User's Manual

ManualsBrandsMitsubishi Electronics ManualsHome Security SystemQ172CPU(N) Home Security System

Summary of content (472 pages)

PAGE 1
PAGE 2
SAFETY PRECAUTIONS (Please read these instructions before using this equipment.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. These precautions apply only to this product. Refer to the Q173CPU(N)/Q172CPU(N) Users manual for a description of the Motion controller safety precautions. In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".
PAGE 3
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.
PAGE 4
3. For injury prevention CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity ( + / - ), as this may lead to destruction or damage. Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and servomotor, etc.
PAGE 5
CAUTION The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF. These brakes must not be used for normal braking. The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications, and must not be used for normal braking. The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max. speed.
PAGE 6
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.
PAGE 7
CAUTION Always install the servomotor with reduction gears in the designated direction. Failing to do so may lead to oil leaks. Store and use the unit in the following environmental conditions. Environment Ambient temperature Ambient humidity Storage temperature Atmosphere Conditions Motion controller/Servo amplifier According to each instruction manual. According to each instruction manual. According to each instruction manual.
PAGE 8
(4) Wiring CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier. Correctly connect the output side (terminal U, V, W) and ground.
PAGE 9
(6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized. Do not make any modifications to the unit.
PAGE 10
(8) Maintenance, inspection and part replacement CAUTION Perform the daily and periodic inspections according to the instruction manual. Perform maintenance and inspection after backing up the program and parameters for the Motion controller and servo amplifier. Do not place fingers or hands in the clearance when opening or closing any opening. Periodically replace consumable parts such as batteries according to the instruction manual. Do not touch the lead sections such as ICs or the connector contacts.
PAGE 11
(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.
PAGE 12
REVISIONS The manual number is given on the bottom left of the back cover. Print Date Jun., 2002 Feb., 2004 Mar., 2006 Apr.
PAGE 13
INTRODUCTION Thank you for choosing the Q173CPU(N)/Q172CPU(N) Motion Controller. Please read this manual carefully so that equipment is used to its optimum. CONTENTS Safety Precautions .........................................................................................................................................A- 1 Revisions ........................................................................................................................................................A-11 Contents .........
PAGE 14
3. COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 3- 1 to 3-26 3.1 Automatic Refresh Function of The Shared CPU Memory .................................................................... 3- 1 3.2 Control Instruction from the PLC CPU to The Motion CPU (Motion dedicated instructions) ................ 3-20 3.3 Reading/Writing Device Data .................................................................................................................. 3-21 3.
PAGE 15
6.9.2 Selective branch, selective coupling................................................................................................. 6-19 6.9.3 Parallel branch, parallel coupling...................................................................................................... 6-20 6.10 Y/N Transitions....................................................................................................................................... 6-22 6.11 Motion SFC Comments .................................
PAGE 16
7.8 Bit Device Statuses .................................................................................................................................. 7-46 7.8.1 ON (Normally open contact) : (None) ............................................................................................... 7-46 7.8.2 OFF (Normally closed contact) : !..................................................................................................... 7-47 7.9 Bit Device Controls........................................
PAGE 17
9.5 Programming Instructions........................................................................................................................ 9-22 9.5.1 Cancel • start ..................................................................................................................................... 9-22 9.5.2 Indirect designation using motion devices........................................................................................ 9-22 10. MOTION DEVICES 10- 1 to 10- 6 10.
PAGE 18
15. SECURITY FUNCTION 15- 1 to 15- 6 15.1 Password Registration/change............................................................................................................ 1515.2 Password Clearance............................................................................................................................ 1515.3 Password Check .................................................................................................................................. 1515.4 Password Save .......
PAGE 19
About Manuals The following manuals are related to this product. Referring to this list, please request the necessary manuals.
PAGE 20
(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 units, extension cables, memory card battery, and the maintenance/inspection for the system, trouble shooting, SH-080483ENG (13JR73) error codes and others.
PAGE 21
MEMO A - 20
PAGE 22
1 OVERVIEW 1. OVERVIEW 1 1.1 Overview This programming manual describes the Motion SFC program and Multiple CPU system of the operating system software packages "SW6RN-SV13Q ", "SW6RNSV22Q " for Motion CPU module(Q173CPU(N)/Q172CPU(N)). In this manual, the following abbreviations are used.
PAGE 23
1 OVERVIEW Generic term/Abbreviation Description A 0BD-PCF A10BD-PCF/A30BD-PCF SSC I/F board SSC I/F communication cable Abbreviation for "Cable for SSC I/F board/card" Teaching Unit A31TU-D3 /A31TU-DN or A31TU-D3 /A31TU-DN (Note-3) Teaching unit Abbreviation for "MELSECNET/H module/Ethernet module/CC-Link module/ Intelligent function module Serial communication module" Vector inverter (FR-V500) Vector inverter FREQROL-V500 series (Note-1) : Q172EX can be used in SV22.
PAGE 24
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.
PAGE 25
1 OVERVIEW (c) High speed and high response processing is realizable with the step processing method (only active steps) of Motion SFC. (d) Not only positioning control but also numerical operations, device SET/RST, etc. can be processed with Motion CPU side, making via PLC CPU is unnecessary and a tact time can be shortened. (e) By transition condition description peculiar to Motion SFC, the instructions to servo amplifier is possible at completion of starting condition.
PAGE 26
1 OVERVIEW (b) Automatic machinery use (SV22) Provides synchronous control and offers electronic cam control by mechanical support language. Ideal for use in automatic machinery. (c) Machine tool peripheral use (SV43) Offer liner interpolation, circular interpolation, helical interpolation, constantspeed positioning and etc. by the EIA language (G-code). Ideal for use in machine tool peripheral.
PAGE 27
1 OVERVIEW 1.2.2 Basic specifications of Q173CPU(N)/Q172CPU(N) (1) Module specifications Item Q173CPUN Q173CPUN-T Q173CPU Q172CPUN Q172CPUN-T Q172CPU Teaching unit —— Usable —— —— Usable —— Internal current consumption(5VDC) [A] 1.25 1.56 (Note) 1.75 1.14 1.45 (Note) 1.62 Mass [kg] 0.23 0.24 0.22 0.22 0.23 Exterior dimensions [mm(inch)] 98(3.86)(H) 27.4(1.08)(W) 114.3(4.50)(D) 118(4.65)(H) 27.4(1.08)(W) 89.3(3.52)(D) 98(3.86)(H) 27.4(1.08)(W) 114.3(4.50)(D) 0.21 118(4.
PAGE 28
1 OVERVIEW Motion control specifications (continued) Item Q173CPUN(-T) Q173CPU Manual pulse generator operation function Q172CPU Possible to connect 3 modules operation function Synchronous encoder Q172CPUN(-T) Possible to connect 12 modules Possible to connect 8 modules M-code output function provided M-code function M-code completion wait function provided Limit switch output Number of output points 32 points function Watch data: Motion control data/Word device Made compatible by setting
PAGE 29
1 OVERVIEW (b) Motion SFC Performance Specifications Item Q173CPU(N)/Q172CPU(N) Code total (Motion SFC chart+ Operation control Motion SFC program capacity + Transition) Text total (Operation control + Transition) 224k bytes Number of Motion SFC programs 256 (No.
PAGE 30
1 OVERVIEW 1.2.3 Operation control/transition control specifications (1) Table of the operation control/transition control specifications Item Specifications D100+1,SIN(D100), etc. Bit conditional expression Returns a true or false result. Expression for judging ON or OFF of bit device. M0, !M0, M1*M0, (M1+M2)*(!M3+M4), etc. Comparison conditional expression Expressions for comparing indirectly specified data and calculation expressions using constants and word devices. D100==100 D10
PAGE 31
1 OVERVIEW Table of the operation control/transition control specification(continued) Item Specifications Devices Word devices Symbol Remark Accessibility Read Write Description example Usable tasks Normal Event NMI Data register D DOL Link register W W1F : F Special register D D9000 Motion register # #0F Coasting timer FT FT : usable : unusable CAUTION 1) Special register has predetermined applications in the system.
PAGE 32
1 OVERVIEW (2) Table of the operation control/transition instruction Usable step Classification Binary operation Bit operation Sign Standard function Symbol Function G Substitution (D)=(S) 4 — 7.4.1 Addition (S1)+(S2) 4 — 7.4.2 - Subtraction (S1)-(S2) 4 — 7.4.3 * Multiplication (S1)*(S2) 4 — 7.4.4 / Division (S1)/(S2) 4 — 7.4.5 % Remainder 4 — 7.4.6 ~ Bit inversion (complement) (S1)%(S2) ~(S) 2 — 7.5.1 & Bit logical AND (S1)&(S2) 4 — 7.5.
PAGE 33
1 OVERVIEW Table of the operation control/transition instruction (continued) Usable step Classification Symbol (None) Comparison operation Motion dedicated function Others Format Basic steps F/FS G Logical acknowledgment (Conditional expression) 0 7.10.1 Logical negation !(Conditional expression) 2 7.10.2 * Logical AND (Conditional expression) * (conditional expression) 4 7.10.3 + Logical OR (Conditional expression) + (conditional expression) 4 7.10.
PAGE 34
1 OVERVIEW 1.2.4 Differences between Q173CPU(N)/Q172CPU(N) and A173UHCPU/A172SHCPUN (1) Differences between Q173CPU(N)/Q172CPU(N) and A173UHCPU/A172SHCPUN Item Q173CPU(N) Q172CPU(N) A173UHCPU A172SHCPUN Up to 32 axes Up to 8 axes Up to 32 axes Up to 8 axes SV13 0.88ms/1 to 8 axes 1.77ms/9 to 16 axes 3.55ms/17 to 32 axes (Default) (It can be set up by the parameters.) 0.88ms/1 to 8 axes (Default) (It can be set up by the parameters.) 3.55ms/1 to 20 axes 7.11ms/21 to 32 axes 3.
PAGE 35
1 OVERVIEW Differences Between Q173CPU(N)/Q172CPU(N) and A173UHCPU/A172SHCPUN(continued) Item Internal relays (M) Motion SFC Latch relays (L) Number of Devices (internal motion CPU only) Q172CPU(N) Total M+L : 8192 points A173UHCPU A172SHCPUN Total M+L(S) : 8192 points Total M+L(S) : 2048 points Link relays (B) 8192 points 1024 points Annunciators (F) 2048 points 256 points Timer contacts (TT) — 2048 points 256 points Timer coils (TC) — 2048 points 256 points Counter contacts (CT)
PAGE 36
1 OVERVIEW 1.2.5 Positioning dedicated devices/special relays/special registers (1) Positioning dedicated devices The following section describes the positioning dedicated devices. A range of up to 32 axes is valid in Q173CPU(N), and a range of up to 8 axes is valid in Q172CPU(N).
PAGE 37
1 OVERVIEW Overall configuration(Continued) SV13 Device No. SV22 Purpose M4800 Device No.
PAGE 38
1 OVERVIEW MEMO 1 - 17
PAGE 39
1 OVERVIEW 1) Table of the axis statuses (SV13/SV22) Device No. Signal name Device No.
PAGE 40
1 OVERVIEW Detailes of each axis Device No.
PAGE 41
1 OVERVIEW 2) Table of the axis command signals (SV13/SV22) Device No. Signal name Device No.
PAGE 42
1 OVERVIEW Detailes of each axis Device No.
PAGE 43
1 OVERVIEW 3) Table of the virtual servomotor axis statuses (SV22 only) Device No. Signal name Device No.
PAGE 44
1 OVERVIEW Detailes of each axis Device No. Signal name M4000 + 20n Positioning start complete M4001 + 20n Positioning complete M4002 + 20n Unusable M4003 + 20n Command in-position M4004 + 20n Speed controlling M4005 + 20n M4006 + 20n M4007 + 20n Unusable Error detection M4008 + 20n M4009 + 20n M4010 + 20n M4011 + 20n M4012 + 20n M4013 + 20n Unusable M4014 + 20n M4015 + 20n M4016 + 20n M4017 + 20n M4018 + 20n M4019 + 20n M-code outputting signal (Note-1) : "n" in the above device No.
PAGE 45
1 OVERVIEW 4) Table of the virtual servomotor axis command signals (SV22 only) Device No. Signal name Device No.
PAGE 46
1 OVERVIEW Detailes of each axis Device No.
PAGE 47
1 OVERVIEW 5) Table of the synchronous encoder axis statuses (SV22 only) Device No.
PAGE 48
1 OVERVIEW 6) Table of the syncronous encoder axis command signals (SV22 only) Device No.
PAGE 49
1 OVERVIEW 7) Table of the cam axis command signals (SV22 only) Device No.
PAGE 50
1 OVERVIEW 8) Table of the smoothing clutch complete signals (SV22 only) Device No.
PAGE 51
1 OVERVIEW 9) Table of the common devices (SV13/SV22) SV13 Device No. Signal name SV22 Device No.
PAGE 52
1 OVERVIEW Table of the common devices (SV13/SV22) (continued) SV13 Device No. M2054 Signal name Operation cycle over flag M2055 to Device No.
PAGE 53
1 OVERVIEW Explanation of the request register No.
PAGE 54
1 OVERVIEW 10) Table of the special relay allocated devices (Status) (SV13/SV22) Device No.
PAGE 55
1 OVERVIEW 11) Table of the common devices (Command signal) (SV13/SV22) Device No.
PAGE 56
1 OVERVIEW (b) Table of the data registers Overall configuration SV13 Device No. SV22 Application Device No. D0 to D640 to D704 to D758 to D0 Axis monitor device (20 points 32 axes) to D640 Control change register 32 axes) (2 points to Common device (Command signal) (54 points) D704 to D758 Common device (Monitor) (42points) to D800 D800 to D1120 to D1240 to Application Axis monitor device 32 axes) (20 points Real mode……Each axis Virtual mode….
PAGE 57
1 OVERVIEW 1) Table of the each axis monitor devices (SV13/SV22) Device No. Signal name Device No.
PAGE 58
1 OVERVIEW Detailes of each axis Device No.
PAGE 59
1 OVERVIEW 2) Table of the control change registers (SV13/SV22) Device No. Signal name Device No.
PAGE 60
1 OVERVIEW MEMO 1 - 39
PAGE 61
1 OVERVIEW 3) Table of the virtual servomotor axis monitor devices (SV22 only) Device No. Signal name Device No.
PAGE 62
1 OVERVIEW Detailes of each axis Device No. Signal name D800 + 10n D801 + 10n Feed current value D802 + 10n Minor error code D803 + 10n Major error code D804 + 10n Execute program No. D805 + 10n M-code D806 + 10n D807 + 10n Current value after virtual sevomotor axis main shaft's differential gear D808 + 10n Error search output axis No. D809 + 10n Data set pointer for constant-speed control (Note-1) : "n" in the above device No. shows the numerical value which correspond to axis No.
PAGE 63
1 OVERVIEW 4) Table of the synchronous encoder axis monitor devices (SV22 only) Device No.
PAGE 64
1 OVERVIEW Detailes of each axis Device No. Signal name D1120 + 10n D1121 + 10n Current value D1122 + 10n Minor error code D1123 + 10n Major error code D1124 + 10n D1125 + 10n Unusable D1126 + 10n D1127 + 10n Current value after synchronous encoder axis main shaft's differential gear D1128 + 10n Error search output axis No. D1129 + 10n Unusable (Note-1) : "n" in the above device No. shows the numerical value which correspond to axis No. Q173CPU(N) : Axis No.1 to No.
PAGE 65
1 OVERVIEW 5) Table of the cam axis monitor devices (SV22 only) Device No. Signal name Device No.
PAGE 66
1 OVERVIEW Detailes of each axis Device No. Signal name D1240 + 10n Unusable D1241 + 10n Execute cam No. D1242 + 10n D1243 + 10n Execute stroke amount D1244 + 10n D1245 + 10n Current value within 1 cam shaft revolution D1246 + 10n D1247 + 10n D1248 + 10n Unusable D1249 + 10n (Note-1) : "n" in the above device No. shows the numerical value which correspond to axis No. Q173CPU(N) : Axis No.1 to No.32 (n=0 to 31) Q172CPU(N) : Axis No.1 to No.
PAGE 67
1 OVERVIEW 6) Table of the common devices (SV13/SV22) Device No. Signal name Signal derecrtion Device No.
PAGE 68
1 OVERVIEW (2) Special relays Special relays are internal relays whose applications are fixed in the Motion CPU. For this reason, they cannot be used in the same way as the normal internal relays by the Motion SFC programs. However, they can be turned ON/OFF as needed in order to control the Motion CPU. The headings in the table that follows have the following meanings. Item Explanation No. • Indicates the device No. of the special relay. Name • Indicates the name of the special relay.
PAGE 69
1 OVERVIEW Special relay list No. Name Meaning OFF : Normal M9000 Fuse blown detection flag ON : Fuse blown module detected M9005 AC/DC DOWN detection flag OFF : AC/DC DOWN not detected ON : AC/DC DOWN detected Set by (When set) Details • Turn on when there is one or more output modules control of self CPU which fuse has been blown. Remains on if normal status is restored.
PAGE 70
1 OVERVIEW Special relay list (continued) No. Name Meaning Set by (When set) Details • This flag indicates whether the setting designated at the : At least one D714 to manual pulse generator axis setting register (D714 to D719) D719 setting is is normal or abnormal. abnormal. • When this relay turn on, the error content is stored at the OFF : All D714 to D719 manual pulse generator axis setting error register (D9185 to settings are normal. D9187).
PAGE 71
1 OVERVIEW Special relay list (continued) No. Name Meaning Details M9244 CPU No.1 error flag OFF : CPU No.1 normal ON : On CPU No.1 stop error • Turn off when the CPU No.1 is normal. (It contains at continuation error.) • Turn on during stop error of the CPU No.1. (Note-2) M9245 CPU No.2 error flag OFF : CPU No.2 normal ON : On CPU No.2 stop error • Turn off when the CPU No.2 is normal. (It contains at continuation error.) • Turn on during stop error of the CPU No.2. (Note-2) M9246 CPU No.
PAGE 72
1 OVERVIEW (3) Special registers Special registers are internal registers whose applications are fixed in the Motion CPU. For this reason, it is not possible to use these registers in Motion SFC programs in the same way that normal registers are used. However, data can be written as needed in order to control the Motion CPU. Data stored in the special registers are stored as BIN values if no special designation has been made to the contrary.
PAGE 73
1 OVERVIEW Special register list No. Name Meaning Set by (When set) Details Module No. with blown fuse • When fuse blown modules are detected, the lowest I/O module No. is stored in D9000. Number of times for AC/DC DOWN • 1 is added to the stored value each time the input voltage becomes 85[%](AC power supply/65[%] DC power supply) or less of the rating while the CPU module is performing an operation, and the value is stored in BIN code.
PAGE 74
1 OVERVIEW Special register list (continued) No. Name Meaning Set by (When set) Details Remark • Stores the day and hour in BCD. D9026 Clock data B15 Clock data (Day, hour) to B12 B11 to B8 B7 to Day B4 B3 to B0 Example : 31st, 10 a.m. H3110 Hour • Stores the minute and second in BCD. D9027 Clock data Clock data (Minute, second) B15 to B12 B11 to B8 B7 to B4 B3 to B0 Example : 35 min., 48 sec. H3548 Second Minute • Stores the day of the week in BCD.
PAGE 75
1 OVERVIEW Special register list (continued) No. Name Meaning Details D9188 Motion operation Motion operation cycle cycle D9189 Error program No. Error program No. of When the servo program setting error flag (M9079) turns on, the erroneous servo program servo program No. will be stored. D9190 Error item information Error code of servo program When the servo program setting error flag (M9079) turns on, the error code corresponding to the erroneous setting item will be stored.
PAGE 76
1 OVERVIEW 1.3 Hardware Configuration This section describes the Q173CPU(N)/Q172CPU(N) 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 Q173CPU(N)/Q172CPU(N) system.
PAGE 77
1 OVERVIEW (1) Equipment configuration in Q173CPU(N) system (a) When using the Dividing unit/external battery Extension of the Q series module Power supply module/ QCPU/ I/O module/ Intelligent function module of the Q series Motion module (Q172LX, Q172EX, Q173PX) Motion module (Q172LX, Q172EX, Q173PX) Extension cable (QC B) Q6 B extension base unit (Q63B, Q65B, Q68B, Q612B) Short-circuit connector for the teaching unit (Q170TUTM) Power supply module/ I/O module/Intelligent function module of the Q
PAGE 78
1 OVERVIEW (b) When using the Dividing cable Extension of the Q series module Power supply module/ QCPU/ I/O module/ Intelligent function module of the Q series Motion module (Q172LX, Q172EX, Q173PX) Motion module (Q172LX, Q172EX, Q173PX) Extension cable (QC B) CPU base unit (Q33B, Q35B, Q38B, Q312B) (Note-4) (Note-1) Short-circuit connector for the teaching unit (Q170TUTM) Motion CPU module (Q173CPU(N)) Q6 B extension base unit (Q63B, Q65B, Q68B, Q612B) (Note-2) Power supply module/ I/O module
PAGE 79
1 OVERVIEW (2) Equipment configuration in Q172CPU(N) system (a) When using the external battery Extension of the Q series module Power supply module/ QCPU/ I/O module/ Intelligent function module of the Q series Motion module (Q172LX, Q172EX, Q173PX) Motion module (Q172LX, Q172EX, Q173PX) CPU base unit (Q33B, Q35B, Q38B, Q312B) (Note-5) Motion CPU module (Q172CPU(N)) Extension cable (QC B) Q6 B extension base unit (Q63B, Q65B, Q68B, Q612B) Short-circuit connector for the teaching unit (Q170TUTM)
PAGE 80
1 OVERVIEW (b) When not using the external battery Extension of the Q series module Power supply module/ QCPU/ I/O module/ Intelligent function module of the Q series Motion module (Q172LX, Q172EX, Q173PX) Motion module (Q172LX, Q172EX, Q173PX) CPU base unit (Q33B, Q35B, Q38B, Q312B) Extension cable (QC B) (Note-4) (Note-1) Short-circuit connector for the teaching unit (Q170TUTM) Motion CPU module (Q172CPU(N)) Q6 B extension base unit (Q63B, Q65B, Q68B, Q612B) (Note-2) Power supply module/ I/O
PAGE 81
1 OVERVIEW (3) Peripheral device configuration for the Q173CPU(N)/Q172CPU(N) The following (a)(b)(c) can be used.
PAGE 82
1 OVERVIEW 1.3.
PAGE 83
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.
PAGE 84
1 OVERVIEW 1.3.
PAGE 85
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.
PAGE 86
1 OVERVIEW 1.3.
PAGE 87
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.
PAGE 88
1 OVERVIEW (4) Restrictions of the function and PLC CPU by the Motion CPU and software version The function and PLC CPU which can be used has restrictions by version of the Motion CPU module, operating system software and programming software. The combination of each version and a function is shown below.
PAGE 89
1 OVERVIEW (5) Relevant software packages (a) PLC software package Model name Software package GX Developer SW D5C-GPPW-E (Note) : 1 - 68 =used "6" or later.
PAGE 90
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) The connector for installation of memory card on the Motion CPU module is for future function expansion. (3) 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).
PAGE 91
1 OVERVIEW (11) Motion modules (Q172LX, Q172EX, Q173PX) is to do selection whether to be necessary referring to the "3. DESIGN" of the "Q173CPU(N)/Q172CPU(N) User's Manual" for the system design. (Note-2) (12) Installation position of the Q172EX-S2/S3 is only CPU base unit. (Note-1) : Teaching unit can be used in SV13. It cannot be used in SV22. (Note-2) : Q172EX can be used in SV22. It cannot be used in SV13.
PAGE 92
1 OVERVIEW 1.4 Multiple CPU System 1.4.1 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.
PAGE 93
1 OVERVIEW 1.4.2 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. When two or more Motion CPUs are installed, they are installed together in the slots provided to the right of one or more PLC CPUs.
PAGE 94
1 OVERVIEW 1.4.3 Precautions for using Q series I/O modules and intelligent function modules (1) Modules controllable by the Motion CPU I/O modules (QX , QX -S1, QY , QH , QX Y , Q6 AD , Q6 AD- , Q6 DA , 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 , QX -S1, QY , QH , QX Y , Q6 AD , Q6 AD- , Q6 DA , Q6 DA- ) support the Multiple CPU system.
PAGE 95
1 OVERVIEW 1.4.4 Modules subject to installation restrictions (1) Modules subject to installation restrictions in the Motion CPU are sown below. Use within the restrictions listed below.
PAGE 96
1 OVERVIEW 1.4.5 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.
PAGE 97
1 OVERVIEW 1.4.6 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.
PAGE 98
1 OVERVIEW 1.4.7 Processing at a CPU DOWN error occurrence by a PLC CPU or Q173CPU(N)/ Q172CPU(N) 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/Q173CPU(N)/Q172CPU(N) of CPU Nos. 2, 3 and 4 generate a MULTI CPU DOWN error (error code: 7000) and the Multiple CPU system stops.
PAGE 99
1 OVERVIEW (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/Q173CPU(N)/ Q172CPU(N) 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. n" item, all CPUs of the other CPUs will generate a MULTI CPU ERROR (error code: 7020) and continue their operation.
PAGE 100
1 OVERVIEW (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 Q173CPU(N)/Q172CPU(N) and the error code is 10000, check the cause of the error using error list of SW6RNGSV 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.
PAGE 101
1 OVERVIEW 1.5 System Settings 1.5.1 System data settings The table below lists the system data items to be set. Item Initial value Extension base None/2/3/5/8/10/12 slots None Number of Multiple CPUs 2/3/4 modules 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. None Set the automatic refresh between CPUs using Multiple CPU shared memory.
PAGE 102
1 OVERVIEW 1.5.2 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.
PAGE 103
1 OVERVIEW (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.
PAGE 104
1 OVERVIEW (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.
PAGE 105
1 OVERVIEW (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. • I/O Assignment Setting (PLC CPU setting) in GX Developer (Note): Motion slot setting items are different depending on the operating system software.
PAGE 106
1 OVERVIEW (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".
PAGE 107
1 OVERVIEW 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.
PAGE 108
1 OVERVIEW 1.5.3 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 0.8ms/1.7ms/3.5ms/7.1ms/14.2ms/Automatic setting. The actual operation cycle corresponding to 0.8ms is 0.888...ms. Similarly, 1.7ms corresponds to 1.777...ms, 3.5ms to 3.555...ms, 7.1ms to 7.111...ms, and 14.
PAGE 109
1 OVERVIEW (b) Operation setting upon STOP RUN Set the condition in which the "PLC ready" flag (M2000) turns ON. Select one of the following: 1) M2000 ON upon switching (STOP RUN) (default) Condition in which the M2000 turns from OFF to ON • Change the RUN/STOP switch from the STOP side to the RUN side. • With the RUN/STOP switch set to the RUN side, turn ON the power or cancel the reset. Condition in which the M2000 turns from ON to OFF • Change the RUN/STOP switch from the RUN side to the STOP side.
PAGE 110
1 OVERVIEW (2) Individual module settings The setting items for each module are shown below. Setting items for each module Module name Item External signal setting Servo external DOG/CHANGE turning Q172LX signals input OFF to ON/ON to OFF module Input response time Setting range Initial value Set the number of axes for which the 8 axes input is used. 1 to 8 axes used DOG/CHANGE input turning OFF to ON or turning ON to OFF 0.4/0.
PAGE 111
1 OVERVIEW Setting items for each module (Continued) Module name QX / QX -S1 Input module QY Output module QH /QX Y Input/Output composite module Item 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) 00 to FF0 (in units of 16 points) 0 0/16/32/64/128/256 16 First I/O No.
PAGE 112
1 OVERVIEW (3) System setting errors Motion CPUs generate a system configuration error under the following conditions: Error code Error name LAY ERROR (SL (Note-1) Error cause AXIS No. MULTIDEF • Duplicate axis No. is set in system settings. AMP No. SETTING • Not a single axis is set in system settings. 10000 (Note-2) • System setting data is not written. • System setting data is written without relative check. Or it is written at the state of error occurrence. AXIS No.
PAGE 113
1 OVERVIEW 1.6 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.. 1.6.1 I/O No. for I/O modules and intelligent function modules In the Multiple CPU system, the "0H" position(slot) of I/O No.
PAGE 114
1 OVERVIEW (3) Setting of the Motion CPU control modules by the PLC CPU (a) Type/number of points 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.
PAGE 115
1 OVERVIEW (c) Example of setting I/O assignment O U T Power supply module 0 Q02H CPU 1 2 Q173 CPU (N) Q172LX 3 QY41 4 5 QX41 QY41 PY0 to PY1F X40 to X5F Y60 to Y7F (X0 to X1F) (Y20 to Y3F) CPU No. 1 CPU No. 2 Modules controlled by CPU No. 2 Intelligent 32 points Modules controlled by CPU No. 2 Output 32 points Modules controlled by CPU No. 1 Input 32 points Modules controlled by CPU No.
PAGE 116
1 OVERVIEW 1.6.2 I/O No. of PLC CPU and Q173CPU(N)/Q172CPU(N) 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.
PAGE 117
1 OVERVIEW 1.6.3 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.
PAGE 118
2 STARTING UP THE MULTIPLE CPU SYSTEM 2. STARTING UP THE MULTIPLE CPU SYSTEM This section describes a standard procedure to start up the Multiple CPU system. 2.1 Startup Flow of the Multiple CPU System 2 Multiple CPU system Multiple CPU system design Clarify control/function executed by each CPU. Device application and assignment • Refer to Section 3.1 for automatic refresh function of device data. Secure the refresh points continuously for automatic refresh of device data.
PAGE 119
2 STARTING UP THE 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 create Motion CPU • Refer to Section 1.5 for system settings. • Refer to the Programming Manual of each operating system software for details of program.
PAGE 120
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 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.
PAGE 121
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE 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.
PAGE 122
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE 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 (Function Explanation/Program Fundamentals)" about the setting of the PLC CPU. • Select the setting No.. • Set the first device No.
PAGE 123
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE 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.
PAGE 124
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE 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.
PAGE 125
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE 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.
PAGE 126
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE 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.
PAGE 127
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM (3) Automatic refresh settings 2 (Manual setting) Refer to Section "1.3.4(4)" for the applicable version of Motion CPU and the software. (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.
PAGE 128
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 4) If "*" is set as the first device setting column A of each automatic refresh setting, the first device for every CPU can be arbitrarily set up by the user in the column of B. 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.
PAGE 129
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE 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.
PAGE 130
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE 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.
PAGE 131
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE 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.
PAGE 132
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE 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.
PAGE 133
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE 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.
PAGE 134
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE 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.
PAGE 135
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE 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.
PAGE 136
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM (b) SV22 • 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 M4640 to M4688 to M4800 to M5440 to M5488 to M5520 to M5584 to M5600 to M8191 Table of the Data registers Application Device No.
PAGE 137
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE 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.
PAGE 138
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE 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.
PAGE 139
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 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 Chapter "5 MOTION DEDICATED PLC INSTRUCTIONS" for the details of each instruction. (Control may not be instructed from the Motion CPU to another Motion CPU.) Instruction name Description S(P).
PAGE 140
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 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 Chapter 5 "MOTION DEDICATED PLC INSTRUCTIONS" for the details of each instruction. (Data cannot be written or read to/from the PLC CPU by another PLC CPU, to/from the PLC CPU by the Motion CPU, or to/from a Motion CPU by another Motion CPU.
PAGE 141
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 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.
PAGE 142
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE 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 3.
PAGE 143
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM (2) System area (204H to 20DH) 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 3.
PAGE 144
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE 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.
PAGE 145
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM MEMO 3 - 26
PAGE 146
4 STRUCTURE OF THE MOTION CPU PROGRAM 4. STRUCTURE OF THE MOTION CPU PROGRAM Motion CPU programs is created in the Motion SFC of flowchart format. The motion control of servomotors is performed using the real-mode servo programs specified by motion-control steps in a Motion SFC program in SV13/SV22 real mode. Virtual servomotors in a mechanical system program are controlled using the virtual mode servo programs specified by motion-control steps so as to enable synchronous control in SV22 virtual mode.
PAGE 147
4 STRUCTURE OF THE MOTION CPU PROGRAM 4.1 Motion Control in SV13/SV22 Real Mode (1) System with servomotor is controlled directly using the servo program in (SV13/SV22) real mode. (2) Setting of the positioning parameter and creation of the servo program/ Motion SFC program are required. (3) The procedure of positioning control is shown below: 1) Motion SFC program is requested to start using the S(P).SFCS instruction of the PLC program.
PAGE 148
4 STRUCTURE OF THE MOTION CPU PROGRAM 4.2 Motion Control in SV22 Virtual Mode (1) Software-based synchronous control is performed using the mechanical system program constructed by virtual main shaft and mechanical module in (SV22) virtual mode. (2) Mechanical system programs is required in addition to the positioning parameter, servo program/Motion SFC program used in real mode.
PAGE 149
4 STRUCTURE OF THE MOTION CPU PROGRAM MEMO 4-4
PAGE 150
5 MOTION DEDICATED PLC INSTRUCTION 5. MOTION DEDICATED PLC INSTRUCTION 5.1 Motion Dedicated PLC Instruction (1) The Motion dedicated PLC instruction which can be executed toward the Motion CPU which installed a SV13/SV22 operating system software for the Motion SFC is shown below. Instruction Description S(P).SFCS Start request of the Motion SFC program(Program No. may be specified.) S(P).SVST Start request of the specified servo program S(P).
PAGE 151
5 MOTION DEDICATED PLC INSTRUCTION Shared CPU memory address Description ( ) is decimal Example of the reading (When target is the CPU No.2) address 30H(48) 31H(49) 32H(50) 33H(51) The lowest rank bit (30H(48)) toward executing instruction from CPU No.1. The lowest rank bit (31H(49)) toward executing instruction from CPU No.2. The lowest rank bit (32H(50)) toward executing instruction from CPU No.3. The lowest rank bit (33H(51)) toward executing instruction from CPU No.4. U3E1/G48.0 U3E1/G49.
PAGE 152
5 MOTION DEDICATED PLC INSTRUCTION (d) Use a flag in the shared CPU memory which correspond with each instruction not to execute multiple instructions to the same shaft of the Motion CPU of same CPU No. for the inter-lock condition. (Program example 1) (e) S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGVS(P).CHGT/S(P).DDWR/ S(P).DDRD instructions cannot be executed simultaneously. Therefore, it is necessary to take an interlock by to self CPU high speed interrupt accept flag from CPUn.
PAGE 153
5 MOTION DEDICATED PLC INSTRUCTION Program which executes directly multiple Motion dedicated PLC instructions because one contact-point turns on. M1001 SET M21 SET M23 SET M25 SET M27 RST To self CPU high speed interrupt accept flag from CPU1 M21 U3E1\G48.0 Start accept flag of the Axis 1 (CPU No.2) U3E1\G516.0 SP.SVST H3E1 "J1" To self CPU high speed interrupt accept flag from CPU1 M23 U3E1\G48.
PAGE 154
5 MOTION DEDICATED PLC INSTRUCTION Program which executes the Motion dedicated function of the operation control step (Fn/FSn) and the motion control program (Kn). PLC CPU side To self CPU high speed interrupt accept flag from CPU1 M30 U3E1\G48.0 M31 MOV K1 D301 (Note) SP.DDRD H3E1 D300 K4M0 K4M400 M31 M32 To self CPU high speed interrupt accept flag from CPU1 U3E1\G48.
PAGE 155
5 MOTION DEDICATED PLC INSTRUCTION (3) Complete status The error code is stored in the complete status at abnormal completion of the Multiple CPU dedicated instruction. The error code which is stored is shown below. (The error code marked " * " is dedicated with the Motion CPU.) Complete status (Error code)(H) 0 4C00 * Error factor The instruction for the Multiple CPU system which did not be correspond with operating system software of the Motion CPU was executed. 4C02 * The Motion SFC program No.
PAGE 156
5 MOTION DEDICATED PLC INSTRUCTION (4) Self CPU operation data area used by Motion dedicated instruction (30H to 33H) The complete status of the to self CPU high speed interrupt accept flag from CPUn is stored in the following address. Shared CPU memory address Name 30H(48) To self CPU high speed interrupt accept flag from CPU1 31H(49) To self CPU high speed interrupt This area is used to check whether to self CPU high speed interrupt accept flag from CPUn can be accepted or not.
PAGE 157
5 MOTION DEDICATED PLC INSTRUCTION (5) System area used by Motion dedicated instruction (204H to 20DH) The complete status of the each flag is stored in the following address. Shared CPU Name memory Description address The start accept flag is stored by the 1 to 32 axis, each bit. 204H(516) (As for a bit's actually being set Q173CPU(N) : J1 to J32/ Start accept flag (Axis1 to 16) Q172CPU(N) : J1 to J8.
PAGE 158
5 MOTION DEDICATED PLC INSTRUCTION 5.2 Motion SFC Start Request from The PLC CPU to The Motion CPU: S(P).SFCS (PLC instruction: S(P).SFCS ) Usable devices (Note) Setting data • Motion SFC start request instruction from the PLC CPU to the Motion CPU (S(P).SFCS) Internal devices File (System, User) Bit register Word Bit Indirectly digit specified specified device MELSECNET/10 direct J \ Bit Word Special function module Index register Constant Z U \G K, H Other (n1) (n2) (D1) (D2) : Usab
PAGE 159
5 MOTION DEDICATED PLC INSTRUCTION (2) Request to start the Motion SFC program of the program No. specified with (n2). The Motion SFC program can start any task setting of the normal task, event task and NMI task. (3) This instruction is always effective regardless of the state of real mode/virtual mode/mode switching when the operating system software of Motion CPU is SV22. (4) S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGV/S(P).CHGT/S(P).DDRD/ S(P).
PAGE 160
5 MOTION DEDICATED PLC INSTRUCTION [Errors] The abnormal completion in the case shown below, and the error code is stored in the device specified with the complete status storing device (D2). Complete status (Note) (Error code)(H) Corrective action Error factor The specified device cannot be used in the Motion CPU. Or, 4C00 it is outside the device range. The instruction for the Multiple CPU system which did not be 4C01 correspond with operating system software of the Motion CPU was executed.
PAGE 161
5 MOTION DEDICATED PLC INSTRUCTION 5.3 Servo Program Start Request from The PLC CPU to The Motion CPU: S(P).SVST (PLC instruction: S(P).SVST ) Refer to Section "1.3.4" for the applicable version of the Motion CPU and the software. Usable devices (Note) Setting data • Servo program start request instruction from the PLC CPU to the Motion CPU (S(P).SVST) Internal devices Bit Bit Indirectly digit specified specified device File (System, User) register Word MELSECNET/10 direct J \ Bit Word Spe
PAGE 162
5 MOTION DEDICATED PLC INSTRUCTION [Controls] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU. (2) Request to start the servo program specified with (S2). (3) This instruction is always effective regardless of the state of real mode/virtual mode/mode switching when the operating system software of Motion CPU is SV22. (4) S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGV/S(P).CHGT/S(P).DDRD/ S(P).
PAGE 163
5 MOTION DEDICATED PLC INSTRUCTION (2) S(P).SVST instruction accepting and normal/abnormal completion can be confirmed with the complete device (D1) or status display device (D2) at the completion. (a) Complete device It is turned on by the END processing of scan which the instruction completed, and turned off by the next END processing. (b) Status display device at the completion It is turned on/off according to the status of the instruction completion.
PAGE 164
5 MOTION DEDICATED PLC INSTRUCTION [Start accept flag (System area)] The complete status of the start accept flag is stored in the address of the start accept flag in the shared CPU memory. Shared CPU memory Description address ( ) is decimal address The start accept flag is stored by the 1 to 32 axis, each bit. (As for a bit's actually being set Q173CPU(N) : J1 to J32/ Q172CPU(N) : J1 to J8.
PAGE 165
5 MOTION DEDICATED PLC INSTRUCTION The error flag (SM0) is turned on an operation error in the case shown below, and an error code is stored in SD0. Error code (Note) Error factor Corrective action 2110 The CPU No. to be set by "(First I/O No. of the target CPU)/16" is specified. 2114 The self CPU is by "(First I/O No. of the target CPU)/16" is specified. 2117 The CPU except the Motion CPU by "(First I/O No. of the target CPU)/16" is specified.
PAGE 166
5 MOTION DEDICATED PLC INSTRUCTION 5.4 Current Value Change Instruction from The PLC CPU to The Motion CPU: S(P).CHGA (PLC instruction: S(P).CHGA ) Refer to Section "1.3.4" for the applicable version of the Motion CPU and the software. Usable devices (Note) Setting data • Current value change instruction from the PLC CPU to the Motion CPU (S(P).CHGA) Internal devices (System, User) Bit File register Word Indirectly Bit specified digit specified device MELSECNET/10 Special function direct J \ module
PAGE 167
5 MOTION DEDICATED PLC INSTRUCTION When an axis No."Jn" was specified with (S1) [Controls] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU. (2) The current value change of axis (stopped axis) No. specified with (S1) is changed into the current value specified (S2).
PAGE 168
5 MOTION DEDICATED PLC INSTRUCTION [Operation] PLC program END END END END t S(P).CHGA execution ON S(P).
PAGE 169
5 MOTION DEDICATED PLC INSTRUCTION (2) Setting of the current value to change. (S2) usable range -2147483648 to 2147483647 [Start accept flag (System area)] The complete status of the start accept flag is stored in the address of the start accept flag in the shared CPU memory. Shared CPU memory address Description ( ) is decimal address The start accept flag is stored by the 1 to 32 axis, each bit. (As for a bit's actually being set Q173CPU(N) : J1 to J32/ Q172CPU(N) : J1 to J8.
PAGE 170
5 MOTION DEDICATED PLC INSTRUCTION The error flag (SM0) is turned on an operation error in the case shown below, and an error code is stored in SD0. Error code (Note) Error factor Corrective action 2110 The CPU No. to be set by "(First I/O No. of the target CPU)/16" is specified. 2114 The self CPU by "(First I/O No. of the target CPU)/16" is specified. 2117 The CPU except the Motion CPU by "(First I/O No. of the target CPU)/16" is specified.
PAGE 171
5 MOTION DEDICATED PLC INSTRUCTION When an axis No."En" was specified with (S1) [Controls] (1) This instruction is dedicated instruction toward the Motion CPU at the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU. (2) The synchronous encoder axis current value specified with (S1) is changed into the current value specified (S2) at the virtual mode.
PAGE 172
5 MOTION DEDICATED PLC INSTRUCTION [Operation] END END PLC program END END t S(P).CHGA execution ON OFF S(P).
PAGE 173
5 MOTION DEDICATED PLC INSTRUCTION (2) Setting of the current value to change. (S2) usable range -2147483648 to 2147483647 [Synchronous encoder current value changing flag (System area)] The complete status of the synchronous encoder current value changing flag is stored in the address of the synchronous encoder current value changing flag in the shared CPU memory.
PAGE 174
5 MOTION DEDICATED PLC INSTRUCTION The error flag (SM0) is turned on an operation error in the case shown below, and an error code is stored in SD0. Error code (Note) Error factor Corrective action 2110 The CPU No. to be set by "(First I/O No. of the target CPU)/16" is specified. 2114 The self CPU by "(First I/O No. of the target CPU)/16" is specified. 2117 The CPU except the Motion CPU by "(First I/O No. of the target CPU)/16" is specified.
PAGE 175
5 MOTION DEDICATED PLC INSTRUCTION When an axis No."Cn" was specified with (S1) [Controls] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU. (2) The cam axis within-one-revolution current value specified with (S1) is changed into the current value specified (S2) at the virtual mode.
PAGE 176
5 MOTION DEDICATED PLC INSTRUCTION (1) The current value status of the cam axis within-one-revolution current value change can be confirmed with the cam axis within-one-revolution current value changing flag in the shared CPU memory of target CPU. (2) S(P).CHGA instruction accepting and normal/abnormal completion can be confirmed with the complete device (D1) or status display device (D2) at the completion.
PAGE 177
5 MOTION DEDICATED PLC INSTRUCTION (2) Setting of the current value to change. (S2) usable range -2147483648 to 2147483647 [Cam axis within-one-revolution current value changing flag (System area)] The complete status of the cam axis within-one-revolution current value changing flag is stored in the address of the cam axis within-one-revolution current value changing flag in the shared CPU memory.
PAGE 178
5 MOTION DEDICATED PLC INSTRUCTION The error flag (SM0) is turned on an operation error in the case shown below, and an error code is stored in SD0. Error code (Note) Error factor Corrective action 2110 The CPU No. to be set by "(First I/O No. of the target CPU)/16" is specified. 2114 The self CPU by "(First I/O No. of the target CPU)/16" is specified. 2117 The CPU except the Motion CPU by "(First I/O No. of the target CPU)/16" is specified.
PAGE 179
5 MOTION DEDICATED PLC INSTRUCTION 5.5 Speed Change Instruction from The PLC CPU to The Motion CPU: S(P).CHGV (PLC instruction: S(P).CHGV ) Refer to Section "1.3.4" for the applicable version of the Motion CPU and the software. Usable devices (Note) Setting data • Speed change instruction (S(P).CHGV) Internal devices Indirectly digit specified specified device File (System, User) Bit Bit register Word MELSECNET/10 direct J \ Bit Special function module Word Index register Z U \G Constant
PAGE 180
5 MOTION DEDICATED PLC INSTRUCTION [Controls] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU. (2) The speed change is executed of the axis specified with (S1) during positioning or JOG operating. (3) S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGV/S(P).CHGT/S(P).DDRD/ S(P).DDWR cannot be executed simultaneously toward the CPU executing S(P).CHGV instruction.
PAGE 181
5 MOTION DEDICATED PLC INSTRUCTION [Setting range] (1) Setting of axis to execute the speed change. The axis to execute the speed change set as (S1) sets J + axis No. in a character sequence " ". (S1) usable range Q173CPU(N) 1 to 32 Q172CPU(N) 1 to 8 The number of axes which can set are only 1 axis. The axis No. set in the system setting (Refer to Section 1.5) is used as the axis No. to start. (2) Setting of the speed to change.
PAGE 182
5 MOTION DEDICATED PLC INSTRUCTION [Errors] The abnormal completion in the case shown below, and the error code is stored in the device specified with the complete status storing device (D2). Complete status (Note) Error factor (Error code)(H) Corrective action The specified device cannot be used in the Motion 4C00 CPU. Or, it is outside the device range. The instruction for the Multiple CPU system which did 4C01 not be correspond with operating system software of Axis No.
PAGE 183
5 MOTION DEDICATED PLC INSTRUCTION 5.6 Torque Limit Value Change Request Instruction from The PLC CPU to The Motion CPU: S(P).CHGT (PLC instruction: S(P).CHGT ) Refer to Section "1.3.4" for the applicable version of the Motion CPU and the software. Usable devices (Note) Setting data • Torque limit value change request instruction from the PLC CPU to the Motion CPU (S(P).
PAGE 184
5 MOTION DEDICATED PLC INSTRUCTION [Controls] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU. (2) The torque limit value of the axis specified with (S1) is changed to the value of (S2) regardless of the state of during operating or stopping at the real mode. (3) S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGV/S(P).CHGT/S(P).DDRD/ S(P).
PAGE 185
5 MOTION DEDICATED PLC INSTRUCTION [Errors] The abnormal completion in the case shown below, and the error code is stored in the device specified with the complete status storing device (D2). Complete status (Note) Error factor (Error code)(H) Corrective action The specified device cannot be used in the Motion CPU. Or, it is outside the device range. The instruction for the Multiple CPU system which did not be correspond with operating system software of the Motion CPU was executed.
PAGE 186
5 MOTION DEDICATED PLC INSTRUCTION [Program example] Program which changes the torque limit value of the axis No.1 of the Motion CPU (CPU No.4) from PLC CPU (CPU No.1) to 10[%]. M100 To self CPU high speed interrupt accept flag from CPU U3E3 \G48.0 SP.
PAGE 187
5 MOTION DEDICATED PLC INSTRUCTION 5.7 Write from The PLC CPU to The Motion CPU: S(P).DDWR (PLC instruction: S(P).DDWR ) Usable devices (Note) Setting data • Write instruction from the PLC CPU to the Motion CPU (S(P).DDWR) Internal devices Word Indirectly digit specified specified device File (System, User) Bit Bit register MELSECNET/10 Special direct J \ Bit function module Word Index Constant register K, H Z U \G Other (n1) (S1) (S2) (D1) (D2) : Usable : Usable partly (Note) : S
PAGE 188
5 MOTION DEDICATED PLC INSTRUCTION [Controls] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU. A part for the number of writing data of the control data specified with (S1) of data since the device specified with (S2) of the self CPU are stored to since the word device specified with (D1) of the target CPU (n1) in the Multiple CPU system.
PAGE 189
5 MOTION DEDICATED PLC INSTRUCTION [Operation of the self CPU at execution of S(P).DDWR instruction] First S(P).DDWR instruction accept Second S(P).DDWR instruction accept END END END END END t To self CPU high speed interrupt accept flag from CPUn (Instruction accept destination OFF buffer memory) S(P).DDWR instruction (First) ON ON ON OFF ON First S(P).DDWR instruction complete device OFF ON : Abnormal completion State display device at the first S(P).
PAGE 190
5 MOTION DEDICATED PLC INSTRUCTION The error flag (SM0) is turned on an operation error in the case shown below, and an error code is stored in SD0. Error code (Note) Error factor Corrective action 2110 The CPU No. to be set by "(First I/O No. of the target CPU)/16" is specified. 2114 The self CPU by "(First I/O No. of the target CPU)/16" is specified. 2117 The CPU except the Motion CPU by "(First I/O No. of the target CPU)/16" is specified. 4002 Specified instruction is wrong.
PAGE 191
5 MOTION DEDICATED PLC INSTRUCTION 5.8 Read from The Devices of The Motion CPU: S(P).DDRD (PLC instruction: S(P).DDRD ) Usable devices (Note) Setting data • Read instruction from the devices of the Motion CPU : S(P).DDRD Internal devices Bit Bit Indirectly digit specified specified device File (System, User) register Word MELSECNET/10 direct J \ Bit Special Index function register module Word Constant K, H Z U \G Other (n1) (S1) (S2) (D1) (D2) : Usable : Usable partly (Note) : Set
PAGE 192
5 MOTION DEDICATED PLC INSTRUCTION [Controls] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU. A part for the number of reading data of the control data specified with (S1) of data since the device specified with (S2) in the target CPU (n1) is stored to since the word device specified with (D1) of the self CPU in the Multiple CPU system.
PAGE 193
5 MOTION DEDICATED PLC INSTRUCTION [Operation of the self CPU at execution of S(P).DDRD instruction] First S(P).DDRD instruction accept END END Second S(P).DDRD instruction accept END END END t To self CPU high speed interrupt accept flag from CPUn (Instruction accept destination buffer memory) S(P).DDRD instruction (First) ON ON OFF ON OFF ON First S(P).DDRD instruction complete device OFF ON : Abnormal completion State display device at the first S(P).
PAGE 194
5 MOTION DEDICATED PLC INSTRUCTION The error flag (SM0) is turned on an operation error in the case shown below, and an error code is stored in SD0. Error code (Note) Error factor Corrective action 2110 The CPU No. to be set by "(First I/O No. of the target CPU)/16" is specified. 2114 The self CPU by "(First I/O No. of the target CPU)/16" is specified. 2117 The CPU except the Motion CPU by "(First I/O No. of the target CPU)/16" is specified. 4002 Specified instruction is wrong.
PAGE 195
5 MOTION DEDICATED PLC INSTRUCTION 5.9 Interrupt Instruction to The Other CPU: S(P).GINT (PLC instruction: S(P).GINT ) Usable devices (Note) Setting data • Interrupt instruction to the other CPU (S(P).GINT) Internal devices (System, User) Bit Word File register Bit Indirectly Digit specified specified device MELSECNET/10 Special direct J \ Bit function module Word Index register Constant Z U \G K, H Other (n1) (n2) : Usable : Usable partly (Note) : Setting data (n1) to (D2) : Index qu
PAGE 196
5 MOTION DEDICATED PLC INSTRUCTION (4) SM390 turn off when the transmission of the instruction toward the target CPU was not completed. SM391 (S(P).GINT instruction execution completion flag) turned off when the instruction toward the target CPU cannot be transmitted. (5) Number of instruction execution does not have restriction, if to self CPU high speed interrupt accept flag from CPUn in the target shared CPU memory of S(P).GINT instruction. [Operation] END END END PLC program END t S(P).
PAGE 197
5 MOTION DEDICATED PLC INSTRUCTION MEMO 5 - 48
PAGE 198
6 MOTION SFC PROGRAMS 6. MOTION SFC PROGRAMS Refer to Chapter "19 ERROR CODE LISTS" for details of Motion SFC program error. 6.1 Motion SFC Program Configuration The Motion SFC Program is constituted by the combination of start, steps, transitions, end and others are shows below. Operation start Program name Positioning ready F0 Step (operation control step) : The specified operation control program is executed at active status.
PAGE 199
6 MOTION SFC PROGRAMS 6.2 Motion SFC Chart Symbol List Parts as Motion SFC program components are shown below. The operation sequence or transition control is expressed with connecting these parts by directed lines in the Motion SFC program. Classification Name Symbol (Code size (byte)) List Representation Program name START Program name • Indicates an entry of program as a program name. • Specify this program name at a subroutine call. • Only one program name for one program.
PAGE 200
6 MOTION SFC PROGRAMS Classification Name Shift (Pre-read transition) WAIT Symbol (Code size (byte)) List representation SFT Gn • When just before is the motion control step, transits to the next step by formation of transition condition Gn (G0 to G4095) without waiting for the motion operating completion. • When just before is the operation control step, transits to the next step by the completion of transition condition after operating execution.
PAGE 201
6 MOTION SFC PROGRAMS Classification Name Symbol (Code size (byte)) List representation IFBm IFT1 WAIT Gn : JMP IFEm (Not completion of condition) Transition WAIT Y/N Gn N (Completion Y of condition) Jump Jump IFT2 WAIT Gn+? : JMP IFEm IFEm Pn Pointer Pn • When just before is the motion control step, waits for the motion operating completion and then transits to the next step by formation of transition condition Gn (G0 to G4095).
PAGE 202
6 MOTION SFC PROGRAMS 6.3 Branch and Coupling Chart List Branch and coupling patterns which specify step and transition sequences in the Motion SFC charts are shown below. Name (Code size (byte)) List representation Motion SFC chart symbol • Steps and transitions connected in series are List processed in order from top to bottom. representation • Steps and transitions need not be lined up corresponding to alternately.
PAGE 203
6 MOTION SFC PROGRAMS Combining the basic type branches/couplings provides the following application types, which are defined as in the basic types.
PAGE 204
6 MOTION SFC PROGRAMS Name Selective branch | Selective branch Selective coupling | Selective coupling List representation SFC chart symbol IFBm IFT1 IFT2 IFBm+1 IFT1 IFT2 IFEm+1 IFEm Function • After a selective branch, a selective branch can be CALL Kn performed. IFBm IFT1 SFT Gn IFBm+1 IFT1 SFT Gn’ : JMP IFEm+1 IFT2 SFT Gn’’ : (JMP IFEm+1) IFEm+1 • The two selective coupling points for selective JMP IFEm branch selective branch can be the same.
PAGE 205
6 MOTION SFC PROGRAMS Name List representation SFC chart symbol Selective coupling IFEm | Parallel branch PABm PAT1 Parallel coupling | Selective branch PAT2 PAEm IFBm IFT1 IFT2 Application type Selective coupling | IFEm Selective branch IFBm+1 IFT1 Parallel coupling | Parallel branch IFT2 PAEm PABm+1 PAT1 PAT2 : (JMP IFEm) IFEm PABm PAT1 CALL Fn : JMP PAEm PAT2 CALL Fn’ : (JMP PAEm) PAEm : : JMP PAEm PAEm IFBm IFT1 SFT Gn : JMP IFEm IFT2 SFT Gn’ : (JMP IFEm) IFEm : : (JMP IFEm) IFEm IFBm+1 I
PAGE 206
6 MOTION SFC PROGRAMS 6.4 Motion SFC Program Name Set the "Motion SFC program name" to the Motion SFC program No.0 to No.255 individually. (Make this setting in the "Motion SFC program management window" on the Motion SFC program edit screen.) Set the Motion SFC program name within 16 characters. Specify this Motion SFC program name for a "subroutine call/start step (GSUB)" and "clear step (CLR)". Motion SFC programs correspond to No.0 to No.255 and saved in a one program-forone file format.
PAGE 207
6 MOTION SFC PROGRAMS 6.5 Steps 6.5.1 Motion control step Name Symbol Function Starts the servo program Kn. Motion control step Kn Specified range: K0 to K4095 [Operations] (1) Turns on the start accept flag of the axis specified with the specified servo program Kn (n = 0 to 4095) runnnig. (2) Starts the specified servo program Kn (n = 0 to 4095).
PAGE 208
6 MOTION SFC PROGRAMS 6.5.2 Operation control step Name Operation control step Symbol Function Executes the operation control program Fn/FSn. Fn/FSn Specified range: F0 to F4095/FS0 to FS4095 [Operations] (1) Once execution type operation control step Fn In the case of Fn, executes the specified operation control program Fn (n = 0 to 4095) once.
PAGE 209
6 MOTION SFC PROGRAMS 6.5.3 Subroutine call/start step Name Symbol Subroutine Program name call/start step Function Calls/starts the Motion SFC program of the specified program name. [Operations] (1) Calls/starts the Motion SFC program of the specified program name. (2) Control varies with the type of the transition coupled next to the subroutine call/start step.
PAGE 210
6 MOTION SFC PROGRAMS [Instructions] (1) There are no restrictions on the depth of subroutine call/start nesting. (2) For a subroutine start, the start source Motion SFC program continues processing if the start destination Motion SFC program stops due to an error. (3) For a subroutine call, the call source Motion SFC program stops running as soon as the call destination Motion SFC program stops due to an error.
PAGE 211
6 MOTION SFC PROGRAMS 6.5.4 Clear step Name Symbol CLR Clear step Function Stops the Motion SFC program of the specified Program name program name. [Operations] (1) Stops the specified Motion SFC program running. (2) The clear-specified Motion SFC program will not start automatically after stopped if it has been set to start automatically. (3) The specified program may be its self program. (4) If the specified program is being subroutine called, the subroutine program called is also stopped.
PAGE 212
6 MOTION SFC PROGRAMS 6.6 Transitions You can describe conditional and operation expressions at transitions. The operation expression described here is repeated until the transition condition enables, as at the scan execution type operation step. Refer to Chapter "8 TRANSITION PROGRAMS" for the conditional/operation expressions that can be described in transition conditions.
PAGE 213
6 MOTION SFC PROGRAMS [Instructions] • Always pair a transition with a motion control step one-for-one. If the step following WAITON/WAITOFF is not a motion control step, the Motion SFC program error [16102] will occur and the Motion SFC program running will stop at the error detection. • An error will not occur if the jump destination immediately after WAITON/WAITOFF is a motion control step. (Left below) • A pointer may exist immediately after WAITON/WAITOFF.
PAGE 214
6 MOTION SFC PROGRAMS 6.7 Jump, Pointer Pn Pn Pointer Jump [Operations] • Setting a jump will cause a jump to the specified pointer Pn of the self program. • You can set pointers at steps, transitions, branch points and coupling points. • You can set pointers Pn at P0 to P16383 in one program. [Instructions] • You cannot make a jump setting which will exit from within parallel branch-parallel coupling. Connect directly.
PAGE 215
6 MOTION SFC PROGRAMS 6.9 Branches, Couplings 6.9.1 Series transition Transits execution to the subsequent step or transition connected in series. (1) To start a servo program or subroutine and shift execution to the next without waiting for operation completion Set Shift at a transition. In this case, the transition (shift) may be omitted. When you omitted the transition, an unconditional shift transition is performed. K1 Starts the servo program K1.
PAGE 216
6 MOTION SFC PROGRAMS 6.9.2 Selective branch, selective coupling (1) Selective branch Executes only the route which condition was judged to have enabled first among the conditions of multiple transitions connected in parallel. Transitions must be all Shifts or WAITs. (Example) WAIT After start axis in the servo Starts the servo program K1.
PAGE 217
6 MOTION SFC PROGRAMS 6.9.3 Parallel branch, parallel coupling (1) Parallel branch Multiple routes connected in parallel are executed simultaneously. Each parallel branch destination may be started by either a step or a transition. After operation completion of G0 G1 preceding step, steps K2 to F10 connected in parallel are executed when the completion K2 K3 F1 F10 G1 G1 G2 G3 G255 G255 of condition set at transition G0.
PAGE 218
6 MOTION SFC PROGRAMS POINT The number of parallel branches need not match that of couplings at a parallel coupling point. (In the example of the diagram in Section 6.9.3 (2), the number of parallel branches is 3 and that of couplings is 2.) When a WAIT transition is set right after a parallel coupling, the stop completions of the axes are not included in the waiting conditions if the parallel coupling is preceded by motion control steps.
PAGE 219
6 MOTION SFC PROGRAMS 6.10 Y/N Transitions When routes are branch at a transition condition enables and disable, "Shift Y/N transition" or "WAIT Y/N transition" will be useful. Name Symbol (Not completion of condition) Shift Y/N transition Gn (Completion Y of condition) • When a transition condition set at Gn enables, execution shifts to the lower step. When that condition disables, N execution shifts to the right-connected step.
PAGE 220
6 MOTION SFC PROGRAMS (1) Automatic free G number search feature (a) When not set to automatic numbering Searches for a free number forward, starting with the "set G number + 1" at the "Shift Y/N" or "WAIT Y/N" symbol. When no free numbers are found after a search up to 4095, a search is made from 0 to the "set G number - 1".
PAGE 221
6 MOTION SFC PROGRAMS (3) Instructions for the Motion SFC charts Any Motion SFC chart that will be meaningless to or conflict with the definition of Y/N transitions will result in an error at the time of editing (or Motion SFC chart conversion). Their patterns and instructions will be given below.
PAGE 222
6 MOTION SFC PROGRAMS (c) The following patterns may be set. • End (END) from "Shift Y/N" or "WAIT Y/N" • Jump from "Shift Y/N" or "WAIT Y/N" P1 P2 END • Continuation from "Shift Y/N" or "WAIT Y/N" to "Shift Y/N" or "WAIT Y/N" (selective branch-selective branch) END • When there are two or more connection lines from Y/N side of "Shift Y/N" or "WAIT Y/N", selective branch continues to selective branch or parallel branch.
PAGE 223
6 MOTION SFC PROGRAMS 6.11 Motion SFC Comments A comment can be set to each symbol of the step/transition in the motion SFC chart. Comments are shown in the Motion SFC chart by changing the display mode to "Comment display" on the Motion SFC program edit screen. Since the Motion SFC comments are stored into the CPU code area, performing read from PC displays the Motion SFC chart with comments.
PAGE 224
6 MOTION SFC PROGRAMS POINT (1) Motion SFC comments are stored into the CPU code area. The CPU code area stores the Motion SFC chart codes, operation control (F/FS) program codes, transition (G) program codes and Motion SFC comments. Be careful not to set too many comments to avoid code area overflow. (Refer to Section "1.2.2 (2) (b) Motion SFC Performance Specifications" for the code area sizes.) (2) You cannot use "," in comment statements.
PAGE 225
6 MOTION SFC PROGRAMS MEMO 6 - 28
PAGE 226
7 OPERATION CONTROL PROGRAMS 7. OPERATION CONTROL PROGRAMS Refer to Section "19.2 Motion SFC Error Code List" for error codes of the operation error. (Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)" and "Q173CPU(N)/Q172CPU(N) Motion controller (SV22) Programming Manual (VIRTUAL MODE)" for minor errors of the operation error.) 7.
PAGE 227
7 OPERATION CONTROL PROGRAMS (2) Priorities of operators and functions Operators and functions have the following priorities. Using parentheses allows an operation sequence to be specified freely. Priority High Item (Operator, Function) Calculation within parentheses ((...)) Standard function (SIN, COS, etc.), Type conversion (USHORT, LONG, etc.
PAGE 228
7 OPERATION CONTROL PROGRAMS (3) Structure of instruction Many of the instructions usable in operation control programs can be divided into instruction and data parts. The instruction and data parts are used for the following purposes. • Instruction part.......... Indicates the function of that instruction. • Data part................... Indicates the data used in the instruction.
PAGE 229
7 OPERATION CONTROL PROGRAMS (4) How to specify data There are the following six different data usable in each instruction. Numerical data Data usable in each instruction Integer data 16-bit integer type data 32-bit integer type data 64-bit floating-point type data Bit data Batch bit data Logical data (a) 16-bit integer type data The 16-bit integer type data is 16-bit integer value data. Word devices are used in increments of 1 point. Data ranges are shown below.
PAGE 230
7 OPERATION CONTROL PROGRAMS 3) Data ranges are shown below. Decimal representation Hexadecimal representation K-1.79E+308 to K-2.23E-308, Data range K0.0, H0000000000000000, H0010000000000000 to H7FE1CCF385EBC89F, H8000000000000000, K2.23E-308 to K1.79E+308 H8010000000000000 to HFFE1CCF385EBC89F 4) A round-off error may be produced in a 64-bit floating-point type data operation.
PAGE 231
7 OPERATION CONTROL PROGRAMS (f) Logical data The logical data is a value returned by a bit or comparison conditional expression and indicates whether the result is true or false. Normally, it is used in the conditional expression of a transition program. In an operation control program, the logical data is used in a bit conditional expression set to device set (SET=) or device reset (RST=).
PAGE 232
7 OPERATION CONTROL PROGRAMS 7.2 Device Descriptions Word and bit device descriptions are shown below. (1) Word device descriptions Device descriptions 32-bit 64-bit integer type floating-point type ("n" is even No.) ("n" is even No.) 16-bit integer type Device No.
PAGE 233
7 OPERATION CONTROL PROGRAMS (3) Indirect specification of device No. In the above word/bit device descriptions, device No. (n) can be specified indirectly. (a) Indirect specification of device No. (n) using word device • The word device which the device No. was specified indirectly cannot be used. • You can use the 16-bit and 32-bit integer type word devices for indirect specification. The 64-bit floating-point type cannot be used.
PAGE 234
7 OPERATION CONTROL PROGRAMS 7.3 Constant Descriptions The constant descriptions of the 16-bit integer type, 32-bit integer type and 64-bit floating-point type are shown below. 16-Bit integer type Decimal representation Hexadecimal representation 32-Bit integer type 64-Bit floating-point type K-1.79E+308 to K-2.23E-308, K-32768 to K32767 K-2147483648L to K2147483647L K0.0, K2.23E-308 to K1.
PAGE 235
7 OPERATION CONTROL PROGRAMS F/FS G 7.4 Binary Operations 7.4.
PAGE 236
7 OPERATION CONTROL PROGRAMS (2) Program which substitutes K123456.789 to D0L D0L = K123456.789 D0 D1 123456 123456.789 The 64-bit floating-point type is converted into the 32-bit integer type and the result is substituted.
PAGE 237
7 OPERATION CONTROL PROGRAMS F/FS G 7.4.
PAGE 238
7 OPERATION CONTROL PROGRAMS F/FS G 7.4.
PAGE 239
7 OPERATION CONTROL PROGRAMS (2) Program which substitutes the result of subtracting #10 from #0F to D0L D0L = #0F #10 #3 D0L D1 D0 12222 #2 #1 12345.789 #0 12222.789 #10 123 64-bit floating-point type data are used for subtraction, and the result is converted into the 32-bit integer type and then substituted.
PAGE 240
7 OPERATION CONTROL PROGRAMS F/FS G 7.4.
PAGE 241
7 OPERATION CONTROL PROGRAMS F/FS G 7.4.
PAGE 242
7 OPERATION CONTROL PROGRAMS F/FS G 7.4.
PAGE 243
7 OPERATION CONTROL PROGRAMS F/FS G 7.5 Bit Operations 7.5.
PAGE 244
7 OPERATION CONTROL PROGRAMS F/FS G 7.5.
PAGE 245
7 OPERATION CONTROL PROGRAMS F/FS G 7.5.
PAGE 246
7 OPERATION CONTROL PROGRAMS F/FS G 7.5.
PAGE 247
7 OPERATION CONTROL PROGRAMS F/FS G 7.5.
PAGE 248
7 OPERATION CONTROL PROGRAMS F/FS G 7.5.
PAGE 249
7 OPERATION CONTROL PROGRAMS F/FS G 7.5.
PAGE 250
7 OPERATION CONTROL PROGRAMS F/FS G 7.6 Standard Functions 7.6.
PAGE 251
7 OPERATION CONTROL PROGRAMS F/FS G 7.6.
PAGE 252
7 OPERATION CONTROL PROGRAMS F/FS G 7.6.
PAGE 253
7 OPERATION CONTROL PROGRAMS F/FS G 7.6.
PAGE 254
7 OPERATION CONTROL PROGRAMS F/FS G 7.6.
PAGE 255
7 OPERATION CONTROL PROGRAMS F/FS G 7.6.
PAGE 256
7 OPERATION CONTROL PROGRAMS F/FS G 7.6.
PAGE 257
7 OPERATION CONTROL PROGRAMS F/FS G 7.6.
PAGE 258
7 OPERATION CONTROL PROGRAMS F/FS G 7.6.
PAGE 259
7 OPERATION CONTROL PROGRAMS F/FS G 7.6.
PAGE 260
7 OPERATION CONTROL PROGRAMS F/FS G 7.6.
PAGE 261
7 OPERATION CONTROL PROGRAMS F/FS G 7.6.
PAGE 262
7 OPERATION CONTROL PROGRAMS F/FS G 7.6.
PAGE 263
7 OPERATION CONTROL PROGRAMS F/FS 7.6.
PAGE 264
7 OPERATION CONTROL PROGRAMS F/FS 7.6.
PAGE 265
7 OPERATION CONTROL PROGRAMS F/FS G 7.7 Type Conversions 7.7.
PAGE 266
7 OPERATION CONTROL PROGRAMS F/FS G 7.7.
PAGE 267
7 OPERATION CONTROL PROGRAMS F/FS G 7.7.
PAGE 268
7 OPERATION CONTROL PROGRAMS F/FS G 7.7.
PAGE 269
7 OPERATION CONTROL PROGRAMS F/FS G 7.7.
PAGE 270
7 OPERATION CONTROL PROGRAMS F/FS G 7.7.
PAGE 271
7 OPERATION CONTROL PROGRAMS F/FS G 7.8 Bit Device Statuses 7.8.
PAGE 272
7 OPERATION CONTROL PROGRAMS F/FS G 7.8.
PAGE 273
7 OPERATION CONTROL PROGRAMS F/FS G 7.9 Bit Device Controls 7.9.
PAGE 274
7 OPERATION CONTROL PROGRAMS [Program examples] (1) Program which sets M100 when either of M0 and X0 is 1 SET M100 = M0 + X0 0 M0 M100 + 1 X0 (True) 1 (2) Program which sets M100 when #0 is equal to D0 SET M100 = #0 = = D0 #0 M100 100 == 1 D0 (True) 100 (3) Program which sets Y0 unconditionally SET Y0 Y0 7 - 49 1
PAGE 275
7 OPERATION CONTROL PROGRAMS F/FS G 7.9.
PAGE 276
7 OPERATION CONTROL PROGRAMS [Program examples] (1) Program which resets M100 when either of M0 and X0 is 1 RST M100 = M0 + X0 0 M0 M100 + 0 X0 (True) 1 (2) Program which resets M100 when #0 is equal to D0 RST M100 = #0 != D0 100 #0 M100 != 0 D0 (True) 200 (3) Program which resets Y0 unconditionally RST Y0 Y0 7 - 51 0
PAGE 277
7 OPERATION CONTROL PROGRAMS F/FS G 7.9.
PAGE 278
7 OPERATION CONTROL PROGRAMS F/FS G 7.9.
PAGE 279
7 OPERATION CONTROL PROGRAMS F/FS G 7.9.5 Bit device output : OUT Refer to the Section "1.3.4" for the correspondence version of the Motion CPU and the software.
PAGE 280
7 OPERATION CONTROL PROGRAMS (3) Program which sets M100 when D0 is equal to D2000 and resets M100 when D is not equal to D2000 OUT M100 = (D0 == D2000) 7 - 55
PAGE 281
7 OPERATION CONTROL PROGRAMS F/FS G 7.10 Logical Operations 7.10.
PAGE 282
7 OPERATION CONTROL PROGRAMS F/FS G 7.10.
PAGE 283
7 OPERATION CONTROL PROGRAMS F/FS G 7.10.
PAGE 284
7 OPERATION CONTROL PROGRAMS F/FS G 7.10.
PAGE 285
7 OPERATION CONTROL PROGRAMS F/FS G 7.11 Comparison Operations 7.11.
PAGE 286
7 OPERATION CONTROL PROGRAMS F/FS G 7.11.
PAGE 287
7 OPERATION CONTROL PROGRAMS F/FS G 7.11.
PAGE 288
7 OPERATION CONTROL PROGRAMS F/FS G 7.11.
PAGE 289
7 OPERATION CONTROL PROGRAMS F/FS G 7.11.
PAGE 290
7 OPERATION CONTROL PROGRAMS F/FS G 7.11.
PAGE 291
7 OPERATION CONTROL PROGRAMS F/FS G 7.12 Motion-Dedicated Functions (CHGV, CHGT) 7.12.
PAGE 292
7 OPERATION CONTROL PROGRAMS (3) Operation varies with the sign of the specified speed set at (S2). Sign of specified speed Operation Positive Speed change 0 Temporary stop Negative Return (4) The specified speed that may be set at (S2) is within the following range.
PAGE 293
7 OPERATION CONTROL PROGRAMS (6) By specifying a negative speed and making a speed change request during the start, allows the axis to start deceleration at that point and return in the opposite direction upon completion of deceleration. The following operations by the servo instruction are shown below.
PAGE 294
7 OPERATION CONTROL PROGRAMS (d) While the axis is reversion in the speed control mode 1) Make a speed change to a positive speed to change the travel direction again. 2) Turn ON the stop command to make a stop. 3) A speed change is made in the opposite direction if a negative speed change is made again. [Errors] (1) An operation error will occur and a speed change will not be made if: • The specified axis No. of (S1) is outside the range. • (S2) is an indirectly specified device and its device No.
PAGE 295
7 OPERATION CONTROL PROGRAMS [Program examples] (1) Program which changes the positioning speed of axis 2 CHGV(K2,K10) (2) Return program which changes the positioning speed of axis 1 to a negative value CHGV(K1,K 1000) The following operation will be performed when a return request is made in constant-speed control.
PAGE 296
7 OPERATION CONTROL PROGRAMS POINT (1) A speed change may be invalid if it is made from when a servo program start request is made until the "positioning start completion signal" status changes to ON. When making a speed change at almost the same timing as a start, always create a program which will execute the speed change after the "positioning start completion signal" has turned ON.
PAGE 297
7 OPERATION CONTROL PROGRAMS F/FS G 7.12.
PAGE 298
7 OPERATION CONTROL PROGRAMS During start (a) If the following torque limit value has been set, it will not be changed to higher than the torque limit value specified in the CHGT instruction.
PAGE 299
7 OPERATION CONTROL PROGRAMS F/FS G 7.13 Other Instructions 7.13.
PAGE 300
7 OPERATION CONTROL PROGRAMS F/FS G 7.13.
PAGE 301
7 OPERATION CONTROL PROGRAMS F/FS G 7.13.
PAGE 302
7 OPERATION CONTROL PROGRAMS F/FS G 7.13.4 Block transfer : BMOV Refer to the Section "1.3.4" for the correspondence version of the Motion CPU and the software.
PAGE 303
7 OPERATION CONTROL PROGRAMS At cam data read The cam data storage area is rewritten. • The cam data in the currently set status are read. (4) The word devices that may be set at (D), (S) and (n) are shown below. (Note-2) Setting data Dn Wn (D) #n Cam No. specification (Note-2), (Note-3) Word devices Bit devices Mn Bn Fn (Note-5) Xn Yn (Note-1) Nn (Note-4) (Note-4) (S) (Note-4) (Note-4) (n) — — — — — — (Note-1) : "Nn" indicates the cam No.. (Note-2) : The device No.
PAGE 304
7 OPERATION CONTROL PROGRAMS [Program examples] (1) Program which batch-transfers a contents for 5 words from D0 to all data for 5 words from #10 BMOV #10, D0, K5 #10 # #11 #12 #13 #14 12 34 56 78 90 Batch transfer D0 D1 D2 D3 D4 12 34 56 78 90 (2) Program which batch-transfers a contents for 2048 words from #0 to the data area of cam No.2 (resolution 2048) BMOV N2, #0, K2048 Cam data of cam No.
PAGE 305
7 OPERATION CONTROL PROGRAMS F/FS G 7.13.5 Same data block transfer : FMOV Refer to the Section "1.3.4" for the correspondence version of the Motion CPU and the software.
PAGE 306
7 OPERATION CONTROL PROGRAMS [Errors] (1) An operation error will occur if: • (D) to (D)+(n-1) is outside the device range; • (n) is 0 or a negative number; or • PX/PY is set in (D) to (D)+(n-1).
PAGE 307
7 OPERATION CONTROL PROGRAMS F/FS G 7.13.6 Write device data to shared CPU memory of the self CPU: MULTW Refer to the Section "1.3.4" for the correspondence version of the Motion CPU and the software.
PAGE 308
7 OPERATION CONTROL PROGRAMS (3) Another MULTW instruction cannot be processed until MULTW instruction is executed and a complete bit device is turned on. When MULTW instruction was executed again before MULTW instruction is executed and complete bit device is turned on, the MULTW instruction executed later becomes an error. (4) The word devices that may be set at (D), (S) (n) and (D1) are shown below.
PAGE 309
7 OPERATION CONTROL PROGRAMS [Program examples] (1) 2 words from D0 is written in the shared CPU memory to since A00H, and transits to next step after confirmation of writing completion.
PAGE 310
7 OPERATION CONTROL PROGRAMS F/FS G 7.13.7 Read device data from shared CPU memory of the other CPU: MULTR Refer to the Section "1.3.4" for the correspondence version of the Motion CPU and the software.
PAGE 311
7 OPERATION CONTROL PROGRAMS (2) The word devices that may be set at (D), (S), (n) and (D1) are shown below. (Note-1) Setting data (Note-1), (Note-2) Word devices Dn Wn #n Bit devices Mn (D) (Note-3) (S) (n) (D1) — — — Bn Fn Xn Yn (Note-4) (Note-4) — — — — — — — — — — — — (Note-1) : The device No. cannot be specified indirectly. (Note-2) : Specify a multiple of 16 as the device number of bit data.
PAGE 312
7 OPERATION CONTROL PROGRAMS [Program examples] (1) It checks that a CPU No.1 is not resetting, 2 words is read to since #0 from the shared CPU memory C00H of CPU No.1, and transits to next step after reading completion.
PAGE 313
7 OPERATION CONTROL PROGRAMS F/FS G 7.13.8 Write device data to intelligent function module/special function module : TO Refer to the Section "1.3.4" for the correspondence version of the Motion CPU and the software.
PAGE 314
7 OPERATION CONTROL PROGRAMS (3) The word devices that may be set at (D1), (D2), (S) and (n) are shown below. (Note-1) Setting data (Note-1), (Note-2) Word devices Dn Wn (D1) (D2) #n Bit devices Mn Bn Fn Xn Yn — — — — — — — — — — (S) (Note-3) (Note-3) (n) — — — — — (Note-1) : The device No. cannot be specified indirectly. (Note-2) : Specify a multiple of 16 as the device number of bit data. (Note-3) : PX/PY cannot be set.
PAGE 315
7 OPERATION CONTROL PROGRAMS [Program examples] (1) 2 words from #0 is written to since buffer memory address of the Intelligent function module/special function module (First I/O No. : 010H). TO H010, H0, #0, K2 Intelligent function module/ special function module (First I/O No.
PAGE 316
7 OPERATION CONTROL PROGRAMS F/FS G 7.13.9 Read device data from intelligent function module/special function module : FROM Refer to the Section "1.3.4" for the correspondence version of the Motion CPU and the software.
PAGE 317
7 OPERATION CONTROL PROGRAMS (3) The word devices that may be set at (D), (S1), (S2) and (n) are shown below. (Note-1) Setting data (Note-1), (Note-2) Word devices Dn Wn #n Bit devices Mn (D) (Note-3) (S1) (S2) (n) — — — Bn Fn Xn Yn (Note-4) (Note-4) — — — — — — — — — — — — (Note-1) : The device No. cannot be specified indirectly. (Note-2) : Specify a multiple of 16 as the device number of bit data.
PAGE 318
7 OPERATION CONTROL PROGRAMS [Program examples] (1) 1 word is read from the buffer memory address 10H of the intelligent function module/special function module (First I/O No. : 020H), and is stored in W0. FROM W0, H020, H10, K1 Intelligent function module/special function module (First I/O No.
PAGE 319
7 OPERATION CONTROL PROGRAMS F/FS G — 7.13.
PAGE 320
7 OPERATION CONTROL PROGRAMS POINT (1) When the waiting time setting is indirectly specified with a word device, the value imported first is used as the device value for exercising control. The set time cannot be changed if the device value is changed during a wait state. (2) The TIME instruction is equivalent to a conditional expression, and therefore may be set on only the last line of a transition (G) program.
PAGE 321
7 OPERATION CONTROL PROGRAMS F/FS G 7.
PAGE 322
8 TRANSITION PROGRAMS 8. TRANSITION PROGRAMS 8.1 Transition Programs (1) Transition programs (a) Substitution operation expressions, motion-dedicated functions, bit device control commands and transition conditions can be set in transition programs. (b) Multiple blocks can be set in one transition program. (c) There are no restrictions on the number of blocks that may be set in a single transition program. Note that one program is within 64k bytes. (d) The maximum number of characters in one block is 128.
PAGE 323
8 TRANSITION PROGRAMS What can be set as a transition condition in the last block are bit conditional expressions, comparison conditional expressions and device set (SET=)/device reset (RST=) which return logical data values (true/false).
PAGE 324
9 MOTION CONTROL PROGRAMS 9. MOTION CONTROL PROGRAMS 9.1 Servo Instruction List Table 9.1 lists servo instructions used in servo programs. Refer to Section 9.2 to 9.4 for details of the current value change control (CHGA, CHGA-E, CHGA-C). Refer to the "Q173CPU(N)/Q172CPU(N) Motion Controller (SV13/SV22) Programming Manual (REAL MODE)" for other servo instructions. (1) Guide to servo instruction list Table 9.
PAGE 325
9 MOTION CONTROL PROGRAMS (2) Servo instruction list Table 9.2 indicates the servo instructions available for servo programs and the positioning data set in servo instructions. Table 9.
PAGE 326
2 2 — — — 1 1 1 2 1 1 1 1 2 2 1 1 1 1 — 1 1 1 1 1 1 1 1 1 2 2 2 1 2 1 *2 1/ 1(B) — 2 *2 1(B) *2 1(B) 1 *2 1(B) 2 9-3 Parameter block Skip Cancel Command speed (constant speed) Program No.
PAGE 327
9 MOTION CONTROL PROGRAMS Table 9.
PAGE 328
2 2 — — — 1 1 1 2 1 1 1 1 2 2 1 1 1 1 — 1 1 1 1 1 1 1 1 1 2 2 2 1 2 1 *2 1/ 1(B) — 2 *2 1(B) *2 1(B) 1 *2 1(B) 2 9-5 Parameter block Skip Cancel Command speed (constant speed) Program No.
PAGE 329
9 MOTION CONTROL PROGRAMS Table 9.
PAGE 330
9 MOTION CONTROL PROGRAMS Positioning data 2 2 2 1 1 1 2 2 1 1 1 1 1 1 1 1 1 1 2 2 2 1 2 1 *2 1/ 1(B) — 2 *2 1(B) *2 1(B) 1 *2 1(B) 2 Skip 1 Cancel 1 Command speed (constant speed) 1 Program No.
PAGE 331
9 MOTION CONTROL PROGRAMS Table 9.
PAGE 332
2 2 — — — 1 1 1 2 1 1 1 1 2 2 1 1 1 1 — 1 1 1 — 1 1 1 1 1 2 1 9-9 1 1/ 1(B) *2 1 2 — 2 2 1(B) 1(B) *2 *2 WAIT-ON/OFF 2 FIN acceleration/deceleration Parameter block Skip Cancel Command speed (constant speed) Program No.
PAGE 333
9 MOTION CONTROL PROGRAMS Table 9.
PAGE 334
2 2 — — — 1 1 1 2 1 1 1 1 2 2 1 1 1 1 — 1 1 1 — 1 1 1 1 1 2 1 9 - 11 1 1/ 1(B) *2 1 2 — 2 2 1(B) 1(B) *2 *2 WAIT-ON/OFF 2 FIN acceleration/deceleration Parameter block Skip Cancel Command speed (constant speed) Program No.
PAGE 335
9 MOTION CONTROL PROGRAMS Table 9.
PAGE 336
2 2 — — — 1 1 1 2 1 1 1 1 2 2 1 1 1 1 — 1 1 1 — 1 1 1 1 1 2 1 9 - 13 1 1/ 1(B) *2 1 2 — 2 2 1(B) 1(B) *2 *2 WAIT-ON/OFF 2 FIN acceleration/deceleration Parameter block Skip Cancel Command speed (constant speed) Program No.
PAGE 337
9 MOTION CONTROL PROGRAMS 9.2 Servomotor/Virtual Servomotor Shaft Current Value Change The current value of the specified axis is changed in the real mode. The current value of the specified virtual servomotor shaft is changed in the virtual mode.
PAGE 338
9 MOTION CONTROL PROGRAMS [Program example] A program which made the current value change control in the real mode is described as the following conditions. (1) System configuration The current value change control of axis 2 is executed. Q02H CPU Q172 EX Q173 CPU (N) QX10 AMP Axis 2 AMP Axis 1 M AMP Axis 3 M AMP M AMP Axis 5 Axis 4 M AMP AMP Axis 7 Axis 6 M M AMP Axis 16 M M (2) The current value change control conditions (a) The current value change control conditions are shown below.
PAGE 339
9 MOTION CONTROL PROGRAMS POINT (1) Current value changing instructions • When PLC ready flag (M2000) or PCPU ready flag (M9074) is OFF, a minor error (Note) [100] occurs and a current value change is not made. • This change is made only during a stop. If a current value change is made while (Note) the specified axis is starting, a minor error [101] (start accept signal of the corresponding axis is ON) occurs and the current value change is not made.
PAGE 340
9 MOTION CONTROL PROGRAMS 9.3 Synchronous Encoder Shaft Current Value Change Control (SV22 only) The current value of the specified synchronous encoder shaft is changed in the virtual mode.
PAGE 341
9 MOTION CONTROL PROGRAMS [Program example] A program which made the current value change control of the synchronous encoder shaft is described as the following conditions. (1) System configuration The current value change control of the synchronous encoder shaft P1 is executed.
PAGE 342
9 MOTION CONTROL PROGRAMS POINT (1) Synchronous encoder current value changing instructions • The current value change of the synchronous encoder is executed if operation is being performed in the virtual mode (during pulse input from the synchronous encoder). If the current value is changed, the feed current value of the synchronous encoder continues from the new value. • The current value change of the synchronous encoder does not affect the current value of the output module.
PAGE 343
9 MOTION CONTROL PROGRAMS 9.4 Cam Shaft Within-One-Revolution Current Value Change Control (SV22 only) The current value of the specified cam shaft within-one-revolution is changed in the virtual mode.
PAGE 344
9 MOTION CONTROL PROGRAMS [Program example] A program which made the current value change control of the cam shaft within-onerevolution current value change is described as the following conditions. (1) Current value change control conditions (a) The current value change control conditions are shown below. Item Setting Servo program No. 10 Output axis No.
PAGE 345
9 MOTION CONTROL PROGRAMS 9.5 Programming Instructions 9.5.1 Cancel • start When a cancel start has been set in the setting items of the servo program which was started at the motion control step of the Motion SFC program, the cancel of the running servo program is valid but the servo program specified to start after a cancel is ignored, without being started. The following example shows the Motion SFC program which exercises control equivalent to a cancel start.
PAGE 346
10 MOTION DEVICES 10. MOTION DEVICES The motion registers (#0 to #8191) and coasting timer (FT) are available as Motion CPU-dedicated devices. They can be used in operation control (F/FS) programs or transition (G) programs. 10.1 Motion Registers (#0 to #8191) Motion device Motion register (#) Item Specifications Number of points 8192 points (#0 to #8191) Data size 16-bit/point Only a user device is latched. Latch (All points are cleared by latch clear operation.
PAGE 347
10 MOTION DEVICES (a) Motion SFC dedicated devices (#8000 to #8063) The Motion SFC dedicated devices are shown below. The device's refresh cycle is indicated when the signal direction is "status", or its fetch cycle when the signal direction is "command". Device No.
PAGE 348
10 MOTION DEVICES 1) Motion SFC error history devices The error information which occurred after power-on of the CPU is stored as a history of up to eight past errors. The latest error is stored in #8056 to #8063. All errors, including the Motion SFC control errors and the conventional minor, major, servo, servo program and mode changing errors are stored in this history. At error occurrence, the "Motion SFC error detection flag (M2039)" is also set. The error information is shown below. No.
PAGE 349
10 MOTION DEVICES 2) Motion SFC error detection flag (M2039) (Refresh cycle : Scan time) The Motion SFC error detection flag (M2039) turns on when any of the errors detected by the Motion CPU occurs. At error occurrence, data are set to the error devices in the following procedure. a) Set the error code to each axis or error devices. b) Turns on the error detection signal of each axis or error. c) Set the error information to the above "Motion SFC error history devices (#8000 to #8063)".
PAGE 350
10 MOTION DEVICES (b) Servo monitor devices (#8064 to #8191) Information about "servo amplifier type", "motor current" and "motor speed" for each axis is stored the servo monitor devices. The details of the storage data are shown below. Axis No. Device No.
PAGE 351
10 MOTION DEVICES 10.2 Coasting Timer (FT) Motion device Item Specification Number of points 1 point (FT) Data size 32-bit/point (-2147483648 to 2147483647) No latch. Cleared to zero at power-on or reset, a count Latch Coasting timer (FT) rise is continued from now on. Usable tasks Normal, event, NMI Access Read only enabled Timer specifications 888µs timer (Current value (FT) is incremented by 1 per 888µs.
PAGE 352
11 MOTION SFC PARAMETER 11. MOTION SFC PARAMETER Two different Motion SFC parameters are available: "task parameters" designed to control the tasks (normal task, event task, NMI task) and "program parameters" to be set per Motion SFC program. Their details are shown below. 11.1 Task Definitions When to execute the Motion SFC program processing can be set only once in the program parameter per program. Roughly classified, there are the following three different tasks.
PAGE 353
11 MOTION SFC PARAMETER 11.2 Number of Consecutive Transitions and Task Operation 11.2.1 Number of consecutive transitions With "execution of active step judgment of next transition condition transition processing performed when condition enables (transition of active step)" defined as a single basic operation of the Motion SFC program execution control in the execution cycle of the corresponding task, this operation is performed for the number of active steps to terminate processing once.
PAGE 354
11 MOTION SFC PARAMETER 11.2.2 Task operation (1) Normal task operation [Operations] The Motion SFC program is executed in the main cycle (free time) of the Motion CPU processing. Program 1 Program 2 Program name F20 Program name 1) F30 F1 A) F5 F2 F6 2) F3 F7 END F8 B) C) END SFCS1 SFCS2 PLC program Main cycle Normal task 1) A) Main cycle C) Main cycle 2) B) Normal task is ended with END.
PAGE 355
11 MOTION SFC PARAMETER (2) Event task operation [Operations] An event task executes the Motion SFC program at occurrence of an event. There are the following events. (a) Fixed cycle The Motion SFC program is executed periodically in any of 0.88ms, 1.77ms, 3.55ms, 7.11ms and 14.2ms cycles. (b) External interrupt (16 points of I0 to I15) Among 16 points of the QI60 (16-point interrupt module) loaded in the motion slot, the Motion SFC program is run when the input set for an event task turns on.
PAGE 356
11 MOTION SFC PARAMETER Program name F20 1) F1 F2 2) F3 F4 3) END SFCS PLC program EI/DI status by other programs. Event processing by external interrupt/ GINT DI EI Starting of the event task is accepted. Event task is not executed during DI status. (Except for NMI task.) Event processing by the fixed cycle interrupt. 2) 1) 3) Event occurrence during DI status is memorized and executed. Starting of the event task is accepted. 1) 2) 3) Executes by the new event task.
PAGE 357
11 MOTION SFC PARAMETER (3) NMI task operation [Operations] The Motion SFC program is executed when the input set to the NMI task factor among external interrupts (16 points of QI60) turns on. Program name F20 1) F1 F2 2) F3 F4 3) END SFCS PLC program External interrupts NMI task END operation: End 1) 2) 3) END operation: Continue 1) 2) 3) Do not execute a program before the NMI task starting. (Note) : When making it always execute, set as automatic start.
PAGE 358
11 MOTION SFC PARAMETER 11.3 Execution Status of The Multiple Task Execution status of each Motion SFC program when the Motion SFC program is executed multiple tasks is shown below. 3.55ms NMI interrupt NMI interrupt NMI task-execute program 3.55ms event task-execute program Normal task-execute program When there are programs which are executed by the NMI task, 3.55ms fixed-cycle even task with a program to run by the NMI task, and the normal task like a chart, (1) The 3.
PAGE 359
11 MOTION SFC PARAMETER 11.4 Task Parameters No. Item Number of 1 Setting item Initial value 1 to 30 3 Normal task consecutive (Normal task transitions common) used for external when PLC ready flag (M2000) thereafter. task or NMI task is Interrupt setting These parameters are imported turns off to on and used for control Set whether the event 2 Remark Event task interrupt inputs When setting/changing the values of these parameters, turns the PLC ready flag (M2000) off. (I0 to I15).
PAGE 360
11 MOTION SFC PARAMETER (2) Interrupt setting [Description] Set whether 16 interrupt input points (I0 to I15) of the QI60 interrupt module loaded in the motion slot are used as NMI or event task inputs. Setting can be made freely per point. All points default to event tasks. [Errors] None.
PAGE 361
11 MOTION SFC PARAMETER 11.5 Program Parameters Set the following parameters for every Motion SFC program. No. 1 Item Start setting Setting range Initial value Automatically started or not Not setting It is only one of normal, event and NMI tasks Normal task Remark When you have set the event task, further set the event which will be enabled. Always set any one of the following 1 to 3. 1. Fixed cycle It is one of 0.88ms, 1.77ms, 3.55ms, 7.11ms and 14.2ms or none. 2.
PAGE 362
11 MOTION SFC PARAMETER (1) Start setting [Description] The following control is changed by "automatically started or not" setting. • Program run by normal task No. Item When "automatically started" When "not automatically started" In the main cycle after the PLC ready flag (M2000) turns off to on, the program is executed from the initial (first) step in accordance with the number of consecutive transitions of the normal task. The program is started by the Motion SFC start instruction ( S(P).
PAGE 363
11 MOTION SFC PARAMETER • Program run by NMI task No. Item When "automatically started" When "not automatically started" At occurrence of a valid event after starting of the PLC ready flag (M2000), the program is executed from the initial (first) step in accordance with the number of consecutive transitions of the corresponding program. The program is started by the Motion SFC start instruction ( S(P).SFCS ) from the PLC or by a subroutine call/start (GSUB) made from within the Motion SFC program.
PAGE 364
11 MOTION SFC PARAMETER (2) Execute task [Description] Set the timing (task) to execute a program. Specify whether the program will be run by only one of the "normal task (main cycle), event task (fixed cycle, external interrupt, PLC interrupt) and NMI task (external interrupt)". When the event task is set, multiple events among the "fixed cycle, external interrupt (for event task) and PLC interrupt". However, multiple fixed cycles cannot be set toward one Motion SFC program.
PAGE 365
11 MOTION SFC PARAMETER POINT Since the execute task can be set for every Motion SFC program No., multiple programs need not be written for single control (machine operation) to divide execution timing-based processing’s. For example, it can be achieved easily by subroutine starting the areas to be run in fixed cycle and to be run by external interrupt partially in the Motion SFC program run by the normal task.
PAGE 366
11 MOTION SFC PARAMETER (4) END operation [Description] Set the operation at execution of the END step toward the program executed by the event or NMI task. This varies the specifications for the following items. • Program run by NMI task No. 1 Item Control at END execution When "ended" When "continued" Ends the self program. Ends to execute the self program with this event/interrupt.
PAGE 367
11 MOTION SFC PARAMETER 11.6 How to Start The Motion SFC Program The Motion SFC program is executed during PLC ready flag (M2000) is on. The Motion SFC program may be started by any of the following three methods. (1) Automatic start (2) Start from the Motion SFC program (3) Start from the PLC Set the starting method in the program parameter for every Motion SFC program. Refer to Section "11.5 Program Parameters" for parameter setting. 11.6.
PAGE 368
11 MOTION SFC PARAMETER 11.7 How to End The Motion SFC Program [Operations] (1) The Motion SFC program is ended by executing END set in itself. (2) The Motion SFC program is stopped by turning off the PLC ready flag (M2000). (3) The program can be ended by the clear step. Refer to Section "6.5.4 Clear step" for details of the clear step. [Point] (1) Multiple ENDs can be set in one Motion SFC program. 11.
PAGE 369
11 MOTION SFC PARAMETER 11.10 Operation Performed at CPU Power-Off or Reset When the CPU is powered off or reset operation is performed, Motion SFC programs run are shown below. (1) When the CPU is powered off or reset operation is performed, Motion SFC programs stop to execute. (2) At CPU power-off or key-reset, the contents of the motion registers #0 to #7999 are held. Initialize them in the Motion SFC programs as required.
PAGE 370
11 MOTION SFC PARAMETER 11.12 Operation Performed when PLC Ready flag (M2000) Turns OFF/ON This section explains about the turns off/on of PLC ready flag (M2000). The on/off condition of PLC ready flag (M2000) differences in "Operation at STOP to RUN" of a setting of a basic systems. Refer to Section "1.5.3 Individual parameters" for details. [M2000 OFF ON] If there is no fault when PLC ready flag (M2000) turns off to on, the PCPU ready flag (M9074) turns on.
PAGE 371
11 MOTION SFC PARAMETER 11.13 Operation at The Error Occurrence Outputs are held if Motion SFC programs stop due to error occurrence. To turn off outputs at error occurrence, executes the following Motion SFC program. ERROR Processing for the Motion SFC program A0 Processing for the Motion SFC program B P0 G0 G1 Whether error occurred in correspondence Motion SFC program or not is judged by error detection flag M2039 and #8056 (latest error Motion SFC program No.
PAGE 372
12 USER FILES 12. USER FILES A user file list and directory structure are shown below 12.1 Projects User files are managed on a "project" basis. When you set a "project name", a "project name" folder is created as indicated on the next page, and under that, sub folders (Sfc, Glist, Gcode, Flist, Fcode) classified by file types are created. Also, under the Sfc sub folders, initial files of the "project file (project name.prj)" and an editing folder (temp) are created.
PAGE 373
12 USER FILES 12.2 User File List A user file list is shown below. ( ): Indicates the file(data) stored in CPU memory. Project name folder Folder of user-set "project name" Sub folders (fixed) Sfc (1) Project name.prj Project file ( 1pc.) Information file of correspondence between Motion SFC program No. (0 to 255) and SFC program names (SFC files) (2) Motion SFC chart file (3) ( 256 pcs.) Motion SFC list file SFC program name.
PAGE 374
12 USER FILES 12.3 Online Change in The Motion SFC Program The online change is used to write to the Motion SFC program to the internal SRAM during the positioning control (M.RUN LED: ON). Program correction and a check of operation can be executed repeatedly at the Multiple CPU system start. Data in which online change is possible are shown below.
PAGE 375
12 USER FILES 12.3.1 Operating method for The Online Change Select the "Online change OFF/ON" of Motion SFC program with the "program editor screen [Convert] menu – [Online change setting]" of SW6RN-GSV P. There are following three methods for the online change of Motion SFC program.
PAGE 376
12 USER FILES (2) When the operation control/transition program editor screen [Convert] is used. Online change of the operation control/transition program during edit is executed by selecting the [Convert] key. Online change is possible to the operation control/transition program during execution. A program that the online change was made is executed from the next scan.
PAGE 377
12 USER FILES (3) When the servo program editor screen [Store] is used. Online change of the servo program during edit is executed by selecting the [Store] key. Online change is possible to the servo program during execution. A program that the online change was made is executed at the next servo program start. [Store] Key Operations for which made the online change to the servo program in the following conditions during execution are shown below.
PAGE 378
12 USER FILES 12.3.2 Transfer of program The outline operations to transfer the program from SW6RN-GSV P to the program memory of Motion CPU are described. (1) Program writing by the [Communication] menu - [Transfer] (a) After transfer, programs are stored in the program memory of Motion CPU stuffing to the front for every kind. Motion CPU Personal computer Program memory Programming software Program No.0 Program No.0 Program No.2 Program No.2 Program transfer Program No.5 Program No.
PAGE 379
12 USER FILES (b) If the online change is executed repeatedly, the free space in program memory is lost and the online change may not be executed. In this case, an error message is displayed by SW6RN-GSV P at the online change, and "Online change OFF" is set. Motion CPU Personal computer Program memory Programming software Program No.0 Program No.0 Program No.2 Program No.2 Program No.5 "Online change setting" cannot be executed because there is no free space. Program No.6 Program No.
PAGE 380
13 LIMIT SWITCH OUTPUT FUNCTION 13. 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 "13.2 Limit Output Setting Data" for details.) A maximum output device for 32 points can be set regardless of the number of axes. 13.
PAGE 381
13 LIMIT SWITCH OUTPUT FUNCTION 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.
PAGE 382
13 LIMIT SWITCH OUTPUT FUNCTION (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.
PAGE 383
13 LIMIT SWITCH OUTPUT FUNCTION 13.2 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.
PAGE 384
13 LIMIT SWITCH OUTPUT FUNCTION (2) Watch data (a) This data is used to perform the limit switch output function. This data is comparison data to output the ON/OFF signal. The output device is ON/OFF-controlled according to the ON region setting. (b) As the watch data, motion control data or optional word device data can be used. 1) Motion control data Item Unit Feed current value Position command Real current value Deviation counter value PLS Motor current (Command output voltage : ACF) 0.1% (0.
PAGE 385
13 LIMIT SWITCH OUTPUT FUNCTION (3) ON region setting (a) The data range which makes the output device turn ON/OFF toward the watch data. (b) The following devices can be used as the ON Value and OFF Value of the data range. The data type of device/constant to be set is the same as the type of watch data. Item Device No.
PAGE 386
13 LIMIT SWITCH OUTPUT FUNCTION (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.
PAGE 387
13 LIMIT SWITCH OUTPUT FUNCTION MEMO 13 - 8
PAGE 388
14 ROM OPERATION FUNCTION 14. ROM OPERATION FUNCTION Refer to Section 1.3.4 for the correspondence version of the Motion CPU and the software. 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. 14.1 About the ROM Operation Function The outline procedure of ROM operation function is shown below.
PAGE 389
14 ROM OPERATION FUNCTION Installation mode mode written in ROM Motion CPU module Example) 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 module Inter
PAGE 390
14 ROM OPERATION FUNCTION 14.2 Specifications of LED • Switch (1) Name of parts Side face Front face With Front cover open Q17 CPU(N) 1) 2) 3) 4) 5) 6) MODE RUN ERR. M.RUN BAT. BOOT 10) MODE RUN ERR. M.RUN BAT. BOOT ON SW 1 2 3 4 5 FRONT SSCNET STOP 9) RUN CN2 RESET L CLR CN1 PULL USB RS-232 Put your finger here to open the cover. No.
PAGE 391
14 ROM OPERATION FUNCTION (2) Applications of switches No. Name Application • Move to RUN/STOP. RUN : Motion SFC program is started. STOP : Motion SFC program 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.CLR : Clear the latch area all data which set with the parameters.
PAGE 392
14 ROM OPERATION FUNCTION 14.3 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.
PAGE 393
14 ROM OPERATION FUNCTION POINT Even if a DIP switch setting is changed on the way after the power supply on, "Operation mode" is not changed. Be sure to turn on or reset the power supply of Multiple CPU system to change a 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.
PAGE 394
14 ROM OPERATION FUNCTION (b) Operation at applicable data into ROM When the ROM writing is requested to the Motion CPU module using "ROM writing" 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-2) When the writing completes normally, the registration code is written and ROM writing ends. The process overview is shown below.
PAGE 395
14 ROM OPERATION FUNCTION POINT (1) When the RAM is selected with "Communication" - "Transfer" menu of SW6RN-GSV P, the SRAM memory built-in Motion CPU module is targeted at the "Installation mode • mode written in ROM" and "Mode operated by ROM". (2) The SRAM memory built-in Motion CPU module is targeted at the "Backup • load" operation of SW6RN-GSV P. Set the "Mode operated by ROM" after "ROM writing" for the ROM operation after "Backup • load" at the CPU module replacement.
PAGE 396
14 ROM OPERATION FUNCTION (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. Install the operating system software to the Motion CPU module using the SW6RNGSV P. Installation mode mode written in ROM (Install the operating system software.
PAGE 397
14 ROM OPERATION FUNCTION (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.) or (When the additional parameters (for ROM operation function) are wrote in the internal FLASH ROM and a version of operating system software does not correspond to the ROM operation function.
PAGE 398
14 ROM OPERATION FUNCTION 14.4 Operating Procedure of "ROM writing" System setting screen The operating procedure of ROM writing using the SW6RN-GSV P is shown below. 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.) "When selecting the ROM.
PAGE 399
14 ROM OPERATION FUNCTION MEMO 14 - 12
PAGE 400
15 SECURITY FUNCTION 15 SECURITY FUNCTION Refer to Section "1.3.4" for the correspondence version of the Motion CPU and the software. 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. User data Details SFC program Motion SFC programs (Control code, text) are protected.
PAGE 401
15 SECURITY FUNCTION (1) Procedure for password registration/change (a) A password and registration condition set in the Motion CPU are displayed. (b) Enter new password in the password column, and select a registration condition (Write Protection, Read/Write Protection). It leaves in a blank for the user data that does not register/change a password. (c) Push [Execute] key to register a password in the Motion CPU at the password registration.
PAGE 402
15 SECURITY FUNCTION 15.2 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. (1) Procedure for password clearance (a) The password data set in the Motion CPU are displayed.
PAGE 403
15 SECURITY FUNCTION 15.3 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. (b) A password protection set in the Motion CPU will be released temporarily by success of password check, and the user data program can be corrected.
PAGE 404
15 SECURITY FUNCTION 15.4 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.
PAGE 405
15 SECURITY FUNCTION 15.5 Clear All This function is used to clear the all user data and password setting 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. (3) All user data and password setting are cleared at the "Clear All".
PAGE 406
16 COMMUNICATIONS VIA NETWORK 16. COMMUNICATIONS VIA NETWORK Refer to Section "1.3.4" for the correspondence version of the Motion CPU and the software. The communication between the personal computer and the Motion CPU is possible via Q series Network module (MELSECNET/10(H), Ethernet, CC-Link, RS-232 and etc.) in the Motion CPU (Q173CPU(N)/Q172CPU(N)).
PAGE 407
16 COMMUNICATIONS VIA NETWORK 16.1 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 "16.2 Access Range of The Communications via Network".
PAGE 408
16 COMMUNICATIONS VIA NETWORK 16.2 Access Range of The Communications via Network 16.2.1 Network configuration via the MELSECNET/10(H) or the Ethernet (1) 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.
PAGE 409
16 COMMUNICATIONS VIA NETWORK Personal computer USB/ RS-232 Qn(H) Q173 CPU CPU (N) Personal computer USB/ RS-232 C24 Personal computer Personal computer RS-232 MNET or Ether Network No.1 Qn(H) Q173 MNET CPU CPU or (N) Ether MNET board or Ether C24 : Serial communication module MNET : MELSECNET/10(H) Ether : Ethernet Qn(H) Q173 MNET MNET CPU CPU or or (N) Ether Ether Network No.2 Network No.
PAGE 410
16 COMMUNICATIONS VIA NETWORK 16.2.2 Network configuration via the CC-Link (1) 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. (2) 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.
PAGE 411
16 COMMUNICATIONS VIA NETWORK 16.2.3 Network configuration via the RS422/485 (1) 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. (2) 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.
PAGE 412
16 COMMUNICATIONS VIA NETWORK 16.2.4 Network configuration which MELSECNET/10(H), Ethernet, CC-Link, RS-422/485 were mixed (1) When the MELSECNET/10(H) or Ethernet is defined as "Network" and CC-Link 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.
PAGE 413
16 COMMUNICATIONS VIA NETWORK Personal computer USB/ RS-232 Personal computer USB/ RS-232 Personal computer RS-232 Personal computer Network No.1 Qn(H) Q173 CPU CPU (N) C24 MNET or Ether Qn(H) Q173 MNET or CPU CPU Ether (N) C24 : Serial communication module MNET : MELSECNET/10(H) Ether : Ethernet MNET board or Ether C24 Qn(H) Q173 MNET MNET CPU CPU or or (N) Ether Ether RS-422/485 Network No.3 Network No.
PAGE 414
16 COMMUNICATIONS VIA NETWORK Personal computer USB/ RS-232 Personal computer USB/ RS-232 Personal computer RS-232 C24 : Serial communication module MNET : MELSECNET/10(H) Ether : Ethernet RS-422/485 Qn(H) Q173 CPU CPU (N) C24 CCLink CCLink RS-422/485 Qn(H) Q173 CPU CPU (N) CCLink MNET or Ether Qn(H) Q173 CPU CPU (N) CCLink Qn(H) Q173 CPU CPU (N) CCLink MNET or Ether Network No.1 Network No.
PAGE 415
16 COMMUNICATIONS VIA NETWORK MEMO 16 - 10
PAGE 416
17 MONITOR FUNCTION OF THE MAIN CYCLE 17. MONITOR FUNCTION OF THE MAIN CYCLE Refer to Section "1.3.4" for the correspondence version of the Motion CPU and the software. (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 are executed in the main cycle, make it reference for process time, etc. to program.
PAGE 417
17 MONITOR FUNCTION OF THE MAIN CYCLE MEMO 17 - 2
PAGE 418
18 SERVO PARAMETER READING FUNCTION 18. SERVO PARAMETER READING FUNCTION Refer to Section "1.3.4" for the correspondence version of the Motion CPU and the software. (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.
PAGE 419
18 SERVO PARAMETER READING FUNCTION (7) When the servo parameter read request flag (M9104) turns OFF to ON, if the servo parameter read request axis is not used or the power is off, the reading of the servo parameter from servo amplifier is not executed. (8) When the servo parameter read request axis No. (D9104) is outside of the setting range, it becomes "No operation" even if the servo parameter read request flag (M9104) turns OFF to ON.
PAGE 420
19 ERROR CODE LISTS 19. ERROR CODE LISTS When an error occurs while the Motion CPU is running, the error information is stored in the error history register (#8000 to #8063), special relay M and special register D. 19.1 Reading Procedure for Error Codes When an error occurs while the Motion SFC program is operating, the error code and error message can be read by the SW6RN-GSV P. The procedure for reading error codes by the SW6RN-GSV P is shown below. (1) Start the SW6RN-GSV P.
PAGE 421
19 ERROR CODE LISTS 19.2 Motion SFC Error Code List Eight errors that occurred in the past during the Motion SFC control are stored in the "error history devices (#8000 to #8063)" of the motion registers. (Check by SW6RNGSV P). The "error codes" for the Motion SFC program are shown below.
PAGE 422
19 ERROR CODE LISTS Table 19.2 Motion SFC program start errors (16000 to 16099) Error code 16000 16001 Error factor Name Error Processing Description • At a start by S(P).SFCS instruction, PLC ready flag (M2000) or PCPU ready flag (M9074) is OFF. • At a start by S(P).SFCS instruction, the range Motion SFC program of 0 to 255 is specified in the Motion SFC No. error (SFCS) program No.. Corrective Action Provide ON of the PLC ready flag (M2000) and PCPU ready flag (M9074) as start interlocks.
PAGE 423
19 ERROR CODE LISTS Table 19.3 Motion SFC interpreter detection errors (16100 to 16199) (continued) Error code Error factor Name Error Processing Description • The self program was called/started by GSUB. 16110 GSUB setting error 1 16111 • The main program was called/started by GSUB setting error 2 GSUB. 16112 Parallel branch nesting excess • Nesting of parallel branches within a parallel branch route exceeded four levels.
PAGE 424
19 ERROR CODE LISTS Table 19.5 Operation control/transition execution errors (16300 to 16599) Error code Error factor Name Error Processing Description Corrective Action 16301 Event task enable (EI) execution error • Event task enable was executed at except for the normal task. Event task enable may be executed in the normal task only. Correct the program. 16302 Event task disable (DI) execution error • Event task disable was executed at except for the normal task.
PAGE 425
19 ERROR CODE LISTS Table 19.5 Operation control/transition execution errors (16300 to 16599) (continued) Error code Error factor Name Error Processing Description Corrective Action 16380 Signed 16-bit integer value conversion • The (S) data is outside the signed 16-bit integer (SHORT) execution value range.
PAGE 426
19 ERROR CODE LISTS Table 19.5 Operation control/transition execution errors (16300 to 16599) (continued) Error code 16420 Error factor Name Error Processing Description • Correct the program so that the number of words (n) to be written is within the range of 1 to 256. • Correct the program so that the shared CPU memory address (D) of self CPU of the writing destination is within the range of shared CPU memory address.
PAGE 427
19 ERROR CODE LISTS Table 19.5 Operation control/transition execution errors (16300 to 16599) (continued) Error code 16422 Error factor Name Error Processing Description • Number of words (n) to be written is outside the range of 1 to 256. • Motion CPU cannot communicate with intelligent function module/special function module at the instruction execution. • Abnormalities of the intelligent function module/ special function module were detected at the Write device data to instruction execution.
PAGE 428
19 ERROR CODE LISTS Table 19.
PAGE 429
19 ERROR CODE LISTS Table 19.5 Operation control/transition execution errors (16300 to 16599) (continued) Error code Error factor Name 16522 Indirectly specified 16-bit batch internal/latch relay (B(n)) read error 16523 Indirectly specified 32-bit batch internal/latch relay (B(n)) read error 16524 Indirectly specified 16-bit batch annunciator (F(n)) read error 16525 Indirectly specified 32-bit batch annunciator (F(n)) read error Error Processing Description • The indirectly specified device No.
PAGE 430
19 ERROR CODE LISTS 19.3 Motion SFC Parameter Errors Motion SFC parameters are checked by SW6RN-GSV P. Table 19.6 PLC ready flag (M2000) OFF Error code Error factor Name ON errors (17000 to 17009) Error Processing Description 17000 Normal task consecutive transition count error 17001 Event task • The set number of consecutive transitions of consecutive the Motion SFC program started by the event transition count error task is outside the range 1 to 10.
PAGE 431
19 ERROR CODE LISTS MEMO 19 - 12
PAGE 432
19 ERROR CODE LISTS 19.4 Multiple CPU Error Codes 19.4.1 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.
PAGE 433
19 ERROR CODE LISTS Table 19.
PAGE 434
19 ERROR CODE LISTS Error code Error contents and cause Corrective action Remark 1000 1001 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.
PAGE 435
19 ERROR CODE LISTS Table 19.
PAGE 436
19 ERROR CODE LISTS 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.
PAGE 437
19 ERROR CODE LISTS 19.4.2 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.
PAGE 438
APPENDICES APPENDICES APPENDIX 1 Processing Times APPENDIX 1.1 Processing time of operation control/Transition instruction (1) Operation instructions Processing time of operation instruction Classifications Symbol = + - Instruction Substitution Addition Subtraction Binary operation * / % Bit operation ~ Multiplication Division Remainder Bit inversion (complement) Operation expression Q173CPU(N)/Q172CPU(N) Unit [µs] #0=#1 6.30 D800=D801 10.20 #0L=#2L 8.70 D800L=D802L 13.
PAGE 439
APPENDICES Processing time of operation instruction (Continued) Classifications Symbol & | Bit operation ^ >> << Sign - SIN COS TAN ASIN ACOS Standard function Instruction Bit logical AND Bit logical OR Bit exclusive OR Bit right shift Bit left shift Sign inversion (complement of 2) Sine Cosin Tangent Arcsin Arccosin ATAN Arctangent SQRT Square root LN EXP Natural logarithm Exponential operation ABS Absolute value RND Round-off Operation expression Q173CPU(N)/Q172CPU(N) Unit [
PAGE 440
APPENDICES Processing time of operation instruction (Continued) Classifications Symbol FIX FUP Standard function BIN BCD SHORT Instruction Round-down Round-up BCD→BIN conversion BIN→BCD conversion Operation expression #0F=FIX(#4F) 11.40 D800F=FIX(D804F) 20.28 #0F=FUP(#4F) 12.00 D800F=FUP(D804F) 16.92 #0=BIN(#1) 8.82 D800F=BIN(D801) 12.30 #0L=BIN(#2L) 11.16 D800L=BIN(D802L) 14.82 #0=BCD(#1) 13.92 D800=BCD(D801) 17.70 #0L=BCD(#2L) 14.94 D800L=BCD(D802L) 26.
PAGE 441
APPENDICES Processing time of operation instruction (Continued) Classifications Symbol DOUT Instruction Device output Bit device control DIN OUT * Device input Bit device output Logical AND Logical operation + == != Logical OR Equal to Not equal to Comparison operation < <= Less than Less than or equal to Operation expression Q173CPU(N)/Q172CPU(N) Unit [µs] DOUT M0,#0 9.42 DOUT M0,#0L 10.14 DOUT Y100,#0 9.48 DOUT Y100,#0L 12.30 DOUT PY0,#0 8.76 DOUT PY0,#0L 15.
PAGE 442
APPENDICES Processing time of operation instruction (Continued) Classifications Symbol > Instruction More than Comparison operation >= CHGV Motion dedicated function CHGT Speed change request Torque limit value change request Q173CPU(N)/Q172CPU(N) Unit [µs] SET M1000 = #0>#1 12.18 SET M1000 = D800>D801 15.72 SET M1000 = #0L>#2L 14.64 SET M1000 = D800L>D802L 19.74 SET M1000 = #0F>#4F 15.30 SET M1000 = D800F>D804F 19.86 SET M1000 = #0>=#1 12.12 SET M1000 = D800>=D801 15.
PAGE 443
APPENDICES Processing time of operation instruction (Continued) Classifications Symbol MULTR TO Others FROM TIME Instruction Operation expression Read device data from shared CPU memory of the other CPU Write device data to intelligent function module/special function module Read device data from intelligent Time to wait Q173CPU(N)/Q172CPU(N) Unit [µs] MULTR #0,H3E0,H800,K1 44.16 MULTR D800,H3E0,H800,K1 44.76 MULTR H800,#0,K10,M0 51.48 MULTR #0,H3E0,H800,K10 51.
PAGE 444
APPENDICES (2) Transition conditional expressions Processing time of transition conditional expressions Classifications Symbol (None) Bit device control ! * Instruction ON (Normally open contact) (When condition enables) OFF (Normally closed contact) (When condition enables) Logical AND Logical operation + == != < Logical OR Equal to Not equal to Less than Comparison operation <= > >= Less than or equal to More than More than or equal to Operation expression Q173CPU(N)/Q172CPU(N) Unit
PAGE 445
APPENDICES (3) Processing time by the combination F and G (program described in F/G is NOP) F alone G alone F+G GSUB G F SUB F G Q173CPU(N)/ Q172CPU(N) [ s] 31.92 28.38 34.5 JMP/coupling SUB P Note) SUB SUB F F END G 87.24 P P P 47.3 22.86 Parallel branch (5 Pcs.) F F F F F F F G G G G G G G At branch At coupling At branch 50.34 83.94 50.82 At coupling 116.34 Selective branch (2 Pcs.) Q173CPU(N)/ Q172CPU(N) [ s] CLR Note) Parallel branch (2 Pcs.
PAGE 446
APPENDICES APPENDIX 2 Sample Program APPENDIX 2.1 Program example to execute the Multiple CPU dedicated instruction continuously This is the program example which publishes the instruction continuously toward the same Motion CPU in the Multiple dedicated instruction toward the Motion CPU. When an instruction cannot be accepted even if it is executed, it becomes "No operation". The following is program example which repeats reading data for 10 points from D0 of the Motion CPU installing the CPU No.
PAGE 447
APPENDICES There is the following restriction in the case as an example. 1) The Multiple CPU instruction of Motion CPU cannot be used Interrupt program/fixed cycle executive type program and low speed executive type program. When it is used, an instruction may not operate by the timing.
PAGE 448
APPENDICES APPENDIX 2.2 The program example to execute plural Multiple CPU instruction by the instructions of one time This is the program example which executes to the Multiple same Motion CPU at high speed by one instruction. In this case, you must take an interlock with "To self CPU high speed interrupt accept flag from CPU". When an instruction cannot be accepted even if it is executed, it becomes "No operation".
PAGE 449
APPENDICES SM400 MOV K10 D51 MOV K10 D251 MOV K10 D451 SM400 M10 > D1000 K0 DECP D1000 > D1000 K0 DECP D1000 > D1000 K0 DECP D1000 M20 M30 X0 M0 > K32 D1000 PLS M0 D100 M10 To self CPU high speed interrupt accept flag from CPU 1 U3E1 G48.0 SP.DDRD H3E1 D50 D0 INCP D1000 SET M1 M1 To self CPU high speed interrupt accept flag from CPU 1 U3E1 G48.0 SP.DDRD H3E1 D250 D200 D300 M20 INCP D1000 M2 To self CPU high speed interrupt accept flag from CPU 1 U3E1 G48.
PAGE 450
APPENDICES APPENDIX 2.3 Motion control example by Motion SFC program (1) The Motion SFC program composition example to execute motion control. This sample program example is described to every following function. Function list of sample program No. 1 2 Item Description Monitor of the positioning The positioning dedicated device status of the Motion CPU (CPU No.2) dedicated device is reflected on "M2400 to" and "D0 to" of the PLC CPU (CPU No.1).
PAGE 451
APPENDICES (2) Contents processing of the Motion SFC program Motion SFC program list No. Program name Task Automatic operation Number of Contents of processing connective transitions • This program starts automatically at the time of run of Q173CPU(N), and it is always executed. • The positioning dedicated device (bit device) for monitor is 0 Positioning device transferred to "W0 to". Normal Start 3 • The positioning dedicated device (word device) for monitor is transferred to "W100 to".
PAGE 452
APPENDICES Motion SFC program list (Continued) No. Program name Task Automatic operation Number of Contents of processing connective transitions • "K140 : The home position return of 1 axis" is started when PX3 140 Home position return is on,"K141 : The home position return of 2 axes" is started Normal Not start 3 when PX4 is on. • PX2 : ON, PX1 : The program is ended when they become to except for off (Home position return mode).
PAGE 453
APPENDICES (a) No.0 : Positioning device Positioning device P0 [F0] //Each axis status M2400 to M3039 //(40 words) //M2400 to CPU No.
PAGE 454
APPENDICES (b) No.20 : Main Main [F20] SET M9028 //Clock data read request ON P0 [G20] M9076 //Did you during the forced //stop? When a forced stop is released, a subroutine starts "No.110 : Motion control". (Because the next step is a shift, it becomes a subroutine start, and the next step is executed at the same time with subroutine practice, too.) Motion control [G21] !M9076 //Did you release the //forced stop? "No.
PAGE 455
APPENDICES (d) No.
PAGE 456
APPENDICES (f) No.
PAGE 457
APPENDICES (g) No.150 : Programming operation Programming operation P0 [G150] //(OFF to ON)detection of PX3. //PX3 turns on M0 in on when M1 (last time //condition of PX3) is off. RST M0 SET M0=PX3 * !M1 //Condition was stored in M1 last time //of PX3. RST M1 SET M1=PX3 //When M0 is ON(OFF to ON of PX3 is //detected.), it transition to the next steps. M0 [K150:Real] 1 INC-1 Axis 1, 1000000 PLS Speed 500000 PLS/s [G151] //Did you turn on PX4? PX4 Edge(OFF to ON) detection of the bit device (PX3).
PAGE 458
APPENDICES (3) System setting data of the Motion CPU System setting is shown below. (a) Module setting Manual pulse generator interface module (Q173PX : Slot 3) Axis No. Description P1 Manual pulse generator, Synchronous encoder (INC) P2 Manual pulse generator, Synchronous encoder (INC) P3 Manual pulse generator, Synchronous encoder (INC) I/O response time 0.
PAGE 459
APPENDICES 2) Automatic refresh setting 1 Send range for each CPU CPU CPU share memory G Point No.1 0 No.2 50 Start End CPU side device Dev. starting W0 Start End This device area is set up in "M2400" with the Qn(H) CPU No.1. (The bit device for monitor is transferred to "W0 to" by 0800 0831 W0 W31 the Motion SFC No.3 program on the No.4 Q173CPU(N) side.). 3) Automatic refresh setting 2 Send range for each CPU CPU CPU share memory G Point No.1 0 No.
PAGE 460
APPENDICES 6) System setting Setting items Description Operation cycle setting Auto Operation mode M2000 is turned on with switch (Stop to Run) Emergency shout down input PX0 7) Latch range setting Item Latch (1) Symbol Internal relay M Link relay B Annunciator F Data register D Link register W Start Latch (2) End Start End Latch (1) : It is possible to clear using the latch clear. Latch (2) : Clearing using the latch clear is disabled.
PAGE 461
APPENDICES APPENDIX 2.4 Continuation execution example at the subroutine re-start by the Motion SFC program (1) Explanation of the operation This is the program example which execute continuously from the motion control step which stopped on the way when it re-started after stopping the subroutine program with the clear step during the motion control is running.
PAGE 462
APPENDICES (2) Contents of processing the Motion SFC program Motion SFC program list No. Program name Task Automatic operation Number of Contents of processing connective transitions • This program starts automatically at the time of RUN of Q173CPU(N), and it is always executed. • Watch data is taken out, and clock data read request (M9028) is turned on. • "0" is set on the continuation point (#100 : user device) as an 20 Main Normal Start 3 initial value. • The subroutine starts a "No.
PAGE 463
APPENDICES (a) No.20 : Main Main [F20] SET M9028 //Clock data read request on #100=0 //Continuation point=0 "0" is set on the continuation point (#100) as an initial value. P0 [G20] M9076 //Did you release a forced //stop? [F110] SET M2042//All axis servo ON command //ON [G105] M2415*M2435//Did a thing during servo //on 1 axis and 2 axes? Restart continuation The subroutine starts "No.
PAGE 464
APPENDICES (b) No.160 : Restart continuation Restart continuation [G190] #100==0 //Is a continuation point 0? [G191] #100==10 //Is a continuation //point 10? P0 [G151] //Did you turn on PX4? PX4 [G192] #100==20 //Is a continuation //point 20? P10 P20 [G193] #100==30 //Is a continuation //point 30? P30 The process is started corresponding to the value of #100 (continuation point) from each point of P0 to P30.
PAGE 465
APPENDICES APPENDIX 2.5 Continuation execution example after the stop by the Motion SFC program (1) The explanation of the operation The program example that the Motion SFC program is stopped by external input signal ON for the forced stop from the input module, and it is executed continuously by external signal OFF for the stop is shown below. The servo is turned on by the forced stop release and the positioning control of the 2 axes liner interpolation is executed when PX4 is ON in this program.
PAGE 466
APPENDICES (2) Contents of processing SFC program SFC program list No. Program name Task Automatic operation Number of Contents of processing connective transitions • This program starts automatically at the time of RUN of Q173CPU(N), and it is always executed. • Watch data is taken out, and clock data read request (M9028) is turned on. 20 Main Normal Start 3 • The initials condition of the internal relay (M100) for the stop is turned on. • The subroutine starts "No.170 : Stop".
PAGE 467
APPENDICES (a) No.20 : Main Main [F20] SET M9028 //Clock data read request on SET M100 //Stop ON (Initials set) The internal relay (M100) for the stop turn on. Stop The subroutine starts "170: stop" and "150 : Programming operation".
PAGE 468
APPENDICES (c) No.150 : Programming operation Programming operation P0 [G151] //Did you turn on PX4, and turn //off a stop? PX4*!M100 WAIT transition which wants to stop substitutes "The internal relay (M100) for the stop turns off." for the AND status. P10 [K150:Real] 1 ABS-2 Axis 1, 0 PLS Axis 2, 0 PLS Speed 500000 PLS/s The motion control step executed absolute positioning to application with it when to start again after it stops on the way.
PAGE 469
APPENDICES MEMO APP - 32
PAGE 470
WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
PAGE 471
6. Precautions for Choosing the Products (1) For the use of our Motion controller, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in Motion controller, and a backup or fail-safe function should operate on an external system to Motion controller when any failure or malfunction occurs. (2) Our Motion controller is designed and manufactured as a general purpose product for use at general industries.
PAGE 472