Mitsubishi Electric MELSEC iQ-R16MTCPU, MELSEC iQ-R32MTCPU MELSEC iQ-R64MTCPU Programming Manual

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MELSEC iQ-R Motion Controller Programming Manual (Common)

-R16MTCPU

-R32MTCPU

-R64MTCPU

SAFETY PRECAUTIONS

WARNING

Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

CAUTION

Indicates that incorrect handling may cause hazardous conditions, resulting in minor or moderate injury or property damage.

(Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. Refer to MELSEC iQ-R Module Configuration Manual for a description of the PLC system safety precautions. In this manual, the safety precautions are classified into two levels: " WARNING" and " CAUTION".

Under some circumstances, failure to observe the precautions given under " CAUTION" may lead to serious consequences. Observe the precautions of both levels because they are important for personal and system safety. Make sure that the end users read this manual and then keep the manual in a safe place for future reference.

[Design Precautions]

WARNING

● Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external power supply or the programmable controller. Failure to do so may result in an accident due to an incorrect output or malfunction. (1) Emergency stop circuits, protection circuits, and protective interlock circuits for conflicting

operations (such as forward/reverse rotations or upper/lower limit positioning) must be configured external to the programmable controller.

(2) When the programmable controller detects an abnormal condition, it stops the operation and all

outputs are:

• Turned off if the overcurrent or overvoltage protection of the power supply module is activated.

• Held or turned off according to the parameter setting if the self-diagnostic function of the CPU module detects an error such as a watchdog timer error.

(3) All outputs may be turned on if an error occurs in a part, such as an I/O control part, where the

CPU module cannot detect any error. To ensure safety operation in such a case, provide a safety mechanism or a fail-safe circuit external to the programmable controller. For a fail-safe circuit example, refer to "General Safety Requirements" in the MELSEC iQ-R Module Configuration Manual.

(4) Outputs may remain on or off due to a failure of a component such as a relay and transistor in an

output circuit. Configure an external circuit for monitoring output signals that could cause a serious accident.

● In an output circuit, when a load current exceeding the rated current or an overcurrent caused by a load short-circuit flows for a long time, it may cause smoke and fire. To prevent this, configure an external safety circuit, such as a fuse.

● Configure a circuit so that the programmable controller is turned on first and then the external power supply. If the external power supply is turned on first, an accident may occur due to an incorrect output or malfunction.

[Design Precautions]

WARNING

● For the operating status of each station after a communication failure, refer to manuals relevant to the network. Incorrect output or malfunction due to a communication failure may result in an accident.

● When connecting an external device with a CPU module or intelligent function module to modify data of a running programmable controller, configure an interlock circuit in the program to ensure that the entire system will always operate safely. For other forms of control (such as program modification, parameter change, forced output, or operating status change) of a running programmable controller, read the relevant manuals carefully and ensure that the operation is safe before proceeding. Improper operation may damage machines or cause accidents.

● Especially, when a remote programmable controller is controlled by an external device, immediate action cannot be taken if a problem occurs in the programmable controller due to a communication failure. To prevent this, configure an interlock circuit in the program, and determine corrective actions to be taken between the external device and CPU module in case of a communication failure.

● Do not write any data to the "system area" and "write-protect area" of the buffer memory in the module. Also, do not use any "use prohibited" signals as an output signal from the CPU module to each module. Doing so may cause malfunction of the programmable controller system. For the "system area", "write-protect area", and the "use prohibited" signals, refer to the user's manual for the module used.

● If a communication cable is disconnected, the network may be unstable, resulting in a communication failure of multiple stations. Configure an interlock circuit in the program to ensure that the entire system will always operate safely even if communications fail. Failure to do so may result in an accident due to an incorrect output or malfunction.

● To maintain the safety of the programmable controller system against unauthorized access from external devices via the network, take appropriate measures. To maintain the safety against unauthorized access via the Internet, take measures such as installing a firewall.

● If safety standards (ex., robot safety rules, etc.,) apply to the system using the module, servo amplifier and servo motor, make sure that the safety standards are satisfied.

● Construct a safety circuit externally of the module or servo amplifier if the abnormal operation of the module or servo amplifier differs from the safety directive operation in the system.

● Do not remove the SSCNET cable while turning on the control circuit power supply of modules and servo amplifier. Do not see directly the light generated from SSCNET connector of the module or servo amplifier and the end of SSCNET cable. When the light gets into eyes, you may feel something wrong with eyes. (The light source of SSCNET complies with class1 defined in JISC6802 or IEC60825-1.)

[Design Precautions]

CAUTION

● Do not install the control lines or communication cables together with the main circuit lines or power cables. Keep a distance of 100mm or more between them. Failure to do so may result in malfunction due to noise.

● During control of an inductive load such as a lamp, heater, or solenoid valve, a large current (approximately ten times greater than normal) may flow when the output is turned from off to on. Therefore, use a module that has a sufficient current rating.

● After the CPU module is powered on or is reset, the time taken to enter the RUN status varies depending on the system configuration, parameter settings, and/or program size. Design circuits so that the entire system will always operate safely, regardless of the time.

● Do not power off the programmable controller or reset the CPU module while the settings are being written. Doing so will make the data in the flash ROM and SD memory card undefined. The values need to be set in the buffer memory and written to the flash ROM and SD memory card again. Doing so also may cause malfunction or failure of the module.

● When changing the operating status of the CPU module from external devices (such as the remote RUN/STOP functions), select "Do Not OPEN in Program" for "Open Method Setting" of "Module Parameter". If "OPEN in Program" is selected, an execution of the remote STOP function causes the communication line to close. Consequently, the CPU module cannot reopen the line, and external devices cannot execute the remote RUN function.

[Installation Precautions]

WARNING

● Shut off the external power supply (all phases) used in the system before mounting or removing the module. Failure to do so may result in electric shock or cause the module to fail or malfunction.

[Installation Precautions]

CAUTION

● Use the programmable controller in an environment that meets the general specifications in the Safety Guidelines included with the base unit. Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product.

● To mount a module, place the concave part(s) located at the bottom onto the guide(s) of the base unit, and push in the module until the hook(s) located at the top snaps into place. Incorrect mounting may cause malfunction, failure, or drop of the module.

● To mount a module with no module fixing hook, place the concave part(s) located at the bottom onto the guide(s) of the base unit, push in the module, and fix it with screw(s). Incorrect mounting may cause malfunction, failure, or drop of the module.

● When using the programmable controller in an environment of frequent vibrations, fix the module with a screw.

● Tighten the screws within the specified torque range. Undertightening can cause drop of the screw, short circuit, or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, or malfunction.

● When using an extension cable, connect it to the extension cable connector of the base unit securely. Check the connection for looseness. Poor contact may cause malfunction.

● When using an SD memory card, fully insert it into the SD memory card slot. Check that it is inserted completely. Poor contact may cause malfunction.

● Securely insert an extended SRAM cassette into the cassette connector of the CPU module. After insertion, close the cassette cover and check that the cassette is inserted completely. Poor contact may cause malfunction.

● Do not directly touch any conductive parts and electronic components of the module, SD memory card, extended SRAM cassette, or connector. Doing so may cause malfunction or failure of the module.

[Wiring Precautions]

WARNING

● Shut off the external power supply (all phases) used in the system before installation and wiring. Failure to do so may result in electric shock or cause the module to fail or malfunction.

● After installation and wiring, attach the included terminal cover to the module before turning it on for operation. Failure to do so may result in electric shock.

[Wiring Precautions]

CAUTION

● Individually ground the FG and LG terminals of the programmable controller with a ground resistance of 100 ohms or less. Failure to do so may result in electric shock or malfunction.

● Use applicable solderless terminals and tighten them within the specified torque range. If any spade solderless terminal is used, it may be disconnected when the terminal screw comes loose, resulting in failure.

● Check the rated voltage and signal layout before wiring to the module, and connect the cables correctly. Connecting a power supply with a different voltage rating or incorrect wiring may cause fire or failure.

● Connectors for external devices must be crimped or pressed with the tool specified by the manufacturer, or must be correctly soldered. Incomplete connections may cause short circuit, fire, or malfunction.

● Securely connect the connector to the module. Poor contact may cause malfunction.

● Do not install the control lines or communication cables together with the main circuit lines or power

cables. Keep a distance of 100mm or more between them. Failure to do so may result in malfunction due to noise.

● Place the cables in a duct or clamp them. If not, dangling cable may swing or inadvertently be pulled, resulting in damage to the module or cables or malfunction due to poor contact. Do not clamp the extension cables with the jacket stripped. Doing so may change the characteristics of the cables, resulting in malfunction.

● Check the interface type and correctly connect the cable. Incorrect wiring (connecting the cable to an incorrect interface) may cause failure of the module and external device.

● Tighten the terminal screws or connector screws within the specified torque range. Undertightening can cause drop of the screw, short circuit, fire, or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, fire, or malfunction.

● When disconnecting the cable from the module, do not pull the cable by the cable part. For the cable with connector, hold the connector part of the cable. For the cable connected to the terminal block, loosen the terminal screw. Pulling the cable connected to the module may result in malfunction or damage to the module or cable.

● Prevent foreign matter such as dust or wire chips from entering the module. Such foreign matter can cause a fire, failure, or malfunction.

● A protective film is attached to the top of the module to prevent foreign matter, such as wire chips, from entering the module during wiring. Do not remove the film during wiring. Remove it for heat dissipation before system operation.

● Programmable controllers must be installed in control panels. Connect the main power supply to the power supply module in the control panel through a relay terminal block. Wiring and replacement of a power supply module must be performed by qualified maintenance personnel with knowledge of protection against electric shock. For wiring, refer to the MELSEC iQ-R Module Configuration Manual.

● For Ethernet cables to be used in the system, select the ones that meet the specifications in the user's manual for the module used. If not, normal data transmission is not guaranteed.

[Startup and Maintenance Precautions]

WARNING

● Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction.

● Correctly connect the battery connector. Do not charge, disassemble, heat, short-circuit, solder, or

throw the battery into the fire. Also, do not expose it to liquid or strong shock. Doing so may cause the battery to generate heat, explode, ignite, or leak, resulting in injury or fire.

● Shut off the external power supply (all phases) used in the system before cleaning the module or retightening the terminal screws, connector screws, or module fixing screws. Failure to do so may result in electric shock.

[Startup and Maintenance Precautions]

CAUTION

● Do not disassemble or modify the modules. Doing so may cause failure, malfunction, injury, or a fire.

● Use any radio communication device such as a cellular phone or PHS (Personal Handy-phone

System) more than 25cm away in all directions from the programmable controller. Failure to do so may cause malfunction.

● Shut off the external power supply (all phases) used in the system before mounting or removing the module. Failure to do so may cause the module to fail or malfunction.

● Tighten the screws within the specified torque range. Undertightening can cause drop of the component or wire, short circuit, or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, or malfunction.

● After the first use of the product, do not mount/remove the module to/from the base unit, and the terminal block to/from the module, and do not insert/remove the extended SRAM cassette to/from the CPU module more than 50 times (IEC 61131-2 compliant) respectively. Exceeding the limit of 50 times may cause malfunction.

● After the first use of the product, do not insert/remove the SD memory card to/from the CPU module more than 500 times. Exceeding the limit of 500 times may cause malfunction.

● Do not touch the metal terminals on the back side of the SD memory card. Doing so may cause malfunction or failure.

● Do not touch the integrated circuits on the circuit board of an extended SRAM cassette. Doing so may cause malfunction or failure.

● Do not drop or apply shock to the battery to be installed in the module. Doing so may damage the battery, causing the battery fluid to leak inside the battery. If the battery is dropped or any shock is applied to it, dispose of it without using.

[Startup and Maintenance Precautions]

CAUTION

● Startup and maintenance of a control panel must be performed by qualified maintenance personnel with knowledge of protection against electric shock. Lock the control panel so that only qualified maintenance personnel can operate it.

● Before handling the module, touch a conducting object such as a grounded metal to discharge the static electricity from the human body. Failure to do so may cause the module to fail or malfunction.

● Before testing the operation, set a low speed value for the speed limit parameter so that the operation can be stopped immediately upon occurrence of a hazardous condition.

● Confirm and adjust the program and each parameter before operation. Unpredictable movements may occur depending on the machine.

● When using the absolute position system function, on starting up, and when the module or absolute position motor has been replaced, always perform a home position return.

● Before starting the operation, confirm the brake function.

● Do not perform a megger test (insulation resistance measurement) during inspection.

● After maintenance and inspections are completed, confirm that the position detection of the absolute

position detection function is correct.

● Lock the control panel and prevent access to those who are not certified to handle or install electric equipment.

[Operating Precautions]

CAUTION

● When changing data and operating status, and modifying program of the running programmable controller from an external device such as a personal computer connected to an intelligent function module, read relevant manuals carefully and ensure the safety before operation. Incorrect change or modification may cause system malfunction, damage to the machines, or accidents.

● Do not power off the programmable controller or reset the CPU module while the setting values in the buffer memory are being written to the flash ROM in the module. Doing so will make the data in the flash ROM and SD memory card undefined. The values need to be set in the buffer memory and written to the flash ROM and SD memory card again. Doing so also may cause malfunction or failure of the module.

● Note that when the reference axis speed is specified for interpolation operation, the speed of the partner axis (2nd, 3rd, or 4th axis) may exceed the speed limit value.

● Do not go near the machine during test operations or during operations such as teaching. Doing so may lead to injuries.

[Disposal Precautions]

CAUTION

● When disposing of this product, treat it as industrial waste.

● When disposing of batteries, separate them from other wastes according to the local regulations. For

details on battery regulations in EU member states, refer to the MELSEC iQ-R Module Configuration Manual.

[Transportation Precautions]

CAUTION

● When transporting lithium batteries, follow the transportation regulations. For details on the regulated models, refer to the MELSEC iQ-R Module Configuration Manual.

● The halogens (such as fluorine, chlorine, bromine, and iodine), which are contained in a fumigant used for disinfection and pest control of wood packaging materials, may cause failure of the product. Prevent the entry of fumigant residues into the product or consider other methods (such as heat treatment) instead of fumigation. The disinfection and pest control measures must be applied to unprocessed raw wood.

CONDITIONS OF USE FOR THE PRODUCT

(1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions;

i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident; and ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem, fault or failure occurring in the PRODUCT.

(2) The PRODUCT has been designed and manufactured for the purpose of being used in general industries.

MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY (INCLUDING, BUT NOT LIMITED TO ANY AND ALL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT, WARRANTY, TORT, PRODUCT LIABILITY) FOR ANY INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS, PRECAUTIONS, OR WARNING CONTAINED IN MITSUBISHI'S USER, INSTRUCTION AND/OR SAFETY MANUALS, TECHNICAL BULLETINS AND GUIDELINES FOR the PRODUCT. ("Prohibited Application")

Prohibited Applications include, but not limited to, the use of the PRODUCT in;

• Nuclear Power Plants and any other power plants operated by Power companies, and/or any other cases in which the public could be affected if any problem or fault occurs in the PRODUCT.

• Railway companies or Public service purposes, and/or any other cases in which establishment of a special quality assurance system is required by the Purchaser or End User.

• Aircraft or Aerospace, Medical applications, Train equipment, transport equipment such as Elevator and Escalator, Incineration and Fuel devices, Vehicles, Manned transportation, Equipment for Recreation and Amusement, and Safety devices, handling of Nuclear or Hazardous Materials or Chemicals, Mining and Drilling, and/or other applications where there is a significant risk of injury to the public or property.

Notwithstanding the above, restrictions Mitsubishi may in its sole discretion, authorize use of the PRODUCT in one or more of the Prohibited Applications, provided that the usage of the PRODUCT is limited only for the specific applications agreed to by Mitsubishi and provided further that no special quality assurance or fail-safe, redundant or other safety features which exceed the general specifications of the PRODUCTs are required. For details, please contact the Mitsubishi representative in your region.

INTRODUCTION

Thank you for purchasing the Mitsubishi Electric MELSEC iQ-R series programmable controllers. This manual describes the Multiple CPU system, parameters, devices, functions, memory structure etc. of the relevant products listed below. Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC iQ-R series programmable controller to handle the product correctly. When applying the program examples provided in this manual to an actual system, ensure the applicability and confirm that it will not cause system control problems. Please make sure that the end users read this manual.

Relevant products

R16MTCPU, R32MTCPU, R64MTCPU

SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1

CONDITIONS OF USE FOR THE PRODUCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

INTRODUCTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

RELEVANT MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16

MANUAL PAGE ORGANIZATION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

CHAPTER 1 MULTIPLE CPU SYSTEM 20

1.1 Multiple CPU System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Restrictions on Multiple CPU systems using Motion CPUs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Module control with Motion CPUs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

1.2 Setting Operation for Multiple CPU System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Setting operation for CPU module stop error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Multiple CPU synchronous startup setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Clock synchronization between Multiple CPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

1.3 Data Communication Between CPU Modules in the Multiple CPU System . . . . . . . . . . . . . . . . . . . . . . . . . 31

Used memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Data communication by refreshing at Motion CPUs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Fixed scan data transmission section over check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Inter-module synchronization function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Relationship between fixed scan communication and inter-module synchronization . . . . . . . . . . . . . . . . . . . . . 47

Control instruction from PLC CPU to Motion CPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

CHAPTER 2 COMMON PARAMETERS 49

2.1 Parameters Used by the Motion CPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

2.2 R Series Common Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

System parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

CPU parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Module Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

2.3 Motion CPU Common Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Basic setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Servo network setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Manual pulse generator connection setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

2.4 Motion CPU Operating Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Initial processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

RUN/STOP status control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

CHAPTER 3 DEVICES 75

3.1 Device List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

Devices that can be used with each function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

3.2 User Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Input (X). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Output (Y) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Internal relay (M) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Link relay (B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Annunciator (F) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Data register (D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Link register (W) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Motion register (#) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

3.3 System Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Special relay (SM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Special register (SD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

3.4 CPU Buffer Memory Access Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

3.5 Module Access Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

3.6 Constants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

3.7 Device Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Device assignment method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Device points setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

3.8 Latch Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

CHAPTER 4 AUXILIARY AND APPLIED FUNCTIONS 88

4.1 Limit Switch Output Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Limit output data setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

4.2 External Input Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

External signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

High-speed Input Request Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

4.3 Mark Detection Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

Mark detection setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

4.4 Servo ON/OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

Servo ON/OFF. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

Follow up function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

4.5 Absolute Position System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

Absolute position system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

Synchronous control absolute position system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

Saving and recovering backup data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

4.6 Clock Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

4.7 File Transfer Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

4.8 File Transmission at Boot Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

File transmission at boot files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

File transmission at boot procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

Operation when security function is set. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

4.9 File Transmission Via FTP Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

4.10 Parameter Change Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

Parameters used with parameter change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

4.11 Mixed Operation Cycle Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

Control details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

Precautions during control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

CONTENTS

CHAPTER 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 169

5.1 Servo Parameter Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

Transmission of servo parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

Servo Parameter Read/Change Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .171

5.2 Optional Data Monitor Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

Optional data monitor setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

Example of using transient commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

5.3 SSCNET Control Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183

Connect/disconnect function of SSCNET communication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .184

Amplifier-less operation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

5.4 Virtual Servo Amplifier Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

5.5 Driver Communication Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193

Control details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193

Precautions during control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194

Servo parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

5.6 Connection of SSCNETIII/H Head Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

SSCNETIII/H head module parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

Data operation of intelligent function module by Motion SFC program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .204

Data of refresh device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204

Precautions when using SSCNETIII/H head module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .204

5.7 Connection of Sensing Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205

System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205

Sensing module parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206

Data of refresh device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215

Link data (station mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216

Link data (axis mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238

Sensing module functions (station mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239

Sensing module functions (axis mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243

Errors detected by sensing module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250

Precautions when using sensing module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250

5.8 Compatible Devices with SSCNETIII(/H) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251

Servo driver VCII series/VPH series manufactured by CKD Nikki Denso Co., Ltd. . . . . . . . . . . . . . . . . . . . . .251

Inverter FR-A700 series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261

Inverter FR-A800 series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268

Optical hub unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274

AlphaStep/5-phase stepping motor driver manufactured by ORIENTAL MOTOR Co., Ltd. . . . . . . . . . . . . . . . 279

IAI electric actuator controller manufactured by IAI Corporation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286

CHAPTER 6 COMMUNICATION FUNCTIONS 293

6.1 Communication Function List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293

6.2 Security Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294

File password . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294

Software security key authentication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296

IP filter function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301

6.3 Remote Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302

Remote RUN/STOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302

6.4 Communication Function via PERIPHERAL I/F . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304

Direct connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304

Connection via HUB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307

6.5 Vision System Connection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311

Vision system parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315

Flow of vision system control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324

Sample program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325

6.6 Test Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328

Test mode specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328

Differences between normal operation and test operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329

Parameters used during test mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329

Test mode transition/cancellation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330

Stop processing of axes operating in test mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331

6.7 Positioning Control Monitor Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332

Scroll monitor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332

Current value history monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333

Speed monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334

6.8 Label Access from External Devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335

CHAPTER 7 DIGITAL OSCILLOSCOPE 337

7.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337

7.2 Function Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337

7.3 Digital Oscilloscope Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338

7.4 Digital Oscilloscope Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339

7.5 Sampling Settings File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339

7.6 Sampling Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340

Sampling type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340

Sampling start settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340

Sampling interval . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340

Sampling target . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341

Trigger settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341

Saving sampling results. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343

7.7 Digital Oscilloscope Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344

7.8 Digital Oscilloscope Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345

CONTENTS

CHAPTER 8 MOTION CPU MEMORY STRUCTURE 346

8.1 Memory and Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346

Standard ROM/SD memory card specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346

File handling precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347

Stored files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348

8.2 SD Memory Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350

SD memory card handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350

SD memory card forced stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350

8.3 Memory Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352

8.4 Installing the Operating System Software. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353

Installation procedure using MT Developer2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354

Installation procedure using SD memory card. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355

8.5 Add-on Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357

Add-on module structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358

Installing add-on library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358

Add-on function load error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358

Add-on library license authentication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358

CHAPTER 9 RAS FUNCTIONS 366

9.1 Self-Diagnostics Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366

Self-diagnostics timing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366

Error checking methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366

Operations at error detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368

Cancelling errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369

9.2 Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370

Processing time monitor and check. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370

9.3 Event History Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373

Event history settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373

Saving event history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373

Viewing the event history. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375

Clearing the event history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375

APPENDICES 376

Appendix 1 Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376

Error codes system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376

Operations at error occurrence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377

Cancelling errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377

Error codes stored using the Motion CPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377

Warning (0800H to 0FFFH). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379

Minor error (1000H to 1FFFH). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385

Minor error (SFC) (3100H to 3BFFH) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398

Moderate error (2000H to 3BFFH) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411

Major error (3C00H to 3FFFH) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420

Add-on license error details codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421

Appendix 2 Event List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422

Guide for reference of event list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422

Event history list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423

Appendix 3 Special Relays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426

Appendix 4 Special Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431

REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .454

WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .455

TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .456

RELEVANT MANUALS

Manual Name [Manual Number] Description Available form

MELSEC iQ-R Motion Controller Programming Manual (Common) [IB-0300237] (This manual)

MELSEC iQ-R Motion Controller User's Manual [IB-0300235]

MELSEC iQ-R Motion Controller Programming Manual (Program Design) [IB-0300239]

MELSEC iQ-R Motion Controller Programming Manual (Positioning Control) [IB-0300241]

MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control) [IB-0300243]

MELSEC iQ-R Motion Controller Programming Manual (Machine Control) [IB-0300309]

MELSEC iQ-R Motion Controller Programming Manual (G-Code Control) [IB-0300371]

This manual explains the Multiple CPU system configuration, performance specifications, common parameters, auxiliary/applied functions, error lists and others.

This manual explains specifications of the Motion CPU modules, SSCNET cables, synchronous encoder, troubleshooting, and others.

This manual explains the functions, programming, debugging for Motion SFC and others.

This manual explains the servo parameters, positioning instructions, device lists and others.

This manual explains the dedicated instructions to use synchronous control by synchronous control parameters, device lists and others.

This manual explains the dedicated instructions to use machine control by machine control parameters, machine positioning data, device lists and others.

This manual explains the dedicated instructions to use G-code control by G-code control parameters and G-code programs.

Print book

e-Manual PDF

Print book

e-Manual PDF

Print book

e-Manual PDF

Print book

e-Manual PDF

Print book

e-Manual PDF

Print book

e-Manual PDF

Print book

e-Manual PDF

e-Manual refers to the Mitsubishi FA electronic book manuals that can be browsed using a dedicated tool. e-Manual has the following features:

• Required information can be cross-searched in multiple manuals.

• Other manuals can be accessed from the links in the manual.

• The hardware specifications of each part can be found from the product figures.

• Pages that users often browse can be bookmarked.

TERMS

Unless otherwise specified, this manual uses the following terms.

Ter m Description

R64MTCPU/R32MTCPU/R16MTCPU or Motion CPU (module)

MR-J4(W)-B Servo amplifier model MR-J4-B/MR-J4W-B

MR-J3(W)-B Servo amplifier model MR-J3-B/MR-J3W-B

AMP or Servo amplifier General name for "Servo amplifier model MR-J4-B/MR-J4W-B/MR-J3-B/MR-J3W-B"

RnCPU, PLC CPU or PLC CPU module Abbreviation for MELSEC iQ-R series CPU module

Multiple CPU system or Motion system Abbreviation for "Multiple PLC system of the R series"

CPUn Abbreviation for "CPU No.n (n = 1 to 4) of the CPU module for the Multiple CPU system"

Operating system software General name for "SW10DNC-RMTFW"

Engineering software package General name for MT Developer2/GX Works3

MELSOFT MT Works2 General product name for the Motion controller engineering software "SW1DND-MTW2"

MT Developer2 Abbreviation for the programming software included in the "MELSOFT MT Works2" Motion controller

GX Works3 General product name for the MELSEC PLC software package "SW1DND-GXW3"

Serial absolute synchronous encoder or Q171ENC-W8

SSCNET/H

SSCNET

SSCNET(/H) General name for SSCNET/H, SSCNET

Absolute position system General name for "system using the servomotor and servo amplifier for absolute position"

Intelligent function module General name for module that has a function other than input or output such as A/D converter module and D/A

SSCNET/H head module

Optical hub unit or MR-MV200 Abbreviation for SSCNET/H Compatible Optical Hub Unit (MR-MV200)

Sensing module General name for SSCNET/H compatible sensing module MR-MT2000 series

Sensing SSCNET/H head module MR-MT2010

Sensing extension module General name for I/O module (MR-MT2100), pulse I/O module (MR-MT2200), analog I/O module (MR-

Sensing I/O module or MR-MT2100 Abbreviation for I/O module (MR-MT2100)

Sensing pulse I/O module or MR-MT2200 Abbreviation for pulse I/O module (MR-MT2200)

Sensing analog I/O module or MR-MT2300 Abbreviation for analog I/O module (MR-MT2300)

Sensing encoder I/F module or MR-MT2400 Abbreviation for encoder I/F module (MR-MT2400)

Abbreviation for MELSEC iQ-R series Motion controller

engineering software

Abbreviation for "Serial absolute synchronous encoder (Q171ENC-W8)"

High speed synchronous network between Motion controller and servo amplifier

converter module.

Abbreviation for "MELSEC-L series SSCNET/H head module (LJ72MS15)"

Abbreviation for SSCNET/H head module (MR-MT2010)

MT2300), encoder I/F module (MR-MT2400)

*1 SSCNET: Servo System Controller NETwork

MANUAL PAGE ORGANIZATION

Ex.

Representation of numerical values used in this manual

■Axis No. representation

In the positioning dedicated signals, "n" in "M3200+20n", etc. indicates a value corresponding to axis No. as shown in the following table.

Axis No. n Axis No. n Axis No. n Axis No. n Axis No. n Axis No. n Axis No. n Axis No. n

1 0 9 8 17 16 25 24 33 32 41 40 49 48 57 56

2 1109181726253433424150495857

3 2 11 10 19 18 27 26 35 34 43 42 51 50 59 58

4 3 12 11 20 19 28 27 36 35 44 43 52 51 60 59

5 4 13 12 21 20 29 28 37 36 45 44 53 52 61 60

6 5 14 13 22 21 30 29 38 37 46 45 54 53 62 61

7 6 15 14 23 22 31 30 39 38 47 46 55 54 63 62

8 7 16 15 24 23 32 31 40 39 48 47 56 55 64 63

• The range of axis No.1 to 16 (n=0 to 15) is valid in the R16MTCPU. The range of axis No.1 to 32 (n=0 to 31) is valid in the R32MTCPU.

• Calculate as follows for the device No. corresponding to each axis.

For axis No. 32 in Q series Motion compatible device assignment M3200+20n ([Rq.1140] Stop command)=M3200+2031=M3820 M3215+20n ([Rq.1155] Servo OFF command)=M3215+2031=M3835

In the positioning dedicated signals, "n" in "M10440+10n", etc. of the "Synchronous encoder axis status", "Synchronous encoder axis command signal", "Synchronous encoder axis monitor device" and "Synchronous encoder axis control device" indicates a value corresponding to synchronous encoder axis No. as shown in the following table.

Synchronous encoder axis No. n Synchronous encoder axis No. n Synchronous encoder axis No. n

105498

2165109

32761110

43871211

• Calculate as follows for the device No. corresponding to each synchronous encoder.

For synchronous encoder axis No.12 in Q series Motion compatible device assignment M10440+10n ([St.320] Synchronous encoder axis setting valid flag)=M10440+1011=M10550 D13240+20n ([Md.320] Synchronous encoder axis current value)=D13240+2011=D13460

■Machine No. representation

Ex.

In the positioning dedicated signals, "m" in "M43904+32m", etc. indicates a value corresponding to machine No. as shown in the following table.

Machine No. m Machine No. m

1054

2165

3276

4387

• Calculate as follows for the device No. corresponding to each machine.

For machine No.8 in MELSEC iQ-R Motion device assignment M43904+32m ([St.2120] Machine error detection) M43904+327=M44128 D53168+128m ([Md.2020] Machine type)=M53168+287=D54064

■Line No. representation in G-code control

In the positioning dedicated signals, "s" in "D54496+128s", etc. indicates a value corresponding to line No. as shown in the following table.

Line No. s

• Calculate as follows for the device No. corresponding to each line.

For line No.2 in MELSEC iQ-R Motion device assignment D54440.0+4s ([St.3208] During G-code control)=D54440.0+41=D54444.0 D54496+128s ([Md.3016] Number of axes on line)=D54496+1281=D54624

■Line No. and axis No. representation in G-code control

In the positioning dedicated signals, "sn" in "D54278+16sn", etc. indicates a value corresponding to line No. and axis No. as shown in the following table.

Line No. Axis No. sn Line No. Axis No. sn

110 218

21 29

32 310

43 411

54 512

65 613

76 714

87 815

• Calculate as follows for the device No. corresponding to each line.

For line No.2, axis No. 8 in MELSEC iQ-R Motion device assignment D54448.0+2sn ([St.3076] Smoothing zero)=D54448.0+215=D54478.0 D54754+32sn ([Md.3146] Rotating axis setting status)=D54754+3215=D55234

Representation of device No. used in this manual

The "R" and "Q" beside the device No. of positioning dedicated signals such as "[Rq.1140] Stop command (R: M34480+32n/ Q: M3200+20n)" indicate the device No. for the device assignment methods shown below. When "R" and "Q" are not beside the device No., the device No. is the same for both device assignment methods.

Symbol Device assignment method

R MELSEC iQ-R Motion device assignment

Q Q series Motion compatible device assignment

1 MULTIPLE CPU SYSTEM

1.1 Multiple CPU System

Overview

What is Multiple CPU system?

A Multiple CPU system is a system in which more than one PLC CPU module and Motion CPU module (up to 4 modules) are mounted on several main base unit in order to control the I/O modules and intelligent function modules. Each Motion CPU controls the servo amplifiers connected by SSCNET cable.

System configuration based on load distribution

• By distributing such tasks as servo control, machine control and information control among multiple processors, the flexible system configuration can be realized.

• You can increase the number of control axes by using a multiple Motion CPU modules. It is possible to control up to 192 axes by using the three CPU modules (R64MTCPU).

• Overall system responsiveness is improved by distributing the high-load processing over several CPU modules.

Communication between CPUs in the Multiple CPU system

• Since device data of other CPUs can be automatically read by the Multiple CPU refresh function, the self CPU can also use device data of other CPUs as those of self CPU.

• Motion dedicated PLC instructions can be used to access device data from the PLC CPU to Motion CPU and start Motion SFC program.

1 MULTIPLE CPU SYSTEM

1.1 Multiple CPU System

Restrictions on Multiple CPU systems using Motion CPUs

Refer to the following for details on the Multiple CPU system concept (system configuration such as CPU module installation positions and combinations, CPU Nos., I/O No. allocation etc.). MELSEC iQ-R Series Module Configuration Manual This section describes restrictions when using Motion CPUs.

CPU module installation position

Motion CPUs can only be used with the Multiple CPU system. Motion CPU modules cannot be installed in CPU slots.

Controllable modules

■MELSEC iQ-R series modules

The following modules can be controlled with a Motion CPU. Modules other than those below cannot be controlled with a Motion CPU.

Module Model

Input module RX10

RX40C7

RX41C4

RX42C4

RX40PC6H

RX40NC6H

RX41C6HS

RX61C6HS

Output module RY10R2

RY40NT5P

RY41NT2P

RY41NT2H

RY42NT2P

RY40PT5P

RY41PT1P

RY41PT2H

RY42PT1P

Input/output composite module RH42C4NT2P

Analog input module R60AD4

R60ADI8

R60ADV8

R60AD8-G

R60AD16-G

R60ADH4

Analog output module R60DA4

R60DAI8

R60DAV8

R60DA8-G

R60DA16-G

High-speed counter module RD62D2

RD62P2

RD62P2E

Temperature input module RD60TD8-G

RD60RD8-G

1 MULTIPLE CPU SYSTEM

1.1 Multiple CPU System

■MELSEC Q series modules

MELSEC Q series modules cannot be controlled with the Motion CPU. If the Motion CPU is specified as the MELSEC Q series module control CPU, a moderate error (error code: 2020H) is detected when turning ON the Multiple CPU system power supply, and the module cannot be accessed.

Module access range from non-controlling CPU

• Access to MELSEC Q series modules controlled by other CPU is not possible from Motion CPU. (I/O reading from outside the group is also not performed.)

• Module access devices (U\G) can be read. An error (error code differs for each function) is output when attempting to write.

• X/Y devices for modules controlled by another CPU can be refreshed to a Motion X/Y with the I/O settings for outside the group. However, I/O reading from outside the group is not performed for modules controlled by other CPUs that apply to inter-module synchronization.

1 MULTIPLE CPU SYSTEM

1.1 Multiple CPU System

Module control with Motion CPUs

The settings required to control modules with Motion CPUs are as follows.

System configuration settings

The system configuration for Multiple CPU systems and common parameters is set in the GX Works3 [Module Configuration] and [System Parameter]. With Motion CPUs, parameters set in GX Works3 are read by MT Developer2, and therefore the system configuration and common parameters are not set in MT Developer2. If setting the system configuration and common parameters, always do so with GX Works3. Furthermore, module parameters for modules set in the system configuration are set in GX Works3, however, module parameters for modules for which a Motion CPU has been set as the control CPU cannot be set in GX Works3. Settings for modules controlled by Motion CPUs are specified at the MT Developer2 [Module Configuration List].

For modules used with "High-accuracy" high-speed input request signals, set the "Synchronization Setting within the Modules" to "Use" in GX Works3, and set the fixed scan interval setting to "0.444ms" or greater. Please note that "Synchronization Setting within the Modules" can be used for modules with 32 or less input/ output points.

System configuration setting method

■GX Works3 settings

Set the following parameters in GX Works3.

• Module configuration

• System parameter(I/O assignment setting, Multiple CPU setting, Synchronization setting)

• Set the Motion CPU as the module control CPU in "Control PLC Settings" in [I/O Assignment Setting].

■MT Developer2 settings

• Read the parameters set in GX Works3 using MT Developer2 [System Parameter Diversion].

• Select [R Series Common Parameters]  [Module Configuration List]  "Setting item"  "Detailed" button in MT Developer2, and then set the parameters for the module for which a Motion CPU set has been set as the control CPU in the module detailed settings that appear.

Module individual settings

The setting items for modules for which a Motion CPU has been set as the control CPU are shown below.

Set the module settings not shown in the tables with the buffer memory for each module.

■Input module

Item

Input response time setting No setting/10micro-s/20micro-s/50micro-s/0.1ms/0.2ms/

Interrupt setting Input/interrupt setting Input/interrupt Input

Interrupt condition setting Leading edge/Trailing edge/Leading edge/trailing edge 

Interrupt pointer I0 to I15 

*1 Items that can be set will differ depending on the module used. *2 Setting range will differ depending on the module used. *3 Default values will differ depending on the module used.

Setting range

0.4ms/0.6ms/1ms/5ms/10ms/20ms/70ms

Default value

■Output module

Item Setting range Default value

Setting of error-time output mode Clear/Hold Clear

1 MULTIPLE CPU SYSTEM

1.1 Multiple CPU System

■I/O module

Item Setting range Default value

Input response time setting 0.1ms/0.2ms/0.4ms/0.6ms/1ms/5ms/10ms/20ms/70ms 10ms

Interrupt setting Input/interrupt setting Input/interrupt Input

Interrupt condition setting Leading edge/Trailing edge/Leading edge/trailing edge 

Interrupt pointer I0 to I15 

Setting of error-time output mode Clear/Hold Clear

■High-speed counter module

Item Setting range

Basic setting Pulse input mode 1-phase multiple of 1/1-phase multiple of 2/CW/CCW/

2-phase multiple of 1/2-phase multiple of 2/2-phase multiple of 4

Counting speed setting 10kpps/100kpps/200kpps/500kpps/1Mpps/2Mpps/4Mpps/

Counter type Linear counter/Ring counter Linear counter

Counter operation mode Pulse count mode/Pulse measurement mode/PWM output

Preset value setting -2147483648 to 2147483647 0

Coincidence output point No.1 -2147483648 to 2147483647 0

Coincidence output point No.2 -2147483648 to 2147483647 0

Ring counter upper limit value -2147483648 to 2147483647 0

Ring counter lower limit value -2147483648 to 2147483647 0

Application setting

Interrupt setting Interrupt pointer I0 to I15 

Counter function selection Count disable function/Latch counter function/Sampling

Sampling time setting/Period time setting 1 to 65535 10ms 

Function input response time setting Response time 0ms/Response time 0.1ms/

Preset input response time setting Response time 0ms/Response time 0.1ms/

Pulse measuring interval setting ON width/OFF width/Rise - Rise/ Fall - Fall ON width

PWM output interval time setting 0 to 2147483647 0.1s 2147483647 0.1s

PWM output ON time setting 1 0 to 2147483647 0.1s0 0.1s

PWM output ON time setting 2 0 to 2147483647 0.1s0 0.1s

CPU error output mode setting Clear/Hold Clear

8Mpps

mode

counter function/Cycle pulse counter function

Response time 1ms/Response time 10ms

Default value

1-phase multiple of 1

10kpps

Pulse count mode

Count disable function

Response time 0.1ms

*1 Setting range will differ depending on the module used.

1 MULTIPLE CPU SYSTEM

1.1 Multiple CPU System

■Analog input module

Item

Basic setting

Range switching function

Operation mode setting function

A/D conversion enable/disable setting function

A/D conversion method

Input range setting 4 to 20mA/0 to 20mA/1 to 5V/0 to 5V/-10V to 10V/

Operation mode setting Normal mode(A/D conversion)/Normal mode(low speed:

A/D conversion enable/disable setting

Average processing setting Sampling processing/Time average/Count average/Moving

Time average/Count average/ Moving average/Primary delay filter constant setting

LPF pass band edge frequency Low pass filter: 0 to 46700Hz 

HPF pass band edge frequency High pass filter: 171 to 48000Hz 

BPF pass band edge frequency (low)

BPF pass band edge frequency (high)

Attenuation band width Low pass filter: 170 to 48000Hz

Setting range

0 to 10V/4 to 20mA (Extend)/1 to 5V (Extend)/ User range setting

20s/CH)/Normal mode(medium speed: 10s/CH)/ Simultaneous conversion mode(5s/4CH)/Offset/gain setting mode

A/D conversion enable/A/D conversion disable

average/Primary delay filter/Low pass filter/High pass filter/ Band pass filter

Time average: 1 to 5000ms Count average: 4 to 62500 times Moving average: 2 to 1000 times Primary delay filter: 1 to 500 times

Band pass filter: 171 to 46699Hz 

Band pass filter: 172 to 46700Hz 

High pass filter: 170 to 47999Hz Band pass filter: 170 to 15999Hz

Default value

Sampling processing



1 MULTIPLE CPU SYSTEM

1.1 Multiple CPU System

Item

Application setting

Setting range

Scaling function Scaling enable/disable setting Enable/Disable Disable

Scaling upper limit value -32000 to -1, 1 to 32000 

Scaling lower limit value -32000 to -1, 1 to 32000 

Shift function Conversion value shift amount -32768 to 32767 0

Digital clipping function

Warning output function (process alarm)

Warning output function (rate alarm)

Input signal error detection function

Logging function (Normal logging function)

Inter-module synchronization function

Online module change

Digital clipping enable/disable setting

Warning output setting (Process alarm)

Process alarm upper upper limit value

Process alarm upper lower limit value

Process alarm lower upper limit value

Process alarm lower lower limit value

Warning output function (Rate alarm)

Rate alarm detection cycle setting

Rate alarm upper limit value 0.1 to 3276.7% 

Rate alarm lower limit value -3276.8 to 0.1% 

Input signal error detection setting

Input signal error detection setting value

Input signal error detection lower limit setting value

Input signal error detection upper limit setting value

Input signal error detection auto clear enable/disable setting

Logging enable/disable setting Enable/Disable Disable

Logging data points setting 0 to 900 200

Logging data setting Digital output value/digital operation value 

Logging cycle setting value s: 20 to 32767

Logging cycle unit setting s/ms/s 

Level trigger condition setting Disable/Level trigger (Condition: Rise)/Level trigger

Logging points after trigger 1 to 90000 

Trigger data 0 to 9999 

Trigger setting value -32768 to 32767 

Level judgment count setting value

Logging loading enable/disable setting

Logging read points setting value

Continuous logging cycle setting value

Oversampling mode Enable/Disable Disable

Auto restore of offset/gain setting with the module change

Enable/Disable Disable

0 to 32767 

-32768 to 0 

Enable/Disable Disable

1 to 32000 times 

Disable/Upper/lower limit detection/Lower limit detection/ Upper limit detection

0.0 to 25.0% 

Enable/Disable Disable

ms: 1 to 32767 s: 1 to 3600

(Condition: Fall)/Level trigger (Condition: Rise and Fall)/ Process alarm (Upper limit warning)/Process alarm (Lower limit warning)/Process alarm (Upper limit warning and lower limit warning)

10 times 

Enable/Disable 

1 to 10000 

1 to 1000 1

Enable/Disable Enable

Default value

Disable



1 MULTIPLE CPU SYSTEM

1.1 Multiple CPU System

Item

Interrupt setting

Condition target setting Disable/Error flag/Warning output flag (Process alarm)/

Condition target channel setting All CH specification/CH1/CH2/CH3/CH4/CH5/CH6/CH7/

Interrupt factor transaction setting Interrupt reissue requests/No Interrupt reissue requests Interrupt reissue requests

Interrupt pointer I0 to I15 

Setting range

Warning output flag (Rate alarm)/Input signal error detection flag/A/D conversion completed/Logging hold flag/ Logging read/Continuous logging data storage

CH8/CH9/CH10/CH11/CH12/CH13/CH14/CH15/CH16

*1 Items that can be set will differ depending on the module used. *2 Setting range will differ depending on the module used. *3 Default values will differ depending on the module used.

■Analog output module

Item

Basic setting

Application setting

Interrupt setting

Range switching function

Operation mode setting function

Output mode setting function

D/A conversion enable/disable function

Scaling setting Scaling enable/disable setting Enable/Disable Disable

Shift function Input value shift amount -32768 to 32767 0

Warning output function

Rate control function

Inter-module synchronization function

Online module change

CPU error output mode setting Clear/Hold Clear

Condition target setting Disable/Error flag/Warning output flag/Disconnection

Condition target channel setting All CH specification/CH1/CH2/CH3/CH4/CH5/CH6/CH7/

Interrupt factor transaction setting Interrupt reissue request/No Interrupt reissue request Interrupt reissue request

Interrupt pointer I0 to I15 

Output range setting 4 to 20mA/0 to 20mA/1 to 5V/0 to 5V/-10V to 10V/-12V to

Operation mode setting Normal mode(D/A conversion process)/Offset/gain setting

Output mode setting Normal output mode/Wave output mode Normal output mode

Analog output HOLD/CLEAR setting

D/A conversion enable/disable setting

Scaling upper limit value -32000 to -1, 1 to 32000 

Scaling lower limit value -32000 to -1, 1 to 32000 

Warning output setting Enable/Disable Disable

Warning output upper limit value 1 to 32767 

Warning lower upper limit value -32768 to -1 

Rate control enable/disable setting

Increase digital limit value 0 to 64000 

Decrease digital limit value 0 to 64000 

Output selection during synchronous error

Auto restore of Offset/gain setting with the module change

Setting range

12V/4 to 20mA (Extension)/1 to 5V (Extension)/User range setting (Voltage)/User range setting (Current)/User range setting 3/User range setting 2/User range setting 1

mode

CLEAR/HOLD CLEAR

D/A conversion enable/D/A conversion disable D/A conversion disable

Enable/Disable Disable

Inter-module synchronization continue/Inter-module synchronization stop

Enable/Disable Enable

detection flag/External power supply READY flag/External power supply READY flag (CH1_CH8)/External power supply READY flag (CH9_CH16)

CH8/CH9/CH10/CH11/CH12/CH13/CH14/CH15/CH16

Default value

Disable

All CH specification

Default value

Normal mode(D/A conversion process)

Inter-module synchronization continue

Disable

All CH specification

*1 Items that can be set will differ depending on the module used. *2 Setting range will differ depending on the module used. *3 Default values will differ depending on the module used.

1 MULTIPLE CPU SYSTEM

1.1 Multiple CPU System

■Temperature input module

Item

Basic setting

RTD type selection function

Thermocouple type selection function

Cold junction temperature compensation with/without setting function

Operation mode setting function

Conversion enable/disable setting function

Temperature conversion system

RTD type setting Pt100(-200 to 850)/Pt100(-20 to 120)/JPt100(-180 to

Offset/gain setting Factory default setting/User range setting Factory default setting

Thermocouple type setting Thermocouple K/Thermocouple E/Thermocouple J/

Offset/gain setting Factory default setting/User range setting Factory default setting

Cold junction temperature compensation with/without setting

Operation mode setting Normal mode (conversion process)/Offset/gain setting

Conversion enable/disable setting

Average processing setting Sampling processing/Time average/Count average/Moving

Time average/Count average/ Moving average/Primary delay filter constant setting

Setting range

600)/JPt100(-20 to 120)/Pt100(0 to 200)/JPt100(0 to 200)/Ni100(-60 to 250)/Pt50(-200 to 650)

Thermocouple T/Thermocouple B/Thermocouple R/ Thermocouple S/Thermocouple N

With cold junction temperature compensation/Without cold junction temperature compensation

mode

Conversion enable/Conversion disable Conversion disable

average/ Primary delay filter

Time average: 40 to 5000ms Count average: 4 to 500 times Moving average: 2 to 200 times Primary delay filter: 1 to 500 times

Default value

Pt100(-200 to 850)

Thermocouple K

With cold junction temperature compensation

Normal mode (conversion process)

Sampling processing



1 MULTIPLE CPU SYSTEM

1.1 Multiple CPU System

Item

Application setting

Interrupt

sett

Scaling function Scaling enable/disable setting Enable/Disable Disable

Scaling range upper limit value -3276.8 to -0.1, 0.1 to 3276.7

Scaling range lower limit value -3276.8 to -0.1, 0.1 to 3276.7

Scaling width upper limit value -32768 to -1, 1 to 32767 

Scaling width lower limit value -32768 to -1, 1 to 32767 

Warning output function (Process alarm)

Warning output function (Rate alarm)

Disconnection detection function

Logging function Logging enable/disable setting Enable/Disable Disable

Online module change

Condition target setting Disable/Error flag/Warning output flag (Process alarm)/

Condition target channel setting All CH specification/CH1/CH2/CH3/CH4/CH5/CH6/CH7/

Interrupt factor transaction setting Interrupt reissue requests/No Interrupt reissue requests Interrupt reissue requests

Interrupt pointer I0 to I15 

Warning output setting (Process alarm)

Process alarm upper upper limit value

Process alarm upper lower limit value

Process alarm lower upper limit value

Process alarm lower lower limit value

Warning output setting (Rate alarm)

Rate alarm detection cycle setting

Rate alarm upper limit value 0.1 to 3276.7

Rate alarm lower limit value -3276.8 to -0.1

Disconnection detection function enable/disable setting

Conversion setting for disconnection detection

Conversion setting value for disconnection detection

Disconnection detection automatic clear enable/disable setting

Logging data setting Measured temperature value/Scaling value 

Logging cycle setting value ms: 10 to 32767

Logging cycle unit setting ms/s 

Level trigger condition setting Disable/Level trigger (Condition: Rise)/Level trigger

Logging points after trigger 1 to 1000 

Trigger data 0 to 9999 

Trigger setting value -32768 to 32767 

Logging loading enable/disable setting

Logging read points setting value

Auto restore of Offset/gain setting with the module change

Setting range

Enable/Disable Disable

-270.0 to 1820

Enable/Disable Disable

1 to 32000 times 

Enable/Disable Enable

Up scale/Down scale/Given value/Value immediately before disconnection

-3276.8 to 3276.7

Enable/Disable Disable

s: 1 to 3600

(Condition: Fall)/Level trigger (Condition: Rise and Fall)

Enable/Disable 

1 to 1000 

Enable/Disable Enable

Warning output flag (Rate alarm)/Disconnection detection flag/Conversion completed flag/Logging hold flag/Logging read

CH8

*1 Items that can be set will differ depending on the module used. *2 Setting range will differ depending on the module used.

Default value

Down scale



Disable

All CH specification

1 MULTIPLE CPU SYSTEM

1.1 Multiple CPU System

1.2 Setting Operation for Multiple CPU System

This section describes all operation settings for Multiple CPU systems. Specify all operation settings for Multiple CPU systems in the GX Works3 [System Parameter]. Refer to the following for details on all operation settings. MELSEC iQ-R CPU Module User's Manual (Application)

Setting operation for CPU module stop error

If a moderate or major error occurs at any of the CPUs, set whether to stop or continue operation for all CPUs. Set the stopping mode for the CPU to be stopped in [System Parameter]  [Multiple CPU Setting]  "Multiple CPU Setting"  "Operation Mode Setting"  "Stop Setting" in GX Works3.

Multiple CPU synchronous startup setting

Multiple CPU synchronous startup function synchronizes the startups of CPU No.1 to CPU No.4. (It takes about ten seconds to startup for Motion CPU. After startup, each CPU requires time for initializing.) Since this function monitors the startup of each CPU module, when other CPU is accessed by a user program, an interlock program which checks the CPU module startup is unnecessary. With the Multiple CPU synchronous startup function, the startup is synchronized with the slowest CPU module to startup; therefore, the system startup may be slow.

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

Multiple CPU synchronous startup setting

Set "Synchronize" in the Multiple CPU synchronous startup setting of the CPU in [System Parameter]  [Multiple CPU Setting]  "Multiple CPU Setting"  "Operation Mode Setting"  "Synchronous Startup Setting" When not performing Multiple CPU synchronous startup (each CPU startup without synchronization), startup of each CPU module can be confirmed by using special relays SM220 to SM223 (CPU No.1 to 4 READY complete flag).

Clock synchronization between Multiple CPU

Motion CPU clock data is synchronized with the clock of CPU No. 1. The clock data used for synchronization in a Multiple CPU system can be edited.(Page 113 Clock Function)

1 MULTIPLE CPU SYSTEM

1.2 Setting Operation for Multiple CPU System

1.3 Data Communication Between CPU Modules in the

User setting area

2047 2048

524287 524288

999999

1000000

2097151

CPU buffer memory

System area

User setting area

Refresh(END) area

Occupies the points for refresh(END) only. When refresh(END) is not used, this can be used as user setting area.

(Fixed scan communication

area setting points - 1)

Refresh(I45 executing)

area

CPU buffer memory

(Fixed scan communication area)

Occupies the points for refresh(I45 executing) only. When refresh(I45 executing) is not used, this can be used as user setting area.

Multiple CPU System

Data transfer is performed between CPU modules in the Multiple CPU system. Data can be written and read between CPUs through communication by refreshing or by direct access. Data communication methods are shown below. Refer to the following for details on data communication between CPU modules (data communication via CPU buffer memory/ fixed scan communication area). MELSEC iQ-R CPU Module User's Manual (Application)

Communication method Application Details

Data communication via CPU buffer memory

Data communication via fixed scan communication area

Used memory

Data communication between CPU modules uses the CPU buffer memory.

CPU buffer memory configuration

The CPU buffer memory configuration is shown below.

Use to transfer data based on the timing of the respective CPU modules.

Use to transfer data based on the timing between CPU modules.

CPU modules transmitting data write to the self CPU buffer memory. CPU modules receiving data read from the self CPU buffer memory of the CPU module (other CPU) from which the data was transmitted.

CPU modules transmitting data write to the self CPU fixed scan communication area (transmission area). CPU modules receiving data read from the self CPU fixed scan communication area (receipt area) of the CPU module to which the data was transmitted.

Memory Communication method Details Area size

CPU buffer memory Communication by direct

Refresh area Communication by refresh Data communication is performed by refreshing at END

Fixed scan communication area

Refresh area Communication by refresh Refresh is performed in fixed scan communication cycles.

*1 To transfer data using the fixed scan communication area, specify fixed scan communication area settings at GX Works3. Refer to the

following for details on fixed scan communication area settings. MELSEC iQ-R CPU Module User's Manual (Application)

access

Communication by direct

access

Data reading and writing is performed for the self CPU or other CPU area.

processing.

Data reading and writing is performed for the self CPU fixed scan communication area, and self CPU and other CPU data transfer is performed in fixed scan communication cycles.

1.3 Data Communication Between CPU Modules in the Multiple CPU System

PLC CPU: 512k words Motion CPU: 2M words

Changes can be made within an overall range of 0 to 24k words. The transmission area per module can be set in the 0 to 12k word range.

1 MULTIPLE CPU SYSTEM

• The system area is determined by the allocation in the system. Use the user area for communicating user data.

• The refresh (END, I45 executing) area is used with the Multiple CPU refresh. Do not directly change this area with a program.

Assurance for data communicated between Multiple CPUs

■Assurance of data sent between CPUs

Due to the timing of data sent from the self CPU and automatic refresh in any of the other CPUs, old data and new data may become mixed (data separation). The following shows the methods for avoiding data separation at communications by refresh.

• Data consistency for 32 bit data Transfer data with refresh method is in units of 32 bits. Since refresh is set in units of 32 bits, 32-bit data does not separate. For word data, 2 words data can be prevented from separating by using an even number to set the first number of each device in refresh setting.

• Data consistency for 64-bit data By setting the first number for the device set by refreshing to a multiple of 4, 64-bit data separation can be prevented.

• Data consistency for data exceeding 64 bits In refresh method, data is read in descending order of the setting number in refresh setting parameter. Transfer data separation can be avoided by using a transfer number lower than the transfer data as an interlock device.

1 MULTIPLE CPU SYSTEM

1.3 Data Communication Between CPU Modules in the Multiple CPU System

Data communication by refreshing at Motion CPUs

Motion CPU fixed-cycle processing

Motion operation cycle

Fixed scan communication cycle

Receipt refresh

Fixed scan communication data transmission section

Transmission refresh

This section describes data communication by refreshing at Motion CPUs.

Refresh timing

The refresh timing at Motion CPUs differs from that for PLC CPUs. The refresh types and refresh timing are as follows.

Refresh type Memory used Refresh timing

PLC CPU side Motion CPU side

MELSEC iQ-R series Refresh (END) CPU buffer memory At END processing Main cycle

Operation cycle and main cycle

The longer of the operation cycle or fixed scan communication cycle

0.888ms and main cycle

MELSEC Q series (iQ Platform compatible)

Refresh (Q compatibility high-speed refresh)

Refresh (I45 executing) Fixed scan

Automatic refresh At END processing Main cycle

High-speed refresh The longer of the operation cycle or

communication area

When executing Multiple CPU synchronous interrupt program (I45)

*1 This is an interchangeable setting equivalent to the MELSEC Q series "High-speed refresh" setting. *2 The order of processing inside the Motion CPU is as follows.

"Motion SFC event task  Receipt refresh  Motion operation  Transmission refresh"

*3 The order of processing inside the Motion CPU is as follows.

"Receipt refresh  Motion SFC event task  Motion operation  Transmission refresh". Furthermore, if the operation cycle is shorter than the fixed scan communication cycle, receipt refresh and transmission refresh are performed only at the operation cycle immediately after the fixed scan communication cycle.

If using refresh (fixed scan communication), it is recommended that fixed scan communication cycles and Motion operation cycles be aligned.

1 MULTIPLE CPU SYSTEM

1.3 Data Communication Between CPU Modules in the Multiple CPU System

Multiple CPU refresh setting

Window

Displayed items

Setting for communicating by refresh. In the refresh settings, up to 32 setting ranges (refresh (END) and refresh (I45 executing)) can be set for each CPU module.

[R Series Common Parameter]  [System Parameter]  [Multiple CPU Setting]  "Communication Setting between CPU"  "Refresh (END) Setting" or "Refresh (I45 executing) Setting"  "Detailed Setting"

Item Setting description Setting range Restriction Data size

consistency check

Refresh timing Select "Detailed setting" based on the timing

at which data communication by refresh is executed.

CPU selection Select the CPU module for editing of the

CPU specific send range setting.

Setting No. The setting No. for transmission of each

CPU module is displayed. Automatic refresh is executed between devices set to the same setting No. for all CPUs that constitute the Multiple CPU system.

Points Set the number of points for data

communication.

Start Specifies the device which performs the data

communication (refresh). Specifies the device sent by the self CPU when the "Send source CPU selection" is the self CPU, and specifies the device received by the self CPU when the CPU specific send range setting is the other CPU.

Refresh (END) setting/Refresh (I45 executing)

CPU No.1 to No.4 CPU No. which exceeds the number of

1 to 32 

Range: Refer to device list for

usable ranges. (Page 75 Device List)

Unit: 2 [points]

Usable device (X, Y, M, B, D,

W, #)

Fixed-cycle refresh cannot be set if fixed scan communication is invalid.

CPU modules cannot be selected.

• Setting which exceeds the number of points of the self CPU send area allocated to each CPU module (CPU specific send range) cannot be set.

• Bit device can be specified in units of 32 points (2 words) only.

• Bit device can be specified in units of 16 points (1 word) only.

• Device number cannot be duplicated.



Provided

None

*1 Set "blank" when automatic refresh is not executed.

1.3 Data Communication Between CPU Modules in the Multiple CPU System

1 MULTIPLE CPU SYSTEM

Parameters set at GX Works3 are read at MT Developer2, and therefore there is no need to specify the

Write by main cycle of CPU No.2

Read by main cycle of CPU No.2

Read by END process of CPU No.1

CPU No.1

B0 to B1F (CPU No.1)

B20 to B3F (CPU No.2)

Device

Refresh area

CPU buffer memory

Write by END process of CPU No.1

CPU No.2

B0 to B1F (CPU No.1)

B20 to B3F (CPU No.2)

Device

Refresh area

CPU buffer memory

Refresh before and after I45 process

CPU No.1

B0 to B1F (CPU No.1)

B20 to B3F (CPU No.2)

Device

B0 to B1F (CPU No.1)

B20 to B3F (CPU No.2)

Device

Write to refresh area

CPU No.1 fixed scan

communication area

CPU No.2 fixed scan

communication area

Refresh area

CPU buffer memory

Refresh area

Read from refresh area

Refresh at the longer cycle of operation cycle or fixed scan communication cycle

CPU No.2

Write to refresh area

CPU No.1 fixed scan

communication area

CPU No.2 fixed scan

communication area

Refresh area

CPU buffer memory

Refresh area

Read from refresh area

Send to CPU No.1

Send to CPU No.2

refresh (END) and refresh (I45 executing) settings, however, they should be set in the following cases.

• When a Motion register (#) is set to the transmitting device.

• When the Q compatibility high-speed refresh setting is used. If specifying the Refresh (I45 executing) setting, specify the following settings in the GX Works3 [System Parameter]  [Multiple CPU Setting]  "Communication setting between CPU". Refer to the following for details on settings. MELSEC iQ-R CPU Module User's Manual (Application)

• Set the "Fixed scan communication function" to "Use".

• Set the send area range for each CPU in the "Fixed scan communication area setting".

• Set the fixed scan interval setting of fixed scan communication (0.222ms/0.444ms/0.888ms/1.777ms/

3.555ms/7.111ms) in "Fixed scan communication settings". Refresh processing performance is improved by setting the first device beginning with a 2-word unit or 4-word unit.

■Operation example of refresh (END) that uses CPU buffer memory

A refresh (END) operation example using the CPU buffer memory is shown below.

■Refresh (I45 executing) operation example using fixed scan communication area

A refresh (I45 executing) operation example using the fixed scan communication area is shown below.

■Application example of refresh setting (I45 executing)

Refresh setting (I45 executing) is used as in the following applications.

• Read the data such as the real current value and synchronous encoder current value with PLC CPU at high speed.

• Exchange the FIN waiting signal at high speed.

1.3 Data Communication Between CPU Modules in the Multiple CPU System

1 MULTIPLE CPU SYSTEM

Multiple CPU refresh setting (Q compatibility high-speed refresh setting)

Window

Displayed items

With self Motion CPUs, data between Motion CPU internal devices and the CPU buffer memory is updated every operation cycle in the settings of devices for which refresh (at END) is set.

[R Series Common Parameter]  [System Parameter]  [Multiple CPU Setting]  "Fixed Scan Communication Area Setting"  "Refresh (END) Setting"  "Detailed Setting"  "Q Compatibility High-speed Refresh Setting"

Classification Item Description Setting/display

value

Display Setting

No.

CPU CPU No. set in the refresh (END) setting is

User setting Device

setting

Points Set the number of points to refresh data of each

Refresh cycle

Setting No. which executes high speed refresh is displayed.

automatically displayed by setting devices.

•Self CPU Refresh from the internal device of Motion CPU to CPU buffer memory.

•Other CPU Refresh from the CPU buffer memory to internal device of Motion CPU.

Set the device No. of Motion CPU to execute the high speed refreshes.

data in word unit. *: Refresh is not executed when not set.

Operation cycle (fixed) 

1 to 128 (Up to 128)

CPU No. 1 to No.4

Usable device: D, W, #, M, X, Y, B

Range: 2 to 256[points] Unit: 2 points

*1 Point in word unit.

Restriction

• The start device number must be a multiple of 16 for the bit device.

• Cannot set a device not set also in the refresh (END) setting.

• No. of "start device+number of points" cannot exceed setting range of each setting No. in refresh (END) setting.

• Cannot overlap the device No. between setting No..

Sets the total of all CPUs to 256 points or lower.

1.3 Data Communication Between CPU Modules in the Multiple CPU System

1 MULTIPLE CPU SYSTEM

This refresh method is a setting for compatibility with the Q series Motion CPU with the purpose of making the

Read by main cycle or operation cycle of CPU No.2

Write by main cycle or operation cycle of CPU No.2

Read by END process of CPU No.1

CPU No.1

B0 to B1F (CPU No.1)

B20 to B3F (CPU No.2)

Device

Refresh area

CPU buffer memory

Write by END process of CPU No.1

CPU No.2

B0 to B1F (CPU No.1)

B20 to B3F (CPU No.2)

Device

Refresh area

CPU buffer memory

data refresh timing equivalent to that of "Multiple CPU high speed refresh" of the Q series Motion CPU. When configuring a new system, we recommend using refresh (I45 executing) for communication of data that is synchronized with the control of the Motion CPU.

■Operation example of Multiple CPU refresh setting (Q compatibility high-speed refresh setting)

The operation example of Multiple CPU refresh setting (Q compatibility high-speed refresh setting) is shown below.

1.3 Data Communication Between CPU Modules in the Multiple CPU System

1 MULTIPLE CPU SYSTEM

Fixed scan data transmission section over check

Fixed scan transmission section

OK (the send data can be seen from other CPU in next cycle)

Fixed scan transmission section

Motion operation time

Fixed scan communication cycle

NG (the send data cannot be seen from other CPU in the next cycle because data write was not completed by the beginning of the transmission section)

Receipt

refresh

Receipt

refresh

Motion CPU fixed-cycle processing

Transmission

refresh

Transmission

refresh

Operation

cycle

Motion operation time

Operation cycle

Fixed scan communication cycle

A check is performed to verify whether Motion CPU fixed-cycle processing (Motion SFC event tasks, motion operations, etc.) is completed by the data transmission section of the CPU fixed scan communication. A check can be carried out to detect whether fixed scan transmission data separation has occurred. "Detect/Not detected" and "Stop/Continue" can be selected in the "RAS settings" (Page 55 CPU parameter).

Checks are performed as follows depending on the relationship between the motion operation cycle and fixed scan communication cycle.

When motion operation cycle < fixed scan communication cycle

A check is performed only when an operation cycle over condition is detected, and not performed otherwise.

When motion operation cycle = fixed scan communication cycle

A check is performed every cycle.

When motion operation cycle > fixed scan communication cycle

A check is performed only at the fixed scan communication section immediately before the motion operation cycle. No check is performed part of the way into a fixed scan communication section during a motion operation cycle, thus if a cycle shorter than the motion operation cycle is referenced from another CPU, separation may occur even if no error occurs when performing this check.

Special relay/special register

The special relay and special register relating to the fixed scan data communication section excess check are shown below. Refer to the following for details on special relays and special registers.

• Special relay(Page 426 Special Relays)

• Special register(Page 431 Special Registers)

Device Number Name

Special relay SM484 Fixed scan data transmission section over

Special register SD484 Fixed scan data transmission section over count

1 MULTIPLE CPU SYSTEM

1.3 Data Communication Between CPU Modules in the Multiple CPU System

Inter-module synchronization function

Inter-module synchronization function overview

• By using the inter-module synchronization function, control timing can be synchronized across Motion CPUs, I/O modules, and intelligent function modules. By enabling inter-module synchronization for modules controlled by a Motion CPU, motion control and synchronized I/O control are possible.

• With the inter-module synchronization function, each module executes a "Inter-module synchronization interrupt program" to perform fixed-cycle control. At the Motion CPU, overall Motion CPU fixed-cycle processing (Motion SFC fixed-cycle event tasks, motion operation processing, etc.) corresponds to the inter-module synchronization interrupt program.

• By enabling the inter-module synchronization function between Multiple CPUs, the execution timing for self CPU Motion CPU fixed-cycle processing and other CPU inter-module synchronization interrupt programs (PLC CPU 144 interrupt program, Motion CPU fixed-cycle processing) can be synchronized.

• Set the inter-module synchronization function in the following cases.

• When using I/O module signals as high-speed input request signals

• When using a synchronous encoder via a high-speed counter module (By enabling inter-module synchronization, variations between synchronous encoder input value operation cycles are reduced.)

Refer to the following for details on the overall system inter-module synchronization function, including PLC CPUs and network modules. MELSEC iQ-R Inter-Module Synchronization Function Reference Manual

Inter-module synchronization setting

Set the inter-module synchronization settings in [System Parameter]  [Synchronization Setting within the Modules]  "Synchronization Setting within the Modules" of GX Works3. Inter-module synchronization settings must be consistent across the Multiple CPU system.

1 MULTIPLE CPU SYSTEM

1.3 Data Communication Between CPU Modules in the Multiple CPU System

If setting inter-module synchronization settings at the Motion CPU, set as follows.

Operating procedure

1. Set "Use inter-module synchronization function in

system" to "Use".

2. Set "Synchronize" from the setting of the selected

synchronization target module displayed in "Select the synchronous target unit", for the module to be synchronized.

3. Set the "Inter-module synchronization target module

selection" as follows.

• Set "0.05ms unit setting" to "Not set".

• Set the following fixed scan interval compatible with the Motion CPU in "Fixed scan interval setting (not set by

0.05ms)". (0.222ms, 0.444ms, 0.888ms, 1.777ms, 3.555ms,

7.111ms)

*1 If a fixed scan interval other than the above that is not

The operating status of the inter-module synchronization function for each module can be checked with the GX Works3 system monitor function.

compatible with the Motion CPU is set, a moderate error (error code: 2222H) occurs when the Multiple CPU system power supply is turned ON.

Inter-module synchronization target refresh settings

Refresh settings are not required for modules controlled by Motion CPUs. I/O (X/Y) refresh is performed for all modules controlled by Motion CPU control. Also, perform read to and write from the module buffer memory by direct access with a module access device (U\G).

1 MULTIPLE CPU SYSTEM

1.3 Data Communication Between CPU Modules in the Multiple CPU System

Inter-module synchronization control timing

Motion operation time

Inter-module synchronization cycle

Input

refresh

Input module

(Internal buffer)

Input latch Synchronized output

Motion CPU fixed-cycle processing

Output refresh

Operation

cycle

Input

Output

Input

External equipment

Output

External equipment

Output

Output module (Internal buffer)

Motion CPU fixed-cycle

processing

Inter-module

synchronization cycle

Motion operation cycle

Example 1

Example 2

Example 3

: Actual output timing

: Actual input timing

: Output refresh

: Input refresh

Operation cycle over

■Timing of I/O refresh processing

When using the inter-module synchronization function, the timing of motion operation cycles with Motion CPUs is linked to inter-module synchronization cycles. Refresh of inter-module synchronization target modules I/O (X/Y) is performed before and after Motion CPU fixed-cycle processing (Motion SFC fixed-cycle event tasks, motion operation processing, etc.) The processing timing is as follows.

*1 Motion SFC event task and Motion real-time task processing

Inter-module synchronization target module input (X) refresh is performed when starting Motion CPU fixed-cycle processing, and output (Y) refresh is performed when Motion CPU fixed-cycle processing is complete. Perform read to and write from the module buffer memory by direct access with a module access device (U\G). Depending on the module, a buffer memory is available for inter-module synchronous control. Refer to the User's Manual of each module for details on module operation relating to the inter-module synchronization function.

■When the inter-module synchronization cycle and motion operation cycle differ

The processing timing if the inter-module synchronization cycle and motion operation cycle differ is as follows.

• When inter-module synchronization cycle < motion operation cycle

• The Y device content at the moment output refresh processing is executed is output at the inter-module synchronization cycle immediately after. (Example 1,

• When the timing of the output refresh and inter-module synchronization cycle overlap, a discrepancy in the actual output timing may occur depending on the

module. (Example 2) Therefore, to align the actual output timing of all modules, ensure that the "inter-module synchronization cycle  motion operation cycle".

• If the Motion CPU fixed-cycle processing time, including output refresh processing, does not end within the motion operation cycle, an operation cycle over is detected. (Example 3)

1.3 Data Communication Between CPU Modules in the Multiple CPU System

1 MULTIPLE CPU SYSTEM

• When inter-module synchronization cycle > motion operation cycle

Inter-module synchronization cycle

Motion operation cycle

Example 4

Example 5

Operation cycle over

: Actual output timing

: Actual input timing

: Output refresh

: Input refresh

• Input refresh is performed when processing the first Motion CPU fixed cycle within the inter-module synchronization cycle. Output refresh is performed when processing the last Motion CPU fixed cycle within the inter-module synchronization cycle. (Example 4)

• If the Motion CPU fixed-cycle processing time, including output refresh processing, does not end within the motion operation cycle, an operation cycle over is detected. (Example 5)

CPU module operating status and refresh operation

The CPU module operating status when using the inter-module synchronization function and the I/O (X/Y) refresh operation are shown below.

CPU operating status Refresh

executed/not executed

RUN (including when continue error occurs)

STOP (including when stop error occurs due to moderate error)

STOP (when major error occurs) Do not refresh 

Test mode (including when continue error occurs)

Refresh Motion operation cycle

I/O (X/Y) refresh timing Remarks

• Refresh OFF for Y.

• Refresh is not performed at such times as when the module does not start up or refresh does not function due to a parameter error, etc.

*1 Refresh is still performed if interrupt is prohibited with a Motion SFC DI instruction. *2 The Y immediately before going into STOP status is saved, and all devices are turned OFF. Not all modules are turned OFF if there are

modules with allocations as synchronous encoder/manual pulse generator inputs.

Inter-module synchronization processing time

When using the inter-module synchronization function with a Motion CPU, I/O refresh is performed when processing fixed cycles in the Motion CPU, therefore processing time increases by the increased amount of motion operation time. The following is a guideline for inter-module synchronization function processing time.

Inter-module synchronization function processing time = 5[s] + 0.7[s]  Number of input points

points

*1 Total number of I/O points (words) for modules that are part of inter-module synchronization and controlled by the Motion CPU

If an operation cycle over condition occurs, review the module subject to synchronization and the inter-module synchronization cycle settings.

If not using the inter-module synchronization function, by accessing actual I/O (X/Y) at the Motion SFC fixedcycle event task, bus access occurs for each instruction, causing a drop in performance. If using the inter-module synchronization function, an overhead occurs for the amount of processing time mentioned above, and actual I/O (X/Y) are collectively refreshed, which can reduce motion operation time.

+3[s]  Number of output

1 MULTIPLE CPU SYSTEM

1.3 Data Communication Between CPU Modules in the Multiple CPU System

Special relay/special register

The special relays and special register relating to the inter-module synchronization function are shown below. Refer to the following for details on special relays and special registers.

• Special relay(Page 426 Special Relays)

• Special register(Page 431 Special Registers)

Device Number Name

Special relay SM480 Motion operation cycle over flag

SM488 Module synchronization error detection

Special register SD480 Motion CPU operation cycle over counter No.

Inter-module synchronization function in Multiple CPU configuration

■Operating specifications

Refer to relationship between fixed scan communication and inter-module synchronization for the motion operation cycle relationship when fixed scan communication and inter-module synchronization are combined. (Page 47 Relationship between fixed scan communication and inter-module synchronization) The data flow when fixed scan communication and the inter-module synchronization function are combined and communicating with the PLC CPU is as follows.

• When the Multiple CPU synchronous interrupt function and inter-module synchronization function are combined (PLC CPU

 Motion CPU) Two inter-module synchronization cycles are required for data acquired by the PLC CPU by the time it reaches the Motion CPU via the CPU buffer memory (fixed scan communication area). When synchronizing output between CPUs, use a function block for the inter-module synchronization function with a PLC CPU, and program taking into account the difference in output timing (two cycles) between the PLC CPU control module and Motion CPU control module.

• When the Multiple CPU synchronous interrupt function and inter-module synchronization function are combined (Motion

CPU  PLC CPU) One inter-module synchronization cycle is required for data acquired by the Motion CPU by the time it reaches the PLC CPU via the CPU buffer memory (fixed scan communication area). If synchronizing output between CPUs, adjust the number of Motion SFC fixed-cycle event task consecutive transitions for the Motion CPU, and program taking into account the difference in output timing (one cycle) between the PLC CPU control module and Motion CPU control module.

■Module access from other CPU

Even if the following settings are set in GX Works3, inputs (X) and outputs (Y) cannot be read from modules subject to the inter-module synchronization function. Reading from the buffer memory is possible by direct access with a module access device (U\G), FROM instruction, etc.

• When set to "import" at the [System Parameter]  [Multiple CPU Setting]  "Other PLC Control Module Setting"  "I/O Setting Outside Group".

■Aligning the inter-module synchronization function start timing at all CPUs, all stations

Specify the following settings in GX Works3.

• Set each module in [System Parameter]  [Synchronization Setting within the Modules]  "Select Synchronous Target Unit between Unit" to "Synchronize".

• Set all CPUs in [System Parameter]  [Multiple CPU Setting]  "Operation Mode Setting"  "Synchronous Startup Setting" to "Synchronize".

1 MULTIPLE CPU SYSTEM

1.3 Data Communication Between CPU Modules in the Multiple CPU System

■Link between inter-module synchronization function and CPU fixed scan communication

Output module (Inter-module synchronization target)

Output and deceleration stop are performed for all modules, including the target module of inter-module synchronization, when the STOP operation is performed. (Refresh is performed at END processing during STOP status)

As the module is in the STOP condition, the inter-module synchronization interrupt program does not run

Inter-module synchronization

cycle

RUN to STOP

Inter-module synchronization cycle

ScanScan

Inter-module synchronization cycle

Synchronous

interrupt prgrm.

Normal control

program

END

Normal control

program

ENDCPU module

If performing key operation, RUN to STOP is recognized when CPU module END processing is performed.

The execution of all programs, including inter-module synchronous interrupt programs, is stopped with the STOP operation.

Output

Hold/ Clear

Output module (Not inter-module synchronization target)

Output

Hold/ Clear

When the following are set in GX Works3, CPU fixed scan communication operates based on the fixed scan interval set with the inter-module synchronization function, enabling control with the timing of both inter-module synchronization function and CPU fixed scan communication aligned.

• Set "Cooperate" in [System Parameter]  [Multiple CPU Setting]  "Communication Setting Between CPU"  "Fixed Scan Communication Function"  "Fixed Scan Interval Setting of Fixed Scan Communication"  "Fixed Scan Communication Function and Inter-Module Synchronization Function".

If using both the fixed scan communication function and inter-module synchronization function, set "Fixed Scan Communication Function and Inter-Module Synchronization Function" to "Cooperate". If set to "Not cooperated", a moderate error (error code: 2222H) occurs, and the Motion CPU does not RUN.

Inter-module synchronization function operation when CPU operating status changes

■Operation at power supply ON, reset

• Normal startup (RUN) If there are no setting errors in the parameters etc. after analyzing inter-module synchronization function related settings (system parameters, CPU parameters, module parameters) written to the Motion CPU when turning the Multiple CPU system power supply ON or when cancelling a reset, the inter-module synchronization function operates.

• Abnormal stop (STOP) When parameter inconsistencies between Multiple CPUs or network parameter setting errors, etc. occur, or if module hardware errors have occurred when analyzing inter-module synchronization function related settings (system parameters, CPU parameters, module parameters) written to the Motion CPU when turning the Multiple CPU system power supply ON or when cancelling a reset, the inter-module synchronization function does not operate, and a stop error occurs. When this happens, I/O refresh is not performed.

■Operation at STOP (RUN  STOP)

• Normal stop I/O refresh continues even during a STOP condition. With a normal stop operation such as STOP, Motion CPU output is turned OFF, and a stop command is issued to each module. Refer to the User's Manual for each module for details on operation when the module stops normally.

1 MULTIPLE CPU SYSTEM

1.3 Data Communication Between CPU Modules in the Multiple CPU System

• Abnormal stop

RUN to STOP

Inter-module synchronization cycle

Motion SFC

normal task

CPU module

Motion operation/

Motion SFC

fixed-cycle event task

Motion operation

Inter-module

synchronization timing

(first stop)

Inter-module

synchronization timing

(second stop)

If a moderate error occurs, motion operation continues (deceleration stop)

Output modules either hold or clear (stop) external outputs depending on the specifications for each module.

Inter-module synchronization cycle

Execution of the program is stopped when a stop error occurs.

Output

Hold/ Clear

Dec. stop

Output module (Inter-module synchronization target)

Output module (Not inter-module synchronization target)

Output module (Inter-module synchronization target)

Output

Input Input

Hold/ Clear

Output module (Inter-module synchronization target)

Output module (Not inter-module synchronization target)

Hold/ Clear

STOP to RUN

Motion CPU

Motion operation/

Motion SFC fixed-

cycle event task

Motion operation

Inter-module synchronization cycle

Main cycle

Inter-module synchronization cycle

Motion SFC

normal task

Motion operation

/Motion SFC fixed-

cycle event task

Motion SFC

normal task

Motion SFC

normal task

[St.1550] PCPU ready complete (SM500)

OFF

The next operation is performed at the second inter-module synchronization cycle.

•Execution of the Motion SFC fixed cycle event task is started.

The next operation is performed at the first inter-module synchronization cycle.

•An “Inter-module synchronization command” is issued to the control module.

•The Motion SFC fixed-cycle event task is not executed.

Output is resumed in accordance with the transition to the RUN status.

If a Motion CPU major/moderate error occurs (including cases where settings ensure that Motion CPUs stop at a major/ moderate error at each module), Motion CPU output is turned OFF (there are also cases when output is retained depending on the parameter settings), and a stop command is issued to the control module. I/O refresh continues even during a STOP condition. Refer to the User's Manual for each module for details on operation when the module stops abnormally.

■Operation at RUN (STOP  RUN)

When the Motion CPU is changed from STOP to RUN, the Motion CPU issues an inter-module synchronization start command to each module at the next inter-module synchronization cycle after STOP to RUN, and begins execution of the Motion SFC fixed-cycle event task at the next inter-module synchronization cycle.

Please note that if system parameters related to the inter-module synchronization function are rewritten during STOP, analysis is not performed at STOP to RUN, and therefore the module operates based on parameters before rewriting. The changed parameters will be valid the next time the Multiple CPU system power supply is turned ON, or when reset.

1.3 Data Communication Between CPU Modules in the Multiple CPU System

1 MULTIPLE CPU SYSTEM

Error detection

The following error statuses are monitored at the Motion CPU.

■Execution time monitoring of the Motion CPU fixed-cycle processing

Regardless of whether the inter-module synchronization function is used, the Motion CPU fixed-cycle processing (intermodule synchronization I/O refresh, Motion SFC fixed-cycle event task, motion operation processing, etc.) execution time is monitored. When Motion CPU fixed-cycle processing is not completed within the motion operation cycle, the number of times that a Motion CPU fixed-cycle processing cycle error occurs is stored in "Motion CPU operation cycle over counter No. (SD480)". When "Over Execute Time (Operation Cycle Over)" in [CPU Parameter]  "RAS Setting"  "Error Detections Setting" is set to "Detect", "Stop" or "Continue" can be selected for Motion CPU operation processing. When set to "Detect", a moderate error (error code: 2600H) is output.

■Inter-module synchronization signal error monitor

Inter-module synchronization signal cycle errors are monitored, and a moderate error (error code: 2610H) occurs if there is an error. Motion CPU operation processing can bet set to "Stop" or "Continue" when an inter-module synchronization signal error occurs with [CPU Parameter]  "RAS Setting"  "CPU Module Operation Setting at Error Detected".

When "Synchronous Interrupt Execution Interval Error (CPU module)" is set to "Continue", if the continuation error is cancelled, the Motion CPU ERROR LED turns OFF but the error factor is not removed. Furthermore, errors are not detected again even if a synchronous interrupt execution interval error reoccurs.

1 MULTIPLE CPU SYSTEM

1.3 Data Communication Between CPU Modules in the Multiple CPU System

Relationship between fixed scan communication and inter-

Fixed scan communication timing

Motion operation

Inter-module synchronization timing

Motion operation

Inter-module synchronization timing

Fixed scan communication timing

Motion operation

module synchronization

If using fixed scan communication and inter-module synchronization between multiple CPUs, the relationship between motion operations and Motion SFC event task (fixed-cycle tasks) is as follows.

Inter-module synchronization function

Not used

Fixed scan communication function

*1 If inter-module synchronization function is set to not used, or if the Motion CPU is not the module subject to inter-module

synchronization.

*2 If the motion operation cycle and fixed scan communication cycle, or the inter-module synchronization cycle differ, the start timing with

longer cycle is always synchronized with the start timing with shorter cycle.

Not used Motion CPU inherent cycle Synchronization with inter-module

Used If the "Fixed scan communication function

and inter-module synchronization function" setting is "Not cooperated".

If the "Fixed scan communication function and inter-module synchronization function " setting is "Cooperate".

Synchronization with fixed scan communication cycle (timing example 1)

Setting not possible with Engineering To ol

If a cycle (other than 0.222ms, 0.444ms, 0.888ms, 1.777ms, 3.555ms, 7.111ms) not compatible with Motion CPUs is set for a fixed scan communication cycle or inter-module synchronization cycle, a moderate error (error code: 2222H) occurs when the Multiple CPU system power supply is turned ON.

Used

synchronization cycle (timing example 2)

Moderate error (error code: 2222H)

Inter-module synchronization cycle =synchronization with fixed scan communication cycle (timing example 3)

Timing Example 1

Timing Example 2

Timing Example 3

1 MULTIPLE CPU SYSTEM

1.3 Data Communication Between CPU Modules in the Multiple CPU System

Control instruction from PLC CPU to Motion CPU

Ex.

PLC CPU

Start request

D(P).SFCS instruction

Motion CPU

Motion SFC

Control can be instructed from the PLC CPU to the Motion CPU using the Motion dedicated PLC instructions listed in the table below. Refer to the following for the details of each instruction. (Control may not be instructed from one Motion CPU to another Motion CPU.) MELSEC iQ-R Motion controller Programming Manual (Program Design)

Instruction name Description

M(P).□ D(P).□

M(P).SFCS D(P).SFCS Start request of the Motion SFC program (Program No. may be specified.)

M(P).SVST D(P).SVST Start request of the specified servo program

M(P).SVSTD D(P).SVSTD Direct positioning start request

M(P).CHGA D(P).CHGA Current value change request of the specified axis

M(P).CHGAS D(P).CHGAS Current value change request of the specified command generation axis

M(P).CHGV D(P).CHGV Speed change request of the specified axis

M(P).CHGVS D(P).CHGVS Speed change request of the specified command generation axis

M(P).CHGT D(P).CHGT Torque control value change request of the specified axis

M(P).MCNST D(P).MCNST Machine program operation start request

M(P).GINT D(P).GINT Execute request of an event task to the other CPU (Motion CPU)

M(P).DDWR D(P).DDWR Write device data of the self CPU (PLC CPU) to the device of other CPU (Motion CPU)

M(P).DDRD D(P).DDRD Read device data of other CPU (Motion CPU) to the device of self CPU (PLC CPU)

M(P).BITWR D(P).BITWR Write bit operation to the bit device of another Motion CPU

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

1 MULTIPLE CPU SYSTEM

1.3 Data Communication Between CPU Modules in the Multiple CPU System

2 COMMON PARAMETERS

2.1 Parameters Used by the Motion CPU

The parameters used by the Motion CPU are as follows.

Parameter Details

R series common parameters Common parameters for R series CPU modules

Motion CPU common parameters Common parameters for Motion CPU modules

Motion control parameters Positioning control parameters and synchronous control parameters used by the Motion CPU for Motion control

A list of parameters used by the Motion CPU is shown below. : Input, : Not input

Parameter item Parameter input timing Details Reference

R series common parameter

Motion CPU common parameter

At ON/reset of Multiple CPU system power supply

System parameter Set the R series CPU common

CPU parameter  Page 55 CPU

Module parameter  Page 58

Basic setting Set the basic parameters of the Motion

Servo network setting Set the servo network type, and the

Limit output data Set the output device and watch data for

High-speed input request signal Set the high-accuracy input request signal

Mark detection Set the data for mark detection. Page 102

Manual pulse generator connection setting

Vision system parameter Set the parameters used for connecting

Head module Set the parameters used for connecting

Refresh (END/I45 executing) setting

Set the data required for connecting the

Set the Multiple CPU refresh (main cycle/

At STOP to RUN/test mode request

parameters for the base, slot, and module settings and the Multiple CPU system settings. The system parameters for each CPU in the Multiple CPU system must be matched.

system, such as operation cycle and the external forced stop input.

connected servo amplifiers, SSCNET/H head modules, and sensing modules.

limit output.

used for advanced synchronous control or mark detection.

manual pulse generator to the module.

the vision system.

the SSCNET/H head module and sensing module.

operation cycle).

Page 53 System parameter

parameter

Module Parameter

Page 61 Basic setting

Page 64 Servo network setting

Page 90 Limit output data setting

Page 96 Highspeed input request signal setting

Mark detection setting

Page 70 Manual pulse generator connection setting

Page 315 Vision system parameter setting

Page 199 Parameter setting of SSCNETIII/H head module Page 207 Parameter setting of sensing module

age 34

P Multiple CPU refresh setting Page 53 System parameter

2 COMMON PARAMETERS

2.1 Parameters Used by the Motion CPU

Parameter item Parameter input timing Details Reference

At ON/reset of Multiple CPU system power

At STOP to RUN/test mode request

supply

Motion control parameter

Axis setting parameter

Servo parameter Parameters for the servo amplifier and

Parameter block Set the data for acceleration/deceleration

Synchronous control parameter

Machine control parameter

G-code control parameter

Fixed parameter Set the fixed data based on the

Home position return data

JOG operation data Set the data to perform the JOG

External signal parameter

Expansion parameter

Speed-torque control data

Optional data monitor

Pressure control data

Override data Set when using the override function.

Vibration suppression command filter data

Input axis parameter

Synchronous parameter

Multiple CPU advanced synchronous control setting

Machine common parameter

Machine parameter Set the parameters for performing

G-code control system parameter

G-code control axis parameter

G-code control work parameter

Set the data required for the home

Set the external signals (upper stroke limit

Set when the following functions are used.

Set when the speed-torque control is

Set the type of the monitored data and the

Set when performing pressure control that

Set when using vibration suppression

Set the input axis used for advanced

Set the synchronous parameters for the

Set the master CPU and slave CPU for

Set the common parameters and point



*4Set the parameters for each axis in each



mechanical system, etc. of the controlled axis.

position return.

operation.

(FLS), lower stroke limit (RLS), stop (STOP), and proximity dog or speed/ position switching (DOG/CHANGE)) used for each axis.

• Individual monitoring of positive and negative direction torque limit values

• Change the acceleration/deceleration time when changing speed

• Set the servo motor maximum speed.

• When performing positioning control in the absolute data method in degrees, specify the positioning direction.

performed.

storage device when the servo amplifier status, etc. is monitored.

uses a profile.

command filter function.

sensing module are set based on the specifications for the servo amplifier, servo motor, and sensing module.

control, etc. used for each positioning processing.

synchronous control.

output axis used for advanced synchronous control.

performing Multiple CPU advanced synchronous control.

blocks used for machine control.

machine control.

Set the parameters used on a line for each G-code control line.

G-code control line.

Set the parameters for working in G-code control.

Page 175 Optional data monitor setting

*1 MELSEC iQ-R Motion Controller Programming Manual (Positioning Control)

2 COMMON PARAMETERS

2.1 Parameters Used by the Motion CPU

*2 MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control) *3 MELSEC iQ-R Motion Controller Programming Manual (Machine Control) *4 Not loaded at test mode request. *5 MELSEC iQ-R Motion Controller Programming Manual (G-Code Control)

2 COMMON PARAMETERS

2.1 Parameters Used by the Motion CPU

2.2 R Series Common Parameter

PLC CPU parameters

(set at GX Works3)

Common system

parameters

Individual parameter

Motion CPU parameters

(set at MT Developer2)

Common system

parameters

Individual parameter

Read by

MT Developer2

Power supply

RnCPU R32MT

CPU

Parameter write

Set the MELSEC iQ-R series CPU module common parameters used at the Multiple CPU system for the R series common parameters.

2 COMMON PARAMETERS

2.2 R Series Common Parameter

System parameter

Window

Displayed items

These parameters are used to set the Multiple CPU system module configuration and common system items. The system parameters for each CPU in the Multiple CPU system must be matched. There is no need to set system parameters because the parameters set in the GX Works3 "Module Configuration" or "System Parameter" are read by MT Developer2. However, the "Refresh (END) setting", "Refresh (I45 executing) setting", and "Q compatibility high-speed refresh setting" in the communication setting between CPU can be set based on the Motion CPU settings.

[R Series Common Parameter]  [System Parameter]  [Multiple CPU Setting]  "Communication Setting between CPU"

Item Setting range Default

Multiple CPU setting

*1 Q compatibility high-speed refresh setting

Setting range Default

Up to 128 settings for each CPU No. of points: 2 to 256 Start: Usable devices (X, Y, M, B, D, W, #)

Communication setting between CPU

Refresh (END) setting

Refresh (I45 executing) setting Up to 32 settings for each CPU

Up to 32 settings for each CPU No. of points: Refer to device list for allowable setting range. (Page 75 Device List) Start: Usable devices (X, Y, M, B, D, W, #)

No. of points: Refer to device list for allowable setting range. (Page 75 Device List) Start: Usable devices (X, Y, M, B, D, W, #)

No setting

2 COMMON PARAMETERS

2.2 R Series Common Parameter

Communication setting between CPU

■Refresh (END) setting

Set up to 32 settings for refresh device per CPU. Refer to device list for the range of devices that can be set. (Page 75 Device List)

• Q compatibility high-speed refresh setting Set refresh between CPUs with up to of 128 settings for the entire Multiple CPU system. Set 2 points (words) or more each, and no more than 256 points in total. Refer to device list for the range of devices that can be set. (Page 75 Device List)

■Refresh (I45 executing)

Set up to 32 settings for refresh device per CPU. Refer to device list for the range of devices that can be set. (Page 75 Device List)

• Refer to Multiple CPU refresh setting for details on the Refresh (at END) and Refresh (I45 executing)

settings. (Page 34 Multiple CPU refresh setting, Page 36 Multiple CPU refresh setting (Q compatibility high-speed refresh setting))

• If using the CPU fixed scan communication function set at GX Works3, or the inter-module synchronization function, set the cycles that can be set at the Motion CPU (0.222ms/0.444ms/0.888ms/1.777ms/3.555ms/

7.111ms) for the fixed scan communication cycle or inter-module synchronization cycle. A moderate error (error code: 2222H) occurs if a cycle other than the above cycles is set. Refer to relationship between fixed scan communication and inter-module synchronization for details on the relationship with motion operation cycle settings. (Page 47 Relationship between fixed scan communication and inter-module synchronization)

2 COMMON PARAMETERS

2.2 R Series Common Parameter

CPU parameter

Window

Displayed items

Set the operational details for the Motion CPU's functions. Also, regarding the overall system, settings for which verification between CPUs is not necessary are also stored in these parameters.

[R Series Common Parameter]  [Motion CPU Module]  [CPU Parameter]

Item Setting range Default value

Name setting Title setting Up to 32 characters No setting

Comment setting Up to 256 characters No setting

Operation related setting

Device related setting

RAS setting Error detections

I/O assignment setting

RUN contact X0 to X2FFF No setting

Output mode setting of STOP to RUN Output the output (Y) status before STOP/

Module synchronous setting Synchronize/Do not synchronize Synchronize

Device points Bit device (M, B, F)/Word device (D, W, #) Page 84 Device

Latch setting Up to 32 settings No setting

Module verify error Detect/Not detected Detect

setting

CPU module operation setting at error detected

Event history setting Save destination SD memory card/Standard ROM Standard ROM

CPU module operation setting at error detected

Over execute time of Motion CPU fixed scan process

Instruction execution error module I/O No. specification incorrect

Memory card access error Stop/Continue Stop

Module verify error Stop/Continue Stop

Over execute time of Motion CPU fixed scan process

Synchronous interrupt execution interval error (CPU module)

Set save volume of per file 1 to 2048[k bytes] 128[k bytes]

Slot 0 to 63

Over execute time (operation cycle over)

Over fixed scan data send section

Over execute time (operation cycle over)

Over fixed scan data send section

Clear the output (Y) (output is 1 scan later)

Detect/Not detected Not detected

Stop/Continue Stop

Major: Stop, Moderate: Stop/ Major: Stop, Moderate: Continue/ Major: Continue, Moderate: Continue

Output the output (Y) status before STOP

points setting

Major: Stop, Moderate: Continue

2 COMMON PARAMETERS

2.2 R Series Common Parameter

Name setting

■Title setting

Set the Motion CPU title (name, application). Up to 32 characters can be set.

■Comment setting

Set a comment for the title. Up to 256 characters can be set.

Operation related setting

■RUN contact

Set contacts used to control Motion CPU RUN signals. Only inputs (X) can be set.

Setting range

X0 to X2FFF

Refer to remote RUN/STOP for details on operation with RUN contacts. (Page 302 Remote RUN/STOP)

■Output mode setting of STOP to RUN

Set the output (Y) operation when switching from the STOP status to RUN status.

• Output the output (Y) status before STOP: If outputting the output (Y) status before STOP

• Clear the output (Y) (output 1 scan later) : If clearing the output (Y) status and outputting 1 scan later

■Module synchronous setting

Set whether or not to synchronize Motion CPU and intelligent function module startup.

• Synchronize: Synchronizes startup.

• Do not synchronize: Does not synchronize startup.

Device related setting

■Device points

Set the range for the number of points for each device. Refer to device points setting for details on the number of devices setting. (Page 84 Device points setting) Refer to device list for the range of devices that can be set. (Page 75 Device List)

Settable devices

M, B, F, D, W, #

■Latch setting

Set the device (M, B, F, D, W, #) latch range. Up to 32 devices can be set for the latch (1) and latch (2) latch range. Refer to latch function for details on the latch range setting. (Page 86 Latch Function) Refer to device list for the range of devices that can be set. (Page 75 Device List)

2 COMMON PARAMETERS

2.2 R Series Common Parameter

RAS setting

■Error detections setting

• Module verify error Set whether to "Detect" or "Not detect" module comparison errors in cases such as when a different module is detected when the Multiple CPU system power supply is ON.

• Over execute time of Motion CPU fixed scan process

• Over execute time (operation cycle over)

Set whether to "Detect" or "Not detect" Motion CPU fixed-cycle processing execution time over conditions.

• Over fixed scan data send section

Set whether to "Detect" or "Not detect" errors if Motion CPU fixed-cycle processing is not complete by the time fixed scan data communication to another CPU starts.

■CPU module operation setting at error detected

• Instruction execution error module I/O No. specification incorrect Set whether to "Stop" or "Continue" Motion CPU processing if a module I/O No. specification incorrect error is detected.

• Memory card access error Set whether to "Stop" or "Continue" Motion CPU processing if a memory card access error is detected.

• Module verify error Set whether to "Stop" or "Continue" Motion CPU processing if a module comparison error is detected.

• Over execute time of Motion CPU fixed scan process

• Over execute time (operation cycle over)

Set whether to "Stop" or "Continue" Motion CPU processing if a Motion CPU fixed-cycle processing operation cycle over condition is detected.

• Over fixed scan data send section

Set whether to "Stop" or "Continue" Motion CPU processing if a Motion CPU fixed-cycle processing fixed scan data communication section over condition is detected.

• Synchronous interrupt execution interval error (CPU module) Set whether to "Stop" or "Continue" Motion CPU processing if the Motion CPU detects a synchronous signal error.

■Event history setting

• Save destination Set the storage destination for event history files.

• SD memory card

• Standard ROM

• Set save volume of per file Set the saving volume per event history file.

Setting range

1 to 2048[k bytes]

I/O assignment setting

■CPU module operation setting at error detected

Set the CPU module operation mode during error for slot 0 to slot 63.

• Major: Stop, Moderate: Stop

• Major: Stop, Moderate: Continue

• Major: Continue, Moderate: Continue

2 COMMON PARAMETERS

2.2 R Series Common Parameter

Module Parameter

Window

Displayed items

Specify local node settings and security in order to communicate with external devices with the Motion CPU PERIPHERAL I/F.

[R Series Common Parameter]  [Motion CPU Module]  [Module Parameter]

Item Setting range Default value

Local node setting

Security IP filter setting IP filter use or not Use/Not used Not used

IP address setting

Disable direct connection to MELSOFT Enable/Disable Enable

Do not respond to search for CPU module on network

IP address 0.0.0.1 to 223.255.255.254 192.168.3.39

Subnet mask 0.0.0.1 to 255.255.255.254/blank No setting

Default gateway 0.0.0.1 to 255.255.255.254/blank No setting

IP filter setting Up to 32 settings No setting

Response (no check)/Not responded (check) Response (no check)

Local node setting

■IP address setting

• IP address Set the local node IP address.

• Subnet mask Set the IP address in order to set which upper bit to use for the network address to identify the network.

• Default gateway Set the IP address for the passing device (default gateway) used to access the network device to which the local node belongs.

Security

■IP filter setting

Data set at GX Works3 is read by MT Developer2, and therefore there is no need to set the IP filter.

■Disable direct connection to MELSOFT

Set whether to "Enable" or "Disable" a direct connection (simple connection) with the Engineering Tool.

■Do not respond to search for CPU module on network

Set whether to "Respond" or "Not respond" to an Engineering Tool network CPU module search.

2 COMMON PARAMETERS

2.2 R Series Common Parameter

2.3 Motion CPU Common Parameter

The Motion CPU common parameters are used to specify Motion CPU basic settings, the servo network configuration, and all auxiliary functions. A list of Motion CPU common parameter settings is shown in the table below.

Item Setting range Default value Remark

Basic setting

Servo network setting

Operation cycle 0.222ms/0.444ms/0.888ms/1.777ms/3.555ms/

Low speed operation cycle magnification setting

Forced stop input setting

File transmission setting during booting Standard ROM write permission/read protection/

Machine control setting Not used/Used Not used Set whether to use/not use

G-code control setting Not used/Use line 1 only/Use line 1 and line 2 Not used Set whether to use/not use

SSCNET setting

Amplifier setting

Instruction Not used/Used Not used Set the bit device to use for

Device Bit device Not setting

Communication type SSCNET/H/SSCNET SSCNET/H Set the communication type

Amplifier information

Axis information

External synchronous encoder input

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

Operation cycle selection Operation cycle/Low speed operation cycle Operation cycle

Allowable travel during Power-Off

Amplifier model

Amplifier operation

mode

Use as virtual servo amplifier

Axis No. R64MTCPU: Up to 2 lines, 64 axes

RIO axis

No.

Station No.d <Communication type "SSCNET/H" use>

Axis label/ RIO axis

label

7.111ms/Default setting

Not used/2 times/4 times/8 times Not used Set the magnification for the

Standard ROM write protection/read protection/ Standard ROM write protection/read permission/ Standard ROM write permission/read permission/ Boot operation file invalid

<Communication type "SSCNET/H" use> MR-J4(W)-B(-RJ)/MR-J4-B-LL/FR-A800-1/FRA800-2/MR-MT2010/LJ72MS15/VC (CKD NIKKI DENSO)/VPH (CKD NIKKI DENSO)/STEP AZ (ORIENTAL MOTOR)/5-Phase ST (ORIENTAL MOTOR)/IAI Driver for Electric Actuator (IAI)

<Communication type "SSCNET" use> MR-J3(W)-B/MR-J3-B(S) Fully closed/MR-J3(W)B Linear/MR-J3(W)-B DD motor/MR-MT1200/FRA700/FR-A700-NA/FR-A700-EC/FR-A700-CHT/ VC (CKD NIKKI DENSO)/VPH (CKD NIKKI DENSO)

<Communication type "SSCNET/H" use> Standard/Fully closed/Linear/DD motor

<Communication type "SSCNET/H" use> Use/not use as virtual servo amplifier

R32MTCPU: Up to 2 lines, 32 axes R16MTCPU: Up to 1 line, 16 axes

<Communication type "SSCNET/H" use> R64MTCPU: Up to 2 lines, 8 axes R32MTCPU: Up to 2 lines, 8 axes R16MTCPU: Up to 1 line, 4 axes

1 to 64

Up to 32 characters No setting

Invalid/ABS/INC Invalid

<Communication type "SSCNET" use> 0 to 8191 revolution

Default setting Set the operation cycle of

Standard ROM write permission/ read protection

MR-J4(W)-B(-RJ) Set the model name, axis No.

MR-J3(W)-B

Standard

Not use as virtual servo amplifier

No setting

Motion control.

operation cycle.

the forced stop.

Set whether to permit/protect file transmission at boot

machine control.

G-code control.

for every line.

and other details for the servo amplifiers.

2 COMMON PARAMETERS

2.3 Motion CPU Common Parameter

Item Setting range Default value Remark

Servo network setting

Limit output data Set 1 to 64 No setting Page 90 Limit output

High-speed input request signal Set 1 to 64 No setting Page 96 High-speed

Mark detection Set 1 to 64 No setting Page 102 Mark detection

Manual pulse generator connection setting Set P1 to P3 No setting Page 70 Manual pulse

Vision system parameter

Head module Set module 1 to 4 for each line.

Amplifier setting

Sensing module information

Extension module setting information

MR-MT2200 axis information

Ethernet communication line Vision system No. 1 to 32 No setting Page 315 Ethernet

Vision program operation Program No. 1 to 128 No setting Page 318 Vision

Operation mode

Extension module connection number

Used axis number

No.1 type to No.4 type

Axis No. <Operation mode "Axis mode (MR-MT2200)" use>

Station No.d <Operation mode "Axis mode (MR-MT2200)" use>

1 station occupied mode/Axis mode (MR-MT2200) No setting Set the model name, axis No.

<Operation mode "1 station occupied mode" use> 0 to 4

<Operation mode "Axis mode (MR-MT2200)" use> 1 to 4

<Operation mode "1 station occupied mode" use> MR-MT2100/MR-MT2200/MR-MT-2300/MRMT2400

R64MTCPU: Up to 2 lines, 64 axes R32MTCPU: Up to 2 lines, 32 axes R16MTCPU: Up to 1 line, 16 axes

1 to 64

R64MTCPU: 2 lines (Up to 8 modules) R32MTCPU: 2 lines (Up to 8 modules) R16MTCPU: 1 line (Up to 4 modules)

and other details for the

No setting

No setting Page 199 Parameter

servo amplifiers.

data setting

input request signal setting

setting

generator connection setting

Communication Line Setting

Program Operation Setting

setting of SSCNETIII/H head module Page 207 Parameter setting of sensing module

*1 This can only be set when "MR-J4(W)-B(-RJ)" is selected for the amplifier model. *2 This is the RIO-axis when "LJ72MS15" or "MR-MT2010 (operation mode: 1 station occupied mode)" is selected for the amplifier model. *3 This can only be set when "MR-MT2010" is selected for the amplifier model.

2 COMMON PARAMETERS

2.3 Motion CPU Common Parameter

Basic setting

Window

Displayed items

The following explains each item to be set in basic setting.

[Motion CPU Common Parameter]  [Basic setting]

Item Setting range Default value

Operation cycle 0.222ms/0.444ms/0.888ms/1.777ms/3.555ms/7.111ms/Default setting Default setting

Low speed operation cycle magnification setting

Forced stop input setting

File transmission setting during booting

Machine control setting Not used/Used Not used

G-code control setting Not used/Use line 1 only/Use line 1 and line 2 Not used

Instruction Not used/Used Not used

Device Bit device No setting

Not used/2 times/4 times/8 times Not used

Standard ROM write permission/read protection/ Standard ROM write protection/read protection/ Standard ROM write protection/read permission/ Standard ROM write permission/read permission/Boot operation file invalid

Standard ROM write permission/read protection

Operation cycle

• Set the of motion operation cycle (cycles at which a position command is computed and sent to the servo amplifier).

• The default value is "Default Setting". The operation cycle is set according to the table below based on the number of axes for servo amplifier set in the servo network setting.

Number of axes Operation cycle setting

R64MTCPU R32MTCPU R16MTCPU

1 to 2 axes 1 to 2 axes 1 to 2 axes 0.222ms

3 to 8 axes 3 to 8 axes 3 to 8 axes 0.444ms

9 to 20 axes 9 to 20 axes 9 to 16 axes 0.888ms

21 to 38 axes 21 to 32 axes  1.777ms

39 to 64 axes 3.555ms

• If the duration of motion operation has exceeded the operation cycle, the "[St.1046] Operation cycle over flag (R: M30054/ Q: M2054)" turns ON. (Page 370 Processing time monitor and check)

• The number of stations capable of connecting to the SSCNET(/H) 1 line is limited based on the motion operation cycle. Refer to the following for details on restrictions based on the communication types and operation cycles used. MELSEC iQ-R Motion Controller User's Manual

2 COMMON PARAMETERS

2.3 Motion CPU Common Parameter

Low speed operation cycle magnification setting

Set the magnification of the operation cycle for using the mixed operation cycle function. Refer to mixed operation cycle function for details of mixed operation cycle function (Page 160 Mixed Operation Cycle Function)

Setting Details

Not used Not use the low speed operation cycle.

2 times The low speed operation cycle is executed at intervals 2 times the operation cycles.

4 times The low speed operation cycle is executed at intervals 4 times the operation cycles.

8 times The low speed operation cycle is executed at intervals 8 times the operation cycles.

The setting information of the low speed motion operation cycle when the Multiple CPU system power supply is turned ON is stored in the following special registers.

• Low speed Motion setting operation cycle (SD714)

• Low speed operation cycle control axis information (SD732 to SD735)

• Command generation axis low speed operation cycle control axis information (SD736 to SD739) Refer to special registers for details of special registers (Page 431 Special Registers)

Forced stop input setting

Set the bit device used for the forced stop to perform a forced stop for all servo amplifier axes together. Refer to device list for the range of bit devices that can be set. (Page 75 Device List) No default value has been set. The set bit device is designated as contact B and performs the following control in response to ON/OFF of the device.

Bit device Details

Bit device is turned OFF Forced stop input is ON (forced stop)

Bit device is turned ON Forced stop input is OFF (forced stop is released.)

File transmission setting during booting

Set the operation for performing the file transmission at boot function. Refer to file transmission at boot function for details of the file transmission at boot function. (Page 118 File Transmission at Boot Function) The file transmission at boot settings from the last time power supply was shutoff are valid when the power supply of the Multiple CPU system is turned ON.

Setting Details

Standard ROM write permission/read protection

Standard ROM write protection/read protection

Standard ROM write protection/read permission

Standard ROM write permission/read protection

Boot operation file invalid File transmission at boot function cannot be used.

The file transmission at boot settings at the time of when Multiple CPU system power supply is turned ON are stored in "Boot file transfer information (SD509)". Refer to special registers for details on special registers. (Page 431 Special Registers)

• Moving or copying to the standard ROM is permitted for files saved outside of the standard ROM.

• Moving or copying out of the standard ROM is protected for files saved in the standard ROM.

• Moving or copying to the standard ROM is protected for files saved outside of the standard ROM.

• Moving or copying out of the standard ROM is protected for files saved in the standard ROM.

• Moving or copying to the standard ROM is protected for files saved outside of the standard ROM.

• Moving or copying out of the standard ROM is permitted for files saved in the standard ROM.

• Moving or copying to the standard ROM is permitted for files saved outside of the standard ROM.

• Moving or copying out of the standard ROM is permitted for files saved in the standard ROM.

2 COMMON PARAMETERS

2.3 Motion CPU Common Parameter

Machine control setting

Set when performing machine control. Refer to the following for details on machine control. MELSEC iQ-R Motion Controller Programming Manual (Machine Control).

Setting Details

Not used • Machine control is disabled.

• Machine common parameters, and machine parameters are not read.

Used • Machine control is enabled.

• When machine control parameters (machine common parameters, machine parameters) exist, they are read and machine control is performed.

• When machine control parameters do not exist, machine control is not performed.

The machine control settings at the time of when Multiple CPU system power supply is turned ON are stored in "Machine control setting information (SD519)". Refer to special registers for details on special registers. (Page 431 Special Registers)

G-code control setting

Set when performing G-code control. Add-on library must be installed to perform G-code control. Refer to the following for details on G-code control. MELSEC iQ-R Motion Controller Programming Manual (G-Code Control).

Setting Details

Not used • G-code control is disabled.

• The G-code add-on library is not executed, and G-code control parameters are not read.

Use line 1 only • When the G-code control add-on library is installed, G-code control is enabled. (When the G-code control add-on

Use line 1 and line 2

library is not installed, a moderate error (error code: 30FFH) occurs.)

• If the parameters for G-code control (G-code control system parameters, G-code control axis parameters, and Gcode control work parameters) are written in the Motion CPU, the parameters are read and G-code control is performed.

• When G-code control parameters do not exist, a moderate error (error code: 2200H) occurs.

The G-code control enable information at the time of when Multiple CPU system power supply is turned ON is stored in "G-code control enable information (SD518)". Refer to special registers for details on special registers. (Page 431 Special Registers)

2 COMMON PARAMETERS

2.3 Motion CPU Common Parameter

Servo network setting

Window

Displayed items

The following explains each item to be set in servo network setting.

[Motion CPU Common Parameter]  [Servo network setting]

Item Setting range

SSCNET setting Page 65 SSCNET setting

Amplifier setting Page 66 Amplifier setting

2 COMMON PARAMETERS

2.3 Motion CPU Common Parameter

SSCNET setting

Window

Displayed items

[Motion CPU Common Parameter]  [Servo network setting]  [SSCNET Setting]

Item Setting range Default value

Communication type SSCNET/H/SSCNET SSCNET/H

■Communication type

Set the communication type to communicate with the servo amplifier for every line.

•SSCNET/H: MR-J4(W)-B

•SSCNET: MR-J3(W)-B

2 COMMON PARAMETERS

2.3 Motion CPU Common Parameter

Amplifier setting

Window

Displayed items

[Motion CPU Common Parameter]  [Servo network setting]  [Amplifier Setting]

Item Setting range Default value

Amplifier information

Axis information

External synchronous encoder input

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

Operation cycle selection Operation cycle/Low speed operation cycle Operation cycle

Allowable travel during Power-Off <Communication type "SSCNET" use>

Sensing module information

Amplifier model <Communication type "SSCNET/H" use>

MR-J4(W)-B(-RJ)/MR-J4-B-LL/FR-A800-1/FR-A800-2/MR-MT2010/LJ72MS15/ VC (CKD NIKKI DENSO)/VPH (CKD NIKKI DENSO)/STEP AZ (ORIENTAL MOTOR)/5-Phase ST (ORIENTAL MOTOR)/IAI Driver for Electric Actuator (IAI)

<Communication type "SSCNET" use> MR-J3(W)-B/MR-J3-B(S) Fully closed/MR-J3(W)-B Linear/MR-J3(W)-B DD motor/ MR-MT1200/FR-A700/FR-A700-NA/FR-A700-EC/FR-A700-CHT/VC (CKD NIKKI DENSO)/VPH (CKD NIKKI DENSO)

Amplifier operation mode

Use as virtual servo

amplifier

Axis No. R64MTCPU: Up to 2 lines, 64 axes

RIO axis No.

Station No.d <Communication type "SSCNET/H" use>

Axis label/RIO axis label

Operation mode 1 station occupied mode/Axis mode (MR-MT2200) No setting

Extension module

connection number

Used axis number <Operation mode "Axis mode (MR-MT2200)" use>

<Communication type "SSCNET/H" use> Standard/Fully closed/Linear/DD motor

<Communication type "SSCNET/H" use> Use/not use as virtual servo amplifier

R32MTCPU: Up to 2 lines, 32 axes R16MTCPU: Up to 1 line, 16 axes

<Communication type "SSCNET/H" use> R64MTCPU: Up to 2 lines, 8 axes R32MTCPU: Up to 2 lines, 8 axes R16MTCPU: Up to 1 line, 4 axes

1 to 64

Up to 32 characters No setting

Invalid/ABS/INC Invalid

0 to 8191 revolution

<Operation mode "1 station occupied mode" use> 0 to 4

1 to 4

MR-J4(W)-B(-RJ)

MR-J3(W)-B

Standard

Not use as virtual servo amplifier

No setting

2.3 Motion CPU Common Parameter

2 COMMON PARAMETERS

Item Setting range Default value

Extension module setting information

MR-MT2200 axis information

No.1 type to No.4 type <Operation mode "1 station occupied mode" use>

MR-MT2100/MR-MT2200/MR-MT-2300/MR-MT2400

Axis No. <Operation mode "Axis mode (MR-MT2200)" use>

Station No.d <Operation mode "Axis mode (MR-MT2200)" use>

R64MTCPU: Up to 2 lines, 64 axes R32MTCPU: Up to 2 lines, 32 axes R16MTCPU: Up to 1 line, 16 axes

1 to 64

No setting

■Amplifier information

Set the amplifier model and amplifier operation mode.

• Amplifier model

Communication type Amplifier model

When "SSCNET/H" is set • MR-J4(W)-B(-RJ)

When "SSCNET" is set • MR-J3(W)-B

• MR-J4-B-LL

•FR-A800-1

•FR-A800-2

• MR-MT2010

• LJ72MS15

•VC (CKD NIKKI DENSO)

• VPH (CKD NIKKI DENSO)

• STEP AZ (ORIENTAL MOTOR)

• 5-Phase ST (ORIENTAL MOTOR)

• IAI Driver for Electric Actuator (IAI)

• MR-J3-B(S) fully closed

• MR-J3(W)-B linear

• MR-J3(W)-B DD motor

• MR-MT1200

•FR-A700

•FR-A700-NA

•FR-A700-EC

• FR-A700-CHT

•VC (CKD NIKKI DENSO)

• VPH (CKD NIKKI DENSO)

• Amplifier operation mode Set the amplifier operation mode only when "MR-J4(W)-B(-RJ)" is selected for the amplifier model.

Amplifier model Amplifier operation mode

MR-J4(W)-B(-RJ) • Standard

• Fully closed

• Linear

• DD motor

• Use as virtual servo amplifier Set whether to use/not use as virtual servo amplifier only when "MR-J4(W)-B(-RJ)" is selected for the amplifier model.

■Axis information

Set the axis No., station No., and axis label used to identify the servo amplifier.

• Axis No. Set the axis No. for each line used by the Motion CPU to identify the servo amplifier.

Motion CPU Axis No. setting range

R64MTCPU 1 to 64

R32MTCPU 1 to 32

R16MTCPU 1 to 16

2 COMMON PARAMETERS

2.3 Motion CPU Common Parameter

• RIO Axis No. Set the RIO axis No. used by the Motion CPU to identify the remote I/O only when "LJ72MS15", or "MR-MT2010 (operation mode: 1 station occupied mode)" is selected for the amplifier model.

Motion CPU Axis No. setting range

R64MTCPU 601 to 608

R32MTCPU 601 to 608

R16MTCPU 601 to 604

• Station No. d Set the station No. set with the servo amplifier rotary switch for each line.

Communication type Station No. setting range

When "SSCNET/H" is set 1 to 64

When "SSCNET" is set 1 to 16

• Axis label/RIO axis label Set an axis label of up to 32 characters for the set axis/RIO axis. This is the RIO axis label when "LJ72MS15" is selected for the amplifier model. When "MR-MT2010" is selected for the amplifier model, the RIO axis label is set if operation mode is "1 station occupied mode", and axis label is set if operation mode is "Axis mode (MR-MT2200)".

■External synchronous encoder input

Set external synchronous encoder input when "MR-J4(W)-B(-RJ)" is selected for the amplifier model.

■Input filter setting

Set the signal input filter time for the servo amplifier with external input signal.

■Operation cycle selection

Set the cycle for operation control of the applicable axes.

Setting Details

Operation cycle The applicable axis operates at the operation cycle.

Low speed operation cycle The applicable axis operates at the low speed operation cycle.

Refer to mixed operation cycle function for details of low speed operation cycle. (Page 160 Mixed Operation Cycle Function)

When [Motion CPU Common Parameter]  [Basic Setting]  "Low Speed Operation Cycle Magnification Setting" is set to "Not Used", this setting is ignored.

■Allowable travel during power off

Set only when "MR-J3(W)-B" or "MR-J3-B(S) fully closed" is selected for the amplifier model when communication type "SSCNET" is selected. If the motor travel distance when the servo amplifier control circuit power supply is OFF exceeds the permissible travel amount when power supply off, a warning (error code: 093FH) occurs.

Setting range

0 to 8191

2 COMMON PARAMETERS

2.3 Motion CPU Common Parameter

■Sensing module information

Set the sensing module operation mode and extension module connection number when "MR-MT2010" is selected for the amplifier model.

• Operation mode Set the sensing module operation mode.

Amplifier model Operation mode

MR-MT2010 • 1 station occupied mode

• Axis mode (MR-MT2200)

• Extension module connection number Set the number of sensing extension modules connected when "1 station occupied mode" is selected for the operation mode. When using the sensing SSCNET/H head module only, set "0",

Setting range

0 to 4

• Used axis number Set the used axis number of the sensing pulse I/O modules to control the axes when "Axis mode (MR-MT2200)" is selected for the operation mode.

Setting range

1 to 4

■Extension module setting information

Set the extension modules for the number of modules set in extension module connection number when "MR-MT2010" is selected for the amplifier model, and "1 station occupied mode" is selected for operation mode.

Item Extension module type

No.1 type to No.4 type • MR-MT2100

• MR-MT2200

• MR-MT2300

• MR-MT2400

■MR-MT2200 axis information

Set the axis No. and station No. for identifying the sensing pulse I/O module to control the axes when "MR-MT2010" is selected for the amplifier model, and "Axis mode (MR-MT2200)" is selected for the operation mode.

• Axis No. Set the axis No. that the Motion CPU uses to identify the sensing pulse I/O module.

Motion CPU Axis No. setting range

R64MTCPU 1 to 64

R32MTCPU 1 to 32

R16MTCPU 1 to 16

• Station No. Set the station No. set by the rotary switch of the sensing module.

Station No. setting range

1 to 64

2 COMMON PARAMETERS

2.3 Motion CPU Common Parameter

Manual pulse generator connection setting

Window

Displayed items

This section describes the manual pulse generator connection setting items.

[Motion CPU Common Parameter]  [Manual Pulse Generator Connection Setting]

Item Setting range Default value

Valid setting 0: Invalid/1: Valid 0: Invalid

I/O No. H0000 to H0FF0 No setting

CH No. 1 to 2 No setting

Valid setting

Enable/disable the manual pulse generator (P1 to P3).

Setting range Details

0: Invalid Does not connect the manual pulse generator (P1 to P3).

1: Valid Connects the manual pulse generator (P1 to P3).

I/O No.

Set the start I/O No. for the high-speed counter module used to connect the manual pulse generator. Set the high-speed counter module as the Motion CPU management module in the GX Works3 "System Parameters"  "I/O Assignment Setting".

Setting range

H0000 to H0FF0

CH No.

Set the channel number for the high-speed counter module used to connect the manual pulse generator. The same channel number for the same module can be set to overlap in manual pulse generator (P1 to P3).

Setting range

1 to 2

2 COMMON PARAMETERS

2.3 Motion CPU Common Parameter

Refer to the following for details on the manual pulse generator. MELSEC iQ-R Motion Controller Programming Manual (Positioning Control)

2.4 Motion CPU Operating Status

This section describes the Motion CPU operating status and details of all processes. The operation for when the Motion CPU is started with the rotary switch set to "0: Normal mode" are shown below. Refer to each function for details on operation when started with rotary switch set to other than "0: Normal mode".

Initial processing

Initial processing the pre-processing used to start Motion CPU control. Initial processing is performed once only when the CPU module status is one of those shown in the table below. When initial processing is complete, the Motion CPU transitions to the operating status based on "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)". Details of initial process are shown in the table below. : Execute, : Don't execute

Initial processing item Motion CPU status

When Multiple CPU system power supply turned ON

Executing file transmission at boot 

R series common parameters reading and check

Motion CPU common Parameter reading

Motion control Parameter reading

System configuration check 

I/O module, intelligent function module initialization 

Initialization of devices outside latch range 

Motion SFC program, servo program reading 

System parameter 

CPU parameter

Module parameter

Basic setting 

Servo network setting

Limit switch output setting 

High-speed input request signal setting 

Mark detection setting

Manual pulse generator connection setting

Vision system parameter 

Head module setting 

Refresh (END/I45 executing) setting

Axis setting

parameter

Servo parameter 

Parameter block

Synchronous control parameter

Machine control parameter

G-code control parameter

Fixed parameter 

Home position return data

JOG operation data 

External signal parameter 

Expansion parameter 

Speed-torque control data 

Optional data monitor setting

Pressure control data

Override data

Vibration suppression command filter data

Input axis parameter 

Synchronous parameter

Machine common parameter

Machine parameter

G-code control system parameter 

G-code control axis parameter 

G-code control work parameter 

When resetting Multiple CPU system

At STOP to RUN/ When making test mode request

2 COMMON PARAMETERS

2.4 Motion CPU Operating Status

Initial processing item Motion CPU status

When Multiple CPU system power supply turned ON

Cam data reading 

*1 Shows the timing at which data is read from the settings file. Refer to each function for details on the indirect setting data read cycle and

data check timing.

When resetting Multiple CPU system

At STOP to RUN/ When making test mode request

Parameter and program content is read from a file and processed as follows until used for control. (1) Data (programs or parameters) is read from a file. (2) The read data is extracted to standard memory. (A consistency check is performed if necessary.) (3) Indirectly set parameter values are read from the device. (4) The data content is checked. (Value range check, etc.) (5) Data is then used for control. The timing of the above steps (1) to (5) may differ depending on the processing. The parameter and program read processing in the table above indicates the timing for steps (1) and (2). Refer to each function for details on the timing of steps (3) to (5).

2 COMMON PARAMETERS

2.4 Motion CPU Operating Status

RUN/STOP status control

STOP/RUN/test mode

When initial processing is complete, the Motion CPU status will be "STOP status", "RUN status", or "Test mode status" depending on the "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" and existence of a test mode request from MT Developer2, and the respective control will be performed. Motion CPU processing will be as follows for each operating status. : Possible, : Possible (restrictions apply), : Not possible

Processing details Motion CPU status

Stop error STOP RUN Test

Major Moderate

Multiple CPU/module control Input (X) module refresh processing 

Output (Y) module refresh processing 

Self-diagnosis processing 

Multiple CPU auto refresh 

Multiple CPU clock synchronization *2

Error reset 

Program execution/positioning control

Synchronous control Synchronous control operation 

Machine control Machine control operation 

G-code control G-code control operation 

Communication with peripheral devices

SSCNET(/H) control function Communication with servo amplifier 

Auxiliary/application function Limit switch output function 

File management SD memory card disable 

Positioning control, home position return, JOG operation, manual pulse generator operation, speed-torque control

Motion SFC program execution 

Motion dedicated command accept 

Synchronous encoder monitor 

Program/parameter reading 

Program/parameter writing 

Online change 

Device monitor, device test 

Transition to test mode 

Remote operation request 

Latch clear 

Memory formatting 

Disconnect/disconnect function 

Amplifier-less operation function 

Servo parameter transfer/read/change 

Optional data monitor function 

Mark detection function 

Servo ON/OFF 

Follow-up function 

Digital oscilloscope (online/offline) 





















mode

*1 Refer to "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" ON  OFF (RUN  STOP) processing. (Page 74 "[Rq.1120] PLC

ready flag (R: M30000/Q: M2000)" ON -> OFF (RUN -> STOP) processing) *2 Execution may not be possible if an error occurs. *3 Only transmission refresh is performed. *4 Refer to test mode for functions that can be used from the MT Developer2 test screen. (Page 328 Test Mode) *5 Only the M(P).CHGA/D(P).CHGA/M(P).CHGT/D(P).CHGT/D(P).DDWR/M(P).DDWR/D(P).DDRD/M(P).DDRD/M(P).BITWR/

D(P).BITWR commands are possible. *6 The servo system can be turned ON, however, axes cannot be moved. Furthermore, only position control mode is possible.

2 COMMON PARAMETERS

2.4 Motion CPU Operating Status

"[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" OFF -> ON (STOP -> RUN) processing

OFF

[Rq.1120] PLC ready flag (R: M30000/Q: M2000)

OFF

PCPU READY complete flag (SM500)

Positioning start

Clear a M-code

Deceleration stop

PCPU READY complete flag (SM500) does not turn on because during deceleration.

■Processing details

1. The Y device content is initialized based on the "Output mode setting of STOP to RUN" (Refer to Page 55 CPU

parameter) operation.

2. All parameters are read from a file. (Refer to Page 71 Initial processing)

3. Clear the M-code storage area of all axes.

4. The "PCPU READY complete flag (SM500)" is turned ON when all of the above steps are complete. (Motion SFC

program execution is possible. The execution of automatically started Motion SFC programs is started from the beginning.)

• If there is a starting axis, an error occurs, and the processing above is not executed.

• The processing above is not executed during the test mode. It is executed when the test mode is cancelled and "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" is ON.

Refer to the following for details on the processing time when the "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" turns from OFF to ON. MELSEC iQ-R Motion Controller Programming Manual (Positioning Control)

"[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" ON -> OFF (RUN -> STOP) processing

■Processing details

1. Deceleration stop of the starting axis.

2. Execution of the Motion SFC program is stopped. (The program currently being executed stops at the position where

only the set number of consecutive transitions has been executed.)

3. All Y devices are turned OFF. If the "Output mode setting of STOP to RUN" (Refer to Page 55 CPU parameter) is

"output the output (Y) status before STOP", the status prior to clearing is saved. However, the high-speed counter module Y device set for the synchronous encoder or manual pulse generator input does not turn OFF even if the status is STOP.

4. The "PCPU READY complete flag (SM500)" is turned OFF.

• Refer to the following for details on the processing time when the "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" turns from ON to OFF. MELSEC iQ-R Motion Controller Programming Manual (Positioning Control)

• Axis stoppage processing when transitioning from the RUN status to STOP status may differ depending on the cause of the stoppage. Refer to the following for details. MELSEC iQ-R Motion Controller Programming Manual (Positioning Control)

2 COMMON PARAMETERS

2.4 Motion CPU Operating Status

3 DEVICES

This section describes the devices used with the Motion CPU.

3.1 Device List

The following is a list of devices that can be used with the Motion CPU. : Setting possible, : Setting not possible

Category Type Device name Device range Word device Bit

No. of points Setting range Notation

User device Bit device Input (X) 12288 points (12k)

Output (Y) 12288 points (12k)

Internal relay (M) 49152 points (48k)

Link relay (B) 8192 points (8k)

Annunciator (F) 2048 points (2k)

Word device Data register (D) 57344 points (56k)

Link register (W) 8192 points (8k)

Motion register (#) 12288 points (12k)

System device Bit device Special relay (SM) 4096 points SM0 to SM4095 Decimal 

Word device Special register (SD) 4096 points SD0 to SD4095 Decimal 

CPU buffer memory access device

Module access device

Constant 16-bit integer

Word device CPU buffer memory

Word device Module access device Up to 268435456

type

32-bit integer type

64-bit floating-point type

access device

CPU buffer memory access device (fixed scan communication area)

Decimal notation K-32768 to K32767

Hexadecimal notation H0 to HFFFF

Decimal notation K-2147483648L to K2147483647L

Hexadecimal notation H0L to HFFFFFFFFL

Decimal notation K-1.79E+308 to K-2.23E-308

Up to 2097152 (2M) U3E\G0 to

Up to 12288 points

(12k)

points (256M)

K0.0 K2.23E-308 to K1.79E+308

X0 to X2FFF Hexadecimal 

Y0 to Y2FFF Hexadecimal

*4*5

M0 to M49151 Decimal 

B0 to B1FFF Hexadecimal

F0 to F2047 Decimal

*4*5

D0 to D57343 Decimal 

W0 to W1FFF Hexadecimal

#0 to #12287 Decimal

Decimal

U3E\G2097151

U3E\HG0 to U3E\HG12287

U\G0 to UG268435455

*6*7

Decimal

designation

Latch

setting

*1 The description for word device bit designation is "Device No. n (n = bit No.: 0 to F)".

(Example) "W100.A" indicates W100 bit A.

*2 Refer to latch function for details on the latch function. (Page 86 Latch Function) *3 Up to 4096 X/Y points set in the GX Works3 [System Parameter]  [I/O Assignment Setting] can be used as actual input/actual output.

(By specifying I/O settings other than group settings, the I/O status for management of other CPUs can be read.)

*4 The total number of devices for the number of devices/latch setting can be changed within 128k words.(Page 84 Device points

setting) *5 Includes dedicated positioning devices. *6  indicates the CPU No. (CPU No.1: 0, CPU No.2: 1, CPU No.3: 2, CPU No.4: 3). *7 This is the usage range at the Motion CPU. The maximum number of CPU buffer memory access devices will differ depending on the

CPU module. *8 The total number for each unit can be changed within 24k words in the GX Works3 [System Parameter]  [Multiple CPU Setting].

However, the maximum number per CPU is 12288. *9  indicates 00H to FFH (module I/O No. /10H). The accessible range differs depending on the module. Refer to the manual for the

module being used.

3 DEVICES

3.1 Device List

[Device writing precautions] Do not write to the following devices from the Motion CPU. Writing will be ignored, or a malfunction will occur.

• Actual input devices, or I/O number that is not allocated to any module and is within range of the maximum I/O number for the modules being used, from inputs (X).

• Actual output devices from outputs (Y) for which other CPU management performed.

• Other CPU buffer memory access devices (U3E\G, U3E\HG).

• Other CPU management module access devices (U\G).

• Devices updated at the module side from module access devices (U\G).

• Devices other than user set devices from special relays (SM), special registers (SD).

• Monitor signals from internal relay (M), data register (D), Motion register (#) dedicated positioning devices.

3 DEVICES

3.1 Device List

Devices that can be used with each function

The following is a list of word and bit devices that can be used with each Motion CPU function. : Setting possible, : Setting possible (restrictions apply), : Setting not possible

Item Device type System

device compatibility (SM/SD)

Multiple CPU refresh setting

Parameter R series common

First device 

parameter

Module CPU common parameter

Motion control parameter

Axis setting parameter

Synchronous control parameter

Machine control parameter

Bit device

Word device Bit

Word device

designation

CPU refresh setting END 

I45 executing 

Main cycle/operation cycle 

CPU parameter RUN contact 

Basic settings Forced stop input setting  

Limit switch output setting

High-speed input request signal setting

Mark detection setting

Vision system parameter

Head module setting

Home position return data

External signal parameter

Expansion parameter

Speed-torque control parameter

Optional data monitor

Pressure control data

Override data Word device setting item  

Vibration suppression command filter data

Command generation axis parameter

Multiple CPU advanced synchronous control setting

Machine common

meter

ara

Machine parameter Option setting A  

Bit device setting item  

Word device setting item  

Bit device setting item  

Word device setting item  

Bit device setting item  

Word device setting item  

Bit device setting item  

Word device setting item  

CPU refresh device setting (Input: RX, RWr/Output: RY, RWw)

Status device  

Monitor device  

Command device  

Word device setting item  

Bit device setting item  

Word device setting item  

Bit device setting item  

Word device setting item  

Storage device No.  

Bit device setting item  

Word device setting item  

Bit device setting item  

Word device setting item  

Bit device setting item  

Word device setting item  

Status device setting  

Point block setting  

Option setting B  

 

*2



3 DEVICES

3.1 Device List

Item Device type System

device compatibility (SM/SD)



Parameter Motion

control parameter

Device allocation 

Latch function 

Program Motion dedicated

Digital oscilloscope

sequence command

Servo program(K) Servo command Bit device setting item  

Motion SFC program Operation control

Motion SFC parameter Program parameter Executing flag 

Sampling function Sampling target  

G-code control parameter

G-code control system parameter

Motion SFC start request from the PLC CPU to the Motion CPU (M(P).SFCS/D(P).SFCS)

Servo program start request from the PLC CPU to the Motion CPU (M(P).SVST/D(P).SVST)

Direct positioning start instruction from the PLC CPU to the Motion CPU (M(P).SVSTD/ D(P).SVSTD)

Current value change instruction from the PLC CPU to the Motion CPU (M(P).CHGA/ D(P).CHGA)

Current value change instruction of command generation axis from the PLC CPU to the Motion CPU (M(P).CHGAS/D(P)CHGAS)

Speed change instruction from the PLC CPU to the Motion CPU (M(P).CHGV/D(P).CHGV)

Speed change instruction of command generation axis from the PLC CPU to the Motion CPU (M(P).CHGVS/D(P).CHGVS)

Torque limit value change request instruction from the PLC CPU to the Motion CPU (M(P).CHGT/ D(P).CHGT)

Machine program operation start request from the PLC CPU to the Motion CPU (M(P).MCNST/ D(P).MCNST)

Device writing to Motion CPU(M(P).DDWR/ D(P).DDWR)

Reading from Motion CPU device (M(P).DDRD/ D(P).DDRD)

Write bit device to the Motion CPU (M(P).BITWR/ D(P).BITWR)

Interrupt instruction to the other CPU (M(P).GINT/ D(P).GINT)

Positioning data Bit device setting item  

program (F/FS)/ transition program (G)

WAIT ON/WAIT OFF  

Bit device setting item  

Word device setting item  

Word device setting item  

Bit device setting item 

Word device setting item  

Bit device

Word device Bit

Word device

designation

 

*2





*1 Annunciators (F) cannot be set. *2 CPU buffer memory access devices (U3E\G, U3E\HG) and module access devices (U\G) cannot be set. *3 Only inputs (X) can be set. *4 Inputs (X) and outputs (Y) cannot be set. *5 Setting is not possible for commands (BMOV, FMOV, TO, RTO, RFROM, DIN, DOUT) in which bit data is used as 16 point units or 32

point units.

3 DEVICES

3.1 Device List

3.2 User Device

This section describes user devices used with the Motion CPU.

Input (X)

These are commands or data given to the Motion CPU with external devices such as buttons, switches, limit switches, and digital switches.

Output (Y)

These are program control results output to external signal lamps, digital displays, electromagnetic contactors, and solenoids, etc.

Internal relay (M)

These are devices intended for use as auxiliary relays inside the Motion CPU. When the following operations are performed, all internal relays turn OFF.

• Multiple CPU system power OFF  ON

• Multiple CPU system reset

• Latch clear Some internal relays (M) are used as positioning signals. Refer to the following for details. MELSEC iQ-R Motion Controller Programming Manual (Positioning Control)

Link relay (B)

These are devices intended for use as auxiliary relays inside the Motion CPU. Link relays perform the same role as internal relays (M).

Annunciator (F)

These are devices intended for use as auxiliary relays inside the Motion CPU. Annunciators perform the same role as internal relays (M).

Data register (D)

These devices are able to store numerical data. Some data registers (D) are used for positioning control. Refer to the following for details. MELSEC iQ-R Motion Controller Programming Manual (Positioning Control)

Link register (W)

These devices are able to store numerical data. Link registers (W) perform the same role as data registers (D).

Motion register (#)

These devices are able to store numerical data. Some Motion registers (#) are used as monitoring devices. Refer to the following for details. MELSEC iQ-R Motion Controller Programming Manual (Positioning Control)

3 DEVICES

3.2 User Device

3.3 System Device

Ex.

U 3E \  

Communication area

• G: CPU buffer memory

• HG: Fixed scan communication area

First address in buffer memory

CPU module installation position CPU No.1: 3E0 CPU No.2: 3E1 CPU No.3: 3E2 CPU No.4: 3E3

System devices are devices for the system. Allocation and capacity are fixed, and cannot be changed arbitrarily.

Special relay (SM)

These are internal relays whose specifications inside the Motion CPU are fixed, and as with standard internal relays, they cannot be used at the program. However, they can be turned ON and OFF to control the Motion CPU if required. Refer to special relays for details on special relays. (Page 426 Special Relays)

Special register (SD)

These are internal registers whose specifications inside the Motion CPU are fixed, and as with standard internal registers, they cannot be used at the program. However, data can be written to control the Motion CPU if required. Refer to special registers for details on special registers. (Page 431 Special Registers)

3.4 CPU Buffer Memory Access Device

These devices access memory used to read and write data between CPU modules in a Multiple CPU system.

Specification method

Specify with U [CPU module installation position]\[Communication area][First address in buffer memory].

CPU No.2, CPU buffer memory address 4095  U3E1\G4095

CPU No.3, CPU buffer memory (fixed scan communication area) address 1024  U3E2\HG1024

3 DEVICES

3.3 System Device

3.5 Module Access Device

Ex.

U  \ 

Intelligent function module or I/O module I/O number

• 00 to FF

Buffer memory address

These devices are used to directly access the buffer memory in intelligent function modules or I/O modules installed on the main base unit or expansion base unit from the Motion CPU.

Specification method

Specify with U [Intelligent function module or I/O module I/O No.*1]\[Buffer memory address].

*1 2 high-order digits if first I/O No. is expressed with 3 digits

For X/Y1F0: X/Y1F0  Specification: 1F

Intelligent function module I/O No. 050, buffer memory address 11  U5\G11

3.6 Constants

This section describes constants.

Decimal constants (K)

These devices are used to specify decimal data in the program. Specify with K. The specification range is determined based on the argument data type for the instruction using the decimal constant.

Hexadecimal constants (H)

These devices are uses to specify hexadecimal data in the program. Specify with H. To specify data by BCD, specify each hexadecimal digit with 0 to 9. The specification range is determined based on the argument data type for the instruction using the hexadecimal constant.

3 DEVICES

3.5 Module Access Device

3.7 Device Setting

Ex.

Axis 1 status (M32400 to M32431)

Axis 2 status (M32432 to M32463)

Axis 63 status (M34384 to M34415)

Axis 64 status (M34416 to M34447)

Device assignment of axis 1 to 64 is MELSEC iQ-R Motion device assignment

Axis 1 status (M2400 to M2419)

Axis 2 status (M2420 to M2439)

Axis 31 status (M3000 to M3019)

Axis 32 status (M3020 to M3039)

Axis 33 status (M33424 to M33455)

Axis 34 status (M33456 to M33487)

Axis 63 status (M34384 to M34415)

Axis 64 status (M34416 to M34447)

Device assignment of axis 1 to 32 is Q series Motion compatible device assignment

Device assignment of axis 33 to 64 is MELSEC iQ-R Motion device assignment

Device assignment method

Device assignment methods set the usable range of devices to be used by the Motion CPU. The device assignment methods available are MELSEC iQ-R Motion device assignment, and Q series Motion compatible device assignment. Refer to the following for the devices of MELSEC iQ-R Motion device assignment and Q series Motion compatible device assignment. MELSEC iQ-R Motion Controller Programming Manual (Positioning Control)

Device assignment method for the Motion CPU

■MELSEC iQ-R Motion device assignment

This device assignment is best suited for the device assignment of positioning dedicated signals (internal relay(M), data register(D)) for the MELSEC iQ-R series Motion CPU. When configuring a new system, the MELSEC iQ-R Motion device assignment method is recommended.

For axis status

■Q series Motion compatible device assignment

This device assignment provides compatibility for the device assignment of positioning dedicated signals (internal relay(M), data register(D), Motion register(#)) for the Q series Motion CPU. Use Q series Motion compatible device assignment in the following cases:

• When diverting devices from a Q series system.

• When diverting devices from a Q series system, and expanding the system from 33 axes onwards with the R64MTCPU.

For axis status

3 DEVICES

3.7 Device Setting

Selecting device assignment method

The device assignment method can be selected in MT Developer2 by the following method. For details on the operation for selecting device assignment method, refer to the following. Help of MT Developer2

■Selecting at the creation of a new project

When creating a new project in MT Developer2, select MELSEC iQ-R Motion device assignment or Q series Motion compatible device assignment.

■Switching device assignment methods

Switching between MELSEC iQ-R Motion device assignment method and Q series Motion compatible device assignment method is possible in the change device assignment method screen of MT Developer2.

[Online] [Change Device Assignment Method]

Precautions

• When changing the device assignment method, the changes are enabled by power ON of the Multiple CPU system, or by reset.

• When using R64MTCPU in Q series Motion compatible device assignment, the devices for axis 33 to 64 use MELSEC iQR Motion device assignment. Bear in mind that the regularity of MELSEC iQ-R Motion device assignment differs to that of Q series Motion compatible device assignment.

• Performing "Motion CPU memory clear" from MT Developer2, or clearing "Backup RAM" with the "built-in memory clear" by rotary switch returns the device assignment "Q series Motion compatible device assignment".

• When loading backup data to the Motion CPU with MT Developer2, the device assignment method of the Motion CPU where backup data is being loaded and the backup data must be the same. If the device assignments methods are different an error occurs and loading is not possible. Also, when the backup data does not support the device assignment method of the Motion CPU, set the device assignment method of the Motion CPU to "Q series Motion compatible device assignment".

• Communication between MT Developer2 and the Motion CPU is not possible when the device assignment methods differ.

3 DEVICES

3.7 Device Setting

Device points setting

Window

Device points setting for user devices

The number of devices used can be changed with the number of device points/latch setting.

[R Series Common Parameter]  [Motion CPU Module]  [CPU Parameter]  "Device Related Setting"  "Device Points/Latch Setting"  "Detailed Setting"

Precautions

Pay attention to the following if changing the number of devices.

• The number of inputs (X) and outputs (Y) cannot be changed.

• The maximum number of total user devices is 128k words.

• When device points are outside the setting range, the default points are set.

• The range within which each device can be changed is shown below.

■MELSEC iQ-R Motion device assignment, Q series Motion compatible device assignment (R64MTCPU)

Device Setting unit Default No. of points Min. No. of points Maximum No. of points

Internal relay (M) 64 points 48k (49152) points 48k (49152) points 128k (131072) points

Link relay (B) 64 points 8k (8192) points 0k (0) points 128k (131072) points

Annunciator (F) 64 points 2k (2048) points 0k (0) points 128k (131072) points

Data register (D) 4 points 56k (57344) points 56k (57344) points 111.50k (114176) points

Link register (W) 4 points 8k (8192) points 0k (0) points 55.50k (56832) points

Motion register (#) 4 points 12k (12288) points 12k (12288) points 67.50k (69120) points

*1 If devices other than the relevant device are set as the minimum number of set devices

■Q series Motion compatible device assignment (R32MTCPU/R16MTCPU)

Device Setting unit Default No. of points Min. No. of points Maximum No. of points

Internal relay (M) 64 points 12k (12288) points 12k (12288) points 128k (131072) points

Link relay (B) 64 points 8k (8192) points 0k (0) points 128k (131072) points

Annunciator (F) 64 points 2k (2048) points 0k (0) points 128k (131072) points

Data register (D) 4 points 20k (20480) points 20k (20480) points 113.75k (116480) points

Link register (W) 4 points 8k (8192) points 0k (0) points 93.75k (96000) points

Motion register (#) 4 points 12k (12288) points 12k (12288) points 105.75k (108288) points

*1 If devices other than the relevant device are set as the minimum number of set devices

3 DEVICES

3.7 Device Setting

• If the number of user devices used is changed, the change will be valid when power supply of the Multiple

Ex.

(Bit device capacity) =

(words)

(X+Y+M+B+F)

(Word device capacity) =

(D+W+#)

16 (words)

CPU system is turned ON, or when reset.

• If changing the number of user devices used, ensure that the Multiple CPU refresh range and latch range do not lie outside the range for the number of devices. If the relevant device range is exceeded, data may be written to another device, or an error may occur.

User device memory capacity

Set user devices so that they satisfy the following formula. (Bit device capacity) + (word device capacity)  128k words

■Bit devices

For bit devices, 16 points are calculated as 1 word.

■Word devices

For data registers (D), link registers (W), and Motion registers (#), 16 points are calculated as 16 words.

Device allocation examples

An example of device point allocation is shown below.

For Q series Motion compatible device assignment

Device name Symbol Number

base

Bit devices Input X Hexadecimal 12k (12288) points X0 to X2FFF  16 768 words

Output Y Hexadecimal 12k (12288) points Y0 to Y2FFF  16 768 words

Internal relay M Decimal. 16k (16384) points M0 to M16383  16 1024 words

Link relay B Hexadecimal 1k (1024) points B0 to B03FF  16 64 words

Annunciator F Decimal. 4k (4096) points F0 to F4095  16 256 words

Word devices Data register D Decimal. 22k (22528) points D0 to D22527  1 22528 words

Link register W Hexadecimal 5k (5120) points W0 to W13FF  1 5120 words

Motion register # Decimal. 15k (15360) points #0 to #15359  1 15360 words

Device total 45888 words (131072 words or less)

Device points Limit check

Points Setting range Capacity (words)

3 DEVICES

3.7 Device Setting

3.8 Latch Function

Window

The content of each Motion CPU device is cleared in the following cases, and is returned to the respective default value (bit devices: OFF, word devices: 0).

• Multiple CPU system power supply OFF to ON

• Multiple CPU system reset

• Power failure longer than permissible momentary power failure time The content of each device for which the latch setting has been specified is retained in the event of a power failure even in the above cases. Consequently, when managing data when performing consecutive control, all data is retained, allowing control to be continued even if the Multiple CPU system power supply turns OFF to ON, or if a power failure longer than permissible momentary power failure time occurs.

Devices for which latch is possible

Devices for which a latch is possible are as follows.

• Internal relays (M)

• Link relays (B)

• Annunciators (F)

• Data registers (D)

• Link registers (W)

• Motion registers (#)

Operation when latches used

Operation in the program is the same regardless of whether a latch has been set.

Latch range setting

Set the latch range for each device with the device points/latch setting. Multiple latch ranges can be set for each device type. A combined total of 32 latch ranges can be set for latch (1) and latch (2). However, the latch range must be set so that the latch (1) and latch (2) ranges do not overlap. Latch range setting is valid when the Multiple CPU system power supply is turned ON.

[R Series Common Parameter]  [Motion CPU Module]  [CPU Parameter]  "Device Related Setting"  "Device Points/Latch Setting"  "Detailed Setting"

3 DEVICES

3.8 Latch Function

Clearing the latch range

The latch (1) and latch (2) ranges are cleared with the following operations. (Page 352 Memory Initialization)

Latch range Clear operation

Latch (1) • Clearing the MT Developer Motion CPU memory.

Latch (2) Cleaning built-in memory with Motion CPU rotary switch "C".

• Cleaning built-in memory with Motion CPU rotary switch "C".

Precautions

• When increasing the ranges set for latch (1) or latch (2), the latch device value when the Multiple CPU system power supply is turned ON again after parameter writing will be the value when the power supply was previously turned OFF.

• All latch ranges are cleared if the device point setting, or device assignment method differs from the setting at the previous operation when turning ON the Multiple CPU system or when resetting.

3 DEVICES

3.8 Latch Function

4 AUXILIARY AND APPLIED FUNCTIONS

Watch data value

OFF

Upper limit value

Lower limit value

Output device

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

ON section setting

Watch data value

OFF

Lower limit value

Upper limit value

Output device

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

ON section setting

Watch data value

OFF in whole region

Lower limit value Upper limit value

Output device

ON section setting

4.1 Limit Switch Output Function

This function is used to output the ON/OFF signal corresponding to the data range of the watch data set per output device. Motion control data or optional word data can be used as watch data.(Page 90 Limit output data setting) A maximum output device for 64 points can be set regardless of the number of axes.

Operations

Limit switch output function

ON output to an output device is made while the watch data value is in the ON region set with lower limit value and upper limit value in the limit switch output function. Up to two ON regions can be set for each limit output setting data.

• Lower limit value, upper limit value and watch data value are handled as signed data. ON output region where an ON output is made to the output device is governed by the magnitude relationship between lower limit value and upper limit value as indicated below.

Relationship between lower limit value and upper limit value

Lower limit value < Upper limit value Lower limit value  (watch data value) < Upper limit value

ON output region

Lower limit value > Upper limit value Lower limit value  (watch data value)

Lower limit value = Upper limit value Output OFF in whole region

(Watch data value) < Upper limit value

4 AUXILIARY AND APPLIED FUNCTIONS

4.1 Limit Switch Output Function

• The limit switch outputs are controlled based on each watch data during the READY complete status (SM500: ON) by the

Watch data value

OFF

Upper limit value Lower limit value

Output device

ON section setting No.2

ON section setting No.1

"[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" from OFF to ON. With the setting of "Rq.1120: PLC ready flag keep the output device when turns OFF" invalid, when the "PCPU READY complete flag (SM500)" turns OFF by turning the "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" from ON to OFF, all points turn OFF. With the setting of "Rq.1120: PLC ready flag keep the output device when turns OFF" valid for output devices other than Y devices, the output devices do not turn OFF even when the "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" turns from ON to OFF. The setting is valid for all the output devices. Y devices always turn OFF when the "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" turns from ON to OFF. When lower limit value and upper limit value are specified with word devices, the word device contents are input to the internal area when the "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" turns from OFF to ON. After that, the word device contents are input per motion operation cycle, and limit switch outputs are controlled.

• Multiple outputs (Up to 64 points) can be also set to one watch data. In each setting, the output device may be the same. If both of the two regions of the ON section setting are used or if the same output device is designated by multiple output settings (regardless of whether or not the watch data is the same), the logical add of the output results in the regions is output.

Setting the forced OFF bit

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

Setting the forced ON bit

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

4 AUXILIARY AND APPLIED FUNCTIONS

4.1 Limit Switch Output Function

Limit output data setting

Window

Displayed items

This section describes limit output data setting items. Up to 64 points of output devices can be set. (The items in the table below are set together as one point.)

[Motion CPU Common Parameter]  [Limit Output Data]

Item Setting range Fetch cycle Refresh cycle

Rq.1120: PLC ready flag keep the output device when turns OFF

Output device

Limit output compensation time -5000000 to 5000000[s]/Word device Operation

Watch data Watch data setting Motion control data/Word device data/Word device data (ring counter)

ON section setting

Forced OFF bit

Forced ON bit

Output device Bit device Operation cycle

16 point unit batch output setting

Axis

Name

*2*3

Device

*2*3

Data type

Ring counter value

ON section setting 1

ON section setting 2

Forced OFF bit Invalid (default)/valid

Forced OFF bit device Bit device

Forced ON bit Invalid (default)/valid

Forced ON bit device Bit device

Upper limit value Word device/constant (K, H) Operation

Lower limit value

Upper limit value

Lower limit value

Invalid (default)/valid 

Invalid (default)/valid 

cycle

1 to 64

Page 92 Motion control data

Word device

16-bit integer type/32-bit integer type

16-bit integer type: K1 to K32767, H0001 to H7FFF 32-bit integer type: K1 to K2147483647, H00000001 to H7FFFFFFF



cycle

*1 When Motion control data selected *2 When word device data selected *3 When word device data (ring counter) selected

4.1 Limit Switch Output Function

4 AUXILIARY AND APPLIED FUNCTIONS

Rq.1120: PLC ready flag keep the output device when turns OFF

With this setting valid for output devices other than Y devices, the output devices do not turn OFF even when the "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" turns from ON to OFF. The setting is valid for all the output devices. Y devices always turn OFF when the "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" turns from ON to OFF.

Output device

• Set the bit device which outputs the ON/OFF signal toward the preset watch data.

• As the output device, bit devices are used. Refer to device list for the range of bit devices that can be set. (Page 75 Device List)

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

16 point unit batch output setting Control description

Invalid The output device is output point-by-point.

Valid The sequential 16-point output devices are output in a batch.

Limit output compensation time

Compensate the output timing of the output device. Set it to compensate for output signal delays. (Set a positive value to compensate for a delay.) In indirect setting, the timing is compensated as "-5000000" when the compensation time is set to less than -5000000, and it is compensated as "5000000" when it is set to more than 500000.

■Direct setting

Setting range

-5000000 to 5000000[s]

■Indirect setting

Word devices are used for the limit output compensation time. Set an even number for the device number. Refer to device list for the range of word devices that can be set. (Page 75 Device List)

4 AUXILIARY AND APPLIED FUNCTIONS

4.1 Limit Switch Output Function

Watch data

Upper limit setting

Lower limit setting

Without output device compensation time

ON section setting

OFF

Ring counter value

This data is used to perform the limit switch output function. This data is comparison data to output the ON/OFF signal. The output device is ON/OFF-controlled according to the ON section setting. As the watch data, motion control data, word device data or word device data (ring counter) can be used.

■Motion control data

Settable watch data is shown in the following table.

Item Unit Data type Axis No. setting range Remarks

R64MTCPU R32MTCPU R16MTCPU

Feed current value Control unit 32-bit integer type 1 to 64 1 to 32 1 to 16 

Real current value

Servo command value pulse

Position feed back

Absolute position encoder single revolution position

Absolute position encoder multiple revolution position

Deviation counter value pulse 32-bit integer type

Servo command speed pulse/s

Motor speed 0.01r/min

Motor current value 0.1% 16-bit integer type

Command generation axis feed current value Control unit 32-bit integer type

Command generation axis cumulative current value

Command generation axis current value per cycle

Synchronous encoder axis current value Encoder axis

Synchronous encoder axis current value per cycle

Cam axis current value per cycle Cam axis

Cam axis current value per cycle (Actual)

 16-bit integer type

unit

cycle unit

1 to 12

1 to 64 1 to 32 1 to 16 Valid in

synchronous control

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

•Device Word devices are used for watch data. Refer to device list for the range of word devices that can be set. (Page 75 Device List)

• Data type The following data type is set as the data type to be compared.

Data type Remarks

16-bit integer type 

32-bit integer type Set the device No. as an even No.

• Ring counter value When the watch data is the word device data (ring counter), the ring counter value is set.

Data type Remarks

16-bit integer type H0001 to H7FFF

32-bit integer type K1 to K2147483647, H00000001 to H7FFFFFFF

4 AUXILIARY AND APPLIED FUNCTIONS

4.1 Limit Switch Output Function

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

ON section setting

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

• Word devices constants (Hn/Kn) can be used as the lower limit value and upper limit value of the data range. The data type of device/constant to be set is the same as the type of watch data. Refer to device list for the range of word devices that can be set. (Page 75 Device List)

Forced OFF bit

• Set the "forced OFF bit" when forced OFF of the output device is desired during operation. The following control is exercised.

Forced OFF bit Control description

Invalid Output device is turned ON/OFF based on the ON section setting.

Val id O FF

ON Output device is turned OFF.

• Bit devices are used for forced OFF bits. Refer to device list for the range of bit devices that can be set. (Page 75 Device List)

Forced ON bit

• Set the "forced ON bit" when forced ON of the output device is desired during operation. The following control is exercised.

Forced ON bit Control description

Invalid Output device is turned ON/OFF based on the ON section setting.

Val id O FF

ON Output device is turned ON.

• Bit devices are used for forced ON bits. Refer to device list for the range of bit devices that can be set. (Page 75 Device List)

4 AUXILIARY AND APPLIED FUNCTIONS

4.1 Limit Switch Output Function

4.2 External Input Signal

Signal type

• Bit device • Bit device

• Amplifier input DI3

• Bit device

• Amplifier input DI1

• Bit device

• Amplifier input DI2

• Bit device

Signal control

Control function

High-speed input request signal (64 signals)

• Compensation time

• Valid/Invalid

• Status

• Leading edge/ Trailing edge/ Both directions

• Precision settings

DOG signal

• Normal open/ Normal close

• Precision settings

FLS signal

• Normal open/ Normal close

RLS signal

• Normal open/ Normal close

STOP signal

• Normal open/ Normal close

Mark detection (64 settings)

• High-speed input request signal

• Compensation time

• Latch data

• Current value

• Feed current value

• Synchronous encoder current

Clutch (64 axes × 2)

Synchronous encoder current value change/ counter enable and disable (12 axes)

Speed/position switching (64 axes)

• Enable flag

Home position return (64 axes)

Hardware limit processing/limit combined home position return (64 axes)

Stop processing (64 axes)

External signal (64 axes)

External input signals are managed as "external signals" or "high-speed input request signals". External signals are used with control functions such as home position return, speed/position switching control, hardware limits, and stop processing. High-speed input request signals are used with control functions such as mark detection clutch control, and synchronous encoder axis current value changes.

External signal

External signals (FLS signals, RLS signals, STOP signals, DOG signals) are assigned to each axis, and are used with control functions such as home position return, speed/position switching control, hardware limits, and stop processing. External signals are set in the external signal parameters. Refer to following for details on external signal parameters. MELSEC iQ-R Motion Controller Programming Manual (Positioning Control)

4 AUXILIARY AND APPLIED FUNCTIONS

4.2 External Input Signal

High-speed Input Request Signal

High-speed input request signal 3 (X0005)

[Md.320] Synchronous encoder axis current value (R: D38650+32n, D38561+32n/ Q: D13240+20n, D13241+20n)

OFF

ON *1

OFF

High-speed input request signal valid flag

High-speed input request signal status

[Cd.320] Synchronous encoder axis control start condition (R: D42322+16n/Q: D14822+10n) [Cd.321] Synchronous encoder axis control method (R: D42323+16n/Q: D14823+10n)

103: High-speed input request signal 3

0: Current value change

*1: Set the high-speed input request signal

detection direction to "Leading edge"

Set the allocation of high-speed input request signals. The high-speed input request signals are used for mark detection and to control clutch ON/OFF operations, synchronous control or the counter enable/counter disable/current value change operation of the synchronous encoder axis with high accuracy. An example of current value change of the synchronous encoder axis using input module (X0005) as the high-speed input request signal is shown below.

4 AUXILIARY AND APPLIED FUNCTIONS

4.2 External Input Signal

High-speed input request signal setting

Window

Displayed items

This section describes the high-speed input request signal setting items. Up to 64 signals can be registered.

[Motion CPU Common Parameter]  [High-speed Input Request Signal]

Item Setting range

High-speed input request signal Signal type Bit device/Amplifier input/Sensing module input

Device

Input module

*2*3

Axis No.

Input signal

High-speed input request signal detection direction

High-speed input request signal accuracy

High-speed input request signal compensation time -5000000 to 5000000[s]/Word device

High-speed input request signal valid flag 

High-speed input request signal status 

High-speed input request signal control cycle setting Operation cycle/Low speed operation cycle

*1*3

Bit device

MR-MT2010/MR-MT2100/MR-MT2200

1 to 64, 601 to 608

*2*3

DI1 to DI16

Leading edge/Trailing edge/Both directions

General/High-accuracy

/Bit device

*1 When bit device is selected *2 When sensing module input is selected *3 When amplifier input is selected *4 This setting can be omitted

■High-speed input request signal

Set the input signal for high-speed input request signal.

•Bit device Bit devices are used for high-speed input request signals. Refer to device list for the range of bit devices that can be set. (Page 75 Device List)

• Amplifier input Input signals DI1 to DI3 of the servo amplifier are used for high-speed input request signals.

Input module Axis No. Input signal

R64MTCPU R32MTCPU R16MTCPU

Servo amplifier 1 to 64 1 to 32 1 to 16 DI1 to DI3

4.2 External Input Signal

4 AUXILIARY AND APPLIED FUNCTIONS

• Sensing module input The external input signal DI of the sensing module is used as the high-speed input request signal.

Input module Axis No. Input signal

Model Operation

mode

MR-MT2010

MR-MT2100 Station mode 601 to 608 601 to 608 601 to 608 DI1 to DI16

MR-MT2200

*1 When the operation mode of MR-MT2010 is axis mode and high-accuracy ("1: Timing-latch input" set in servo parameter "DI setting 2

*2 When "MR-MT2010+Extension modules" is 1 station and using the high-speed input request signal with high-accuracy, the setting range

*3 When high-accuracy ("1: Timing-latch input" set in servo parameter "DI setting 2 (function selection)") is set for MR-MT2200, or the

Station mode 601 to 608 601 to 608 601 to 608 DI1 to DI12

Axis mode 1 to 64 1 to 32 1 to 16

(function selection)") is set, or MR-MT2010 is set at an axis No. other than the start station in 1 block, a moderate error (error code: 30D3H) occurs.

is "DI1 to DI4".

operation mode is axis mode, a moderate error (error code: 30D3H) occurs.

R64MTCPU R32MTCPU R16MTCPU

DI1 to DI14 (CH.1: DI1 to DI7, CH.2: DI8 to DI14)

■High-speed input request signal detection direction

When bit device or amplifier input is set, set whether to perform the high-speed input request signal detection operation in the input signal leading edge (OFF to ON), trailing edge (ON to OFF), or both directions (OFF to ON, ON to OFF).

Input signal detection direction

Leading edge Performs high-speed input request detection with the input signal OFF to ON.

Trailing edge Performs high-speed input request detection with the input signal ON to OFF.

Both directions Performs high-speed input request detection with the input signal OFF to ON or ON to OFF.

Remarks

For sensing module input, the high-speed input request signal detection direction is set in the servo parameters. Refer to the following for details of servo parameters. Sensing Module Instruction Manual

• When the high-speed input request signal accuracy of the sensing module is set to general, the high-speed input request signal detection direction is leading edge only. However, when detecting by input ON or input OFF to the DI signal, set the servo parameter "DI setting 1 (polarity selection)".

• When the high-speed input request signal accuracy of the sensing module is set to high-accuracy, the detection direction can be set in the servo parameter "DI setting 2 (DI signal edge selection)"

4 AUXILIARY AND APPLIED FUNCTIONS

4.2 External Input Signal

■High-speed input request signal accuracy

High-speed input request signal accuracy Detection accuracy [µs]

General • Operation cycle 0.444[ms] or less: Operation cycle

• Operation cycle 0.888[ms] or more: 888

High-accuracy 1

When bit device or amplifier input is set, set the accuracy of high-speed input request signals.

High-speed input request signal accuracy

General Bit device None 222

High-accuracy Bit device • Enable the inter-module

*1 When using an actual device with the inter-module synchronization setting, the inter-module synchronization cycle is used. *2 When not set, a moderate error (error code: 30D3H) occurs. *3 Detection accuracy of the high-accuracy setting of the bit device.

Input response time [ms] Detection accuracy

0.10 4.9 7

0.20 9.9 12

0.40 19.8 22

0.60 25.0 27

1.00 39.5 41

5.00 158 160

10.00 316 318

20.00 630 632

70.00 2500 2502

Signal type Setting required on the module

side

Amplifier input (DI1 to DI3) None • Operation cycle 1.777[ms] or less:

synchronization function.

• Set the input response time.

Theoretical value [s] Measured value [s]

Detection accuracy[s]

Operation cycle

• Operation cycle 3.555[ms] or more: 3555

• General The detection accuracy is based on the fixed-cycle processing of the Motion CPU. General detection accuracy is used even when the input module setting is "Enable synchronization between modules".

• High-accuracy When the input module setting is "inter-module synchronization valid", by setting the high-speed input request signal accuracy to "High-accuracy", high-speed input request signals can be controlled with high accuracy. If this signal is specified for a signal that is not compatible with high-accuracy input, a moderate error (error code: 30D3H) occurs.

For sensing module input, the high-speed input request signal accuracy is set in the servo parameters. Refer to the following for details of servo parameters. Sensing Module Instruction Manual

• When the high-speed input request signal accuracy of the sensing module is set to general, set "0: Digital input" in the servo parameter "DI setting 2 (function selection)".

• When setting the high-speed input request signal accuracy of the sensing module to high-accuracy, set "1: Timing-latch input" in the servo parameter "DI setting 2 (function selection)". By setting a sensing module DI signal that supports the timing-latch input function, control accuracy using the high-speed input request signal can be changed to high-accuracy. Refer to timing-latch input function for details of timing-latch input function. (Page 240 Timing-latch input function) The detection accuracy of sensing module input is as follows.

4 AUXILIARY AND APPLIED FUNCTIONS

4.2 External Input Signal

Mitsubishi Electric MELSEC iQ-R16MTCPU, MELSEC iQ-R32MTCPU MELSEC iQ-R64MTCPU Programming Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY PRECAUTIONS

CONDITIONS OF USE FOR THE PRODUCT

INTRODUCTION

CONTENTS

RELEVANT MANUALS

TERMS

MANUAL PAGE ORGANIZATION

Overview

1 MULTIPLE CPU SYSTEM

1.1 Multiple CPU System

Restrictions on Multiple CPU systems using Motion CPUs

Module control with Motion CPUs

Setting operation for CPU module stop error

Multiple CPU synchronous startup setting

Clock synchronization between Multiple CPU

1.2 Setting Operation for Multiple CPU System

Used memory

1.3 Data Communication Between CPU Modules in the Multiple CPU System

Data communication by refreshing at Motion CPUs

Fixed scan data transmission section over check

Inter-module synchronization function

Control instruction from PLC CPU to Motion CPU

2 COMMON PARAMETERS

2.1 Parameters Used by the Motion CPU

2.2 R Series Common Parameter

System parameter

CPU parameter

Module Parameter

2.3 Motion CPU Common Parameter

Basic setting

Servo network setting

Manual pulse generator connection setting

Initial processing

2.4 Motion CPU Operating Status

RUN/STOP status control

3 DEVICES

3.1 Device List

Devices that can be used with each function

Input (X)

Output (Y)

Internal relay (M)

Link relay (B)

Annunciator (F)

Data register (D)

Link register (W)

Motion register (#)

3.2 User Device

Special relay (SM)

Special register (SD)

3.4 CPU Buffer Memory Access Device

3.3 System Device

3.6 Constants

3.5 Module Access Device

Device assignment method

3.7 Device Setting

Device points setting

3.8 Latch Function

Operations

4 AUXILIARY AND APPLIED FUNCTIONS

4.1 Limit Switch Output Function

Limit output data setting

External signal

4.2 External Input Signal

High-speed Input Request Signal