen Operating procedure 1) Display "ROM/RAM" communication dialog screen after clicking on "Communication" "Transfer" of the system setting menu screen. (Note) : Select "Transfer" at the ROM writing. "When selecting the RAM." (Default screen at "Transfer" selecting.) RAM/ROM RAM ROM "When selecting the ROM." (ROM writing window) 2) Click on "ROM" of "RAM/ROM" menu screen. Write the programs and data in the RAM of Motion CPU to the ROM.
4 AUXILIARY AND APPLIED FUNCTIONS 4.5 Security Function This function is used to protect the user data of Motion CPU by registering a password. The following user data can be protected in this function. "Write Protection" or "Read/Write Protection" can be set every user data. Operating User data system software SV13/SV22 SFC program Motion SFC programs (Control code, text) are protected. Servo program Servo programs and program allocation are protected.
4 AUXILIARY AND APPLIED FUNCTIONS Items Details Type • Type of user data Registration • " " is displayed when a password is registered in the Motion CPU. • Enter new password. Password • Set a password by the alphanumeric character (ASCII) of 6 or less characters. • Match case (Full-size character cannot be used.) • A registration condition set in the Motion CPU is displayed.
4 AUXILIARY AND APPLIED FUNCTIONS 4.5.2 Password clearance There are two following methods to delete a password. • [Communication] [Password] [Delete] • Password [Delete] key of the communication setting screen displayed by "[Communication] [Transfer]". Items Details Type • Type of user data Registration • " " is displayed when a password is registered in the Motion CPU. Password • Enter old password.
4 AUXILIARY AND APPLIED FUNCTIONS 4.5.3 Password check When the user data program set in a password is corrected, the password check screen is displayed automatically. Items Details Type • Type of user data Password • Enter old password. (1) Procedure for password check (a) Enter old password in the password column, and push [Execute] key.
4 AUXILIARY AND APPLIED FUNCTIONS 4.5.4 Password save There are two following methods to save a password in the project data. • Registration/change or clearance password • A password read with user data by [Transfer] [Read]. A password saved in the project data can be registered with user data, when the user data are written in the Motion CPU that does not set password by [Transfer] [Write]. The updated password data is saved in the project data by the following operations.
4 AUXILIARY AND APPLIED FUNCTIONS 4.6 Clear All This function is used to clear the all user data, password setting, and backup area in Motion CPU. Clear all can be executed in the following operation. • Select "[Option] [Clear All]" of the communication screen displayed by "[Communication] [Transfer]". POINT (1) Turn off the PLC ready flag (M2000) and test mode ON flag (M9075) to execute "Clear All". (2) Turn off the power supply of servo amplifier.
4 AUXILIARY AND APPLIED FUNCTIONS 4.7 Communication via Network The communication between the personal computer and the Motion CPU is possible via Q series Network module (MELSECNET/10(H), Ethernet, CC-Link and etc.) in the Motion CPU (Q173HCPU/Q172HCPU). Refer to the following manuals for the specifications of each network modules of MELSECNET/10(H), Ethernet, CC-Link and Serial communication, the handling method.
4 AUXILIARY AND APPLIED FUNCTIONS 4.7.1 Specifications of the communications via network (1) Communications via network of the Motion CPU is possible by SW6RN-GSV P. (2) Access range of the communications via network of the Motion CPU is an access range equivalent to Qn(H)CPU. (Refer to Section "4.7.2 Access range of the communications via network".
4 AUXILIARY AND APPLIED FUNCTIONS 4.7.2 Access range of the communications via network (1) Network configuration via the MELSECNET/10(H) or the Ethernet (a) It can access the other CPU via the network from the programming software (GX Developer, SW6RN-GSV P, etc.) of the personal computer connected with the CPU or serial communication module in USB/RS-232.
4 AUXILIARY AND APPLIED FUNCTIONS Personal computer USB/ RS-232 Personal computer USB Personal computer Personal computer RS-232 Network No.1 Qn(H) Q173H C24 CPU CPU MNET or Ether Qn(H) Q173H MNET CPU CPU or Ether MNET board or Ether C24 : Serial communication module MNET : MELSECNET/10(H) Ether : Ethernet Qn(H) Q173H MNET MNET CPU CPU or or Ether Ether Network No.2 Network No.
4 AUXILIARY AND APPLIED FUNCTIONS (2) Network configuration via the CC-Link (a) It can access the other CPU via the CC-link from the programming software (GX Developer, SW6RN-GSV P, etc.) of the personal computer connected with the CPU or serial communication module in USB/RS-232. (b) It can access the other CPU via the CC-Link from the programming software in the personal computer by connecting the personal computer equipped with CC-Link board to the CC-Link.
4 AUXILIARY AND APPLIED FUNCTIONS (3) Network configuration via the RS422/485 (a) It can access the other CPU via the RS-422/485 from the programming software (GX Developer, SW6RN-GSV P, etc.) of the personal computer connected with the CPU or serial communication module in USB/RS-232. (b) The access range of above (1) is only the CPU on the RS-422/485 which a system connects it to, and it can select RS-422/485 network to connect by specifying the I/O No. of the C24 module.
4 AUXILIARY AND APPLIED FUNCTIONS (4) Network configuration which MELSECNET/10(H), Ethernet, CC-Link, RS-422/485 were mixed (a) When the MELSECNET/10(H) or Ethernet is defined as "Network" and CCLink or RS-422/485 is defined as "Link", combination of whether to be able to access from the programming software (GX Developer, SW6RN-GSV P, etc.) is shown below.
4 AUXILIARY AND APPLIED FUNCTIONS Personal computer USB/ RS-232 Personal computer USB Personal computer RS-232 C24 : Serial communication module MNET : MELSECNET/10(H) Ether : Ethernet RS-422/485 Qn(H) Q173H C24 CPU CPU CCLink CCLink RS-422/485 Qn(H) Q173H CCLink CPU CPU MNET or Ether Qn(H) Q173H CCCPU CPU Link Qn(H) Q173H CCCPU CPU Link MNET or Ether Network No.1 Network No.2 Qn(H) Q173H MNET MNET or or CPU CPU Ether Ether Qn(H) Q173H MNET CPU CPU or Ether Network No.
4 AUXILIARY AND APPLIED FUNCTIONS 4.8 Monitor Function of the Main Cycle (1) Information for main cycle of the Motion CPU processing (process cycle executed at free time except for motion control) is stored to the special register. (2) Since the automatic refresh of shared CPU memory and normal task of Motion SFC program (SV13/SV22)/Motion program (SV43) are executed in the main cycle, make it reference for process time, etc. to program. (3) There are following methods to shorten a main cycle.
4 AUXILIARY AND APPLIED FUNCTIONS 4.9 Servo Parameter Reading Function (1) When the servo parameters are changed, the Motion CPU will be automatically read the servo parameters and reflected them to the servo parameter storage area in the Motion CPU. Therefore, an operation to read servo parameters is unnecessary in the following cases. (a) The parameters are changed by auto tuning. (b) The parameters are changed by connecting directly MR Configurator to the servo amplifier.
4 AUXILIARY AND APPLIED FUNCTIONS 4.10 Optional Data Monitor Function This function is used to store the data (refer to following table) up to three points per axis to the specified devices (D, W, #) and monitor them. It can be set by the system setting of SW6RN-GSV P.
4 AUXILIARY AND APPLIED FUNCTIONS 4.11 Connect/Disconnect Function This function is used to connect/disconnect the SSCNET communication temporarily, when the servo amplifier or SSCNET cable on the SSCNET system are exchanged during the power supply ON of Motion CPU. An user side requires connect/disconnect to a system, and a system side stores the states of command accept waiting or execute waiting for connect/disconnect.
4 AUXILIARY AND APPLIED FUNCTIONS (2) Procedure for connect/disconnect function to exchange the servo amplifier or SSCNET cable are shown below. (a) Operation procedure to disconnect 1) Set the axis No. of servo amplifier to disconnect in D9112. (1 to 32) 2) Check that D9112 is "-1: Disconnect execute waiting". (Disconnect execute waiting) 3) Set "-2: Disconnect execute command" in D9112. 4) Check that D9112 is "0: Disconnect command accept waiting".
4 AUXILIARY AND APPLIED FUNCTIONS (3) Flow of device value for connect/disconnect operation are shown below. (a) Disconnect operation Disconnect command (Axis No.
4 AUXILIARY AND APPLIED FUNCTIONS (1) Connect/disconnect program for servo amplifier after axis 5 of self CPU Disconnect procedure: After checking the LED display "AA" of servo amplifier, turn the power supply of servo amplifier OFF. Reconnect procedure: After checking the servo ready (M2415+20n) of reconnected servo amplifier, resume operation of servo amplifier.
4 AUXILIARY AND APPLIED FUNCTIONS (2) Connect/disconnect program for servo amplifier after axis 5 connected to the Motion CPU (CPU No.2) from PLC CPU (CPU No.1). Disconnect procedure: After turning X0 OFF to ON, check the LED display "AA" of servo amplifier and then turn the power supply of servo amplifier OFF. Reconnect procedure: After turning X1 OFF to ON, check the servo ready (M2415+20n) of re-connected servo amplifier and then resume operation of servo amplifier.
4 AUXILIARY AND APPLIED FUNCTIONS MEMO 4 - 47
WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
P MOTION CONTROLLER Qseries Programming Manual (COMMON) (Q173HCPU/Q172HCPU) MOTION CONTROLLERS MOTION CONTROLLER Qseries Programming Manual (COMMON) (Q173HCPU/Q172HCPU) COMMON Q173HCPU Q172HCPU HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN MODEL Q173H-P-COM-E MODEL CODE 1XB911 IB(NA)-0300111-C(0609)MEE IB(NA)-0300111-C(0609)MEE Programming Manual When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry fo
