Mitsubishi Q02HCPU, Q06HCPU, Q12HCPU, Q25HCPU, Q02PHCPU User Manual
...
Programmable Controller
MITSUBISHI ELECTRIC
MITSUBISHI ELECTRIC
User's Manual
(Multiple CPU System)
01 12 2008
SH(NA)-080485ENG
Version H
QCPU
INDUSTRIAL AUTOMATION
SAFETY PRECAUTIONS
(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.
In this manual, the safety precautions are classified into two levels: " DANGER" and " CAUTION".
DANGER
CAUTION
Under some circumstances, failure to observe the precautions given under " CAUTION" may lead to
serious consequences.
Make sure that the end users read this manual and then keep the manual in a safe place for future
reference.
Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight personal injury or physical damage.
A - 1
[Design Precautions]
DANGER
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) Configure external safety circuits, such as an emergency stop circuit, protection circuit, and
protective interlock circuit for forward/reverse operation or upper/lower limit positioning.
(2) The programmable controller stops its operation upon detection of the following status, and the
output status of the system will be as shown below.
Status
Overcurrent or overvoltage protection of
the power supply module is activated.
The CPU module detects an error such as
a watchdog timer error by the
self-diagnostic function.
Q series module AnS/A series module
All outputs are turned off All outputs are turned off
All outputs are held or
turned off according to the
parameter setting.
All outputs are turned off
All outputs may turn on when an error occurs in the part, such as 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 Chapter 10 LOADING AND INSTALLATION in the QCPU User's Manual
(Hardware Design, Maintenance and Inspection).
(3) Outputs may remain on or off due to a failure of an output module relay or transistor. Configure
an external circuit for monitoring output signals that could cause a serious accident.
A - 2
[Design Precautions]
DANGER
In an output module, 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.
For the operating status of each station after a communication failure, refer to relevant manuals for
the network.
Incorrect output or malfunction due to a communication failure may result in an accident.
When changing data of the running programmable controller from a peripheral connected to the
CPU module or from a personal computer connected to an intelligent function module, configure an
interlock circuit in the sequence program to ensure that the entire system will always operate safely.
For program modification and operating status change, read relevant manuals carefully and ensure
the safety before operation.
Especially, in the case of a control from an external device to a remote programmable controller,
immediate action cannot be taken for a problem on the programmable controller due to a
communication failure.
To prevent this, configure an interlock circuit in the sequence program, and determine corrective
actions to be taken between the external device and CPU module in case of a communication
failure.
CAUTION
Do not install the control lines or communication cables together with the main circuit lines or power
cables.
Keep a distance of 100mm (3.94 inches) or more between them.
Failure to do so may result in malfunction due to noise.
When a device such as a lamp, heater, or solenoid valve is controlled through an output module, a
large current (approximately ten times greater than normal) may flow when the output is turned from
off to on.
Take measures such as replacing the module with one having a sufficient current rating.
A - 3
[Installation Precautions]
CAUTION
Use the programmable controller in an environment that meets the general specifications in the
QCPU User's Manual (Hardware Design, Maintenance and Inspection).
Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the
product.
To mount the module, while pressing the module mounting lever located in the lower part of the
module, fully insert the module fixing projection(s) into the hole(s) in the base unit and press the
module until it snaps into place.
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 screw 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 incorrect input or output.
When using a memory card, fully insert it into the memory card slot.
Check that it is inserted completely.
Poor contact may cause malfunction.
Shut off the external power supply for the system in all phases before mounting or removing the
module. Failure to do so may result in damage to the product.
A module can be replaced online (while power is on) on any MELSECNET/H remote I/O station or in
the system where a CPU module supporting the online module change function is used.
Note that there are restrictions on the modules that can be replaced online, and each module has its
predetermined replacement procedure.
For details, refer to the relevant sections in the QCPU User's Manual (Hardware Design,
Maintenance and Inspection) and in the manual for the corresponding module.
Do not directly touch any conductive part of the module.
Doing so can cause malfunction or failure of the module.
When using a Motion CPU module and modules designed for motion control, check that the
combinations of these modules are correct before applying power.
The modules may be damaged if the combination is incorrect.
For details, refer to the user's manual for the Motion CPU module.
A - 4
[Wiring Precautions]
DANGER
Shut off the external power supply for the system in all phases before wiring.
Failure to do so may result in electric shock or damage to the product.
After wiring, attach the included terminal cover to the module before turning it on for operation.
Failure to do so may result in electric shock.
DANGER
Ground the FG and LG terminals to the protective ground conductor dedicated to the programmable
controller.
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 terminal 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 a fire or
failure.
Connectors for external connection must be crimped or pressed with the tool specified by the
manufacturer, or must be correctly soldered.
Incomplete connections could result in short circuit, fire, or malfunction.
Tighten the terminal screw within the specified torque range.
Undertightening can cause short circuit, fire, or malfunction.
Overtightening can damage the screw and/or module, resulting in drop, short circuit, or malfunction.
Prevent foreign matter such as dust or wire chips from entering the module.
Such foreign matter can cause a fire, failure, or malfunction.
A - 5
[Wiring Precautions]
DANGER
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.
Mitsubishi 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 maintenance personnel
who is familiar with protection against electric shock. (For wiring methods, refer to the QCPU User's
Manual (Hardware Design, Maintenance and Inspection)).
[Startup and Maintenance Precautions]
DANGER
Do not touch any terminal while power is on.
Doing so will cause electric shock.
Correctly connect the battery connector.
Do not charge, disassemble, heat, short-circuit, solder, or throw the battery into the fire.
Doing so will cause the battery to produce heat, explode, or ignite, resulting in injury and fire.
Shut off the external power supply for the system in all phases before cleaning the module or
retightening the terminal screws or module fixing screws.
Failure to do so may result in electric shock.
Undertightening the terminal screws can cause short circuit or malfunction.
Overtightening can damage the screw and/or module, resulting in drop, short circuit, or malfunction.
A - 6
[Startup and Maintenance Precautions]
CAUTION
Before performing online operations (especially, program modification, forced output, and operation
status change) for the running CPU module from the peripheral connected, read relevant manuals
carefully and ensure the safety.
Improper operation may damage machines or cause accidents.
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 (9.85 inches) away in all directions from the programmable controller.
Failure to do so may cause malfunction.
Shut off the external power supply for the system in all phases before mounting or removing the
module. Failure to do so may cause the module to fail or malfunction.
A module can be replaced online (while power is on) on any MELSECNET/H remote I/O station or in
the system where a CPU module supporting the online module change function is used.
Note that there are restrictions on the modules that can be replaced online, and each module has its
predetermined replacement procedure.
For details, refer to the relevant sections in the QCPU User's Manual (Hardware Design,
Maintenance and Inspection) and in the manual for the corresponding module.
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 more than 50 times (IEC 61131-2 compliant) respectively.
Exceeding the limit of 50 times may cause malfunction.
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.
Before handling the module, touch a grounded metal object to discharge the static electricity from
the human body.
Failure to do so may cause the module to fail or malfunction.
A - 7
[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 of the Battery Directive in EU countries, refer to the QCPU User's Manual (Hardware
Design, Maintenance and Inspection).)
[Transportation Precautions]
CAUTION
When transporting lithium batteries, follow the transportation regulations.
(For details of the regulated models, refer to the QCPU User's Manual (Hardware Design,
Maintenance and Inspection).)
A - 8
REVISIONS
*The manual number is given on the bottom left of the back cover.
Print date Manual number Revision
Jun., 2004 SH(NA)-080485ENG-A First edition
May, 2005 SH(NA)-080485ENG-B Partial correction
GENERIC TERMS AND ABBREVIATIONS, Chapter 1, Section 1.1, 2.1, 2.3, 2.4,
3.1, 3.3.1, 3.3.2, 3.4.1, 3.4.2, 3.8, 3.9, 3.10, 4.1.1, 4.1.2, 4.1.3, 6.1, 6.1.1, 7.1,
8.1, 8.2.2, 8.2.3, 8.2.4, 8.3.1, 8.3.4, Appendix 1.1
Aug., 2005 SH(NA)-080485ENG-C Partial correction
GENERIC TERMS AND ABBREVIATIONS, Section 2.1
Apr., 2007 SH(NA)-080485ENG-D Universal model QCPU model addition
Revision involving Universal model QCPU serial No.09012
Model addition
Q02UCPU, Q03UDCPU, Q04UDHCPU, Q06UDHCPU, Q61P, QA65B, QA68B
Partial correction
SAFETY PRECAUTION, ABOUT MANUALS, GENERIC TERMS AND
ABBREVIATIONS, Section 1.1, 1.2, 1.3, 2.1.1, 2.1.2, 2.1.3, 2.2, 2.3, 2.4, 3.1.1,
3.1.2, 3.1.3, Chapter 4, Section 4.1, 4.1.1, 4.1.2, 4.1.3, 4.1.4, 4.1.5, 4.3.2, 5.1,
5.2, 6.1, 6.1.3, 6.1.4, 6.1.7, 6.1.8, 7.1, 8.1, 8.2.1, 8.2.2
Aug., 2007 SH(NA)-080485ENG-E Model addition
QA6ADP
Partial correction
GENERIC TERMS AND ABBREVIATIONS, Section 1.1, 1.2, 1.3, 2.1.1, 2.1.2,
2.1.3, 2.2, 2.3, 3.1, 3.1.2, 3.1.3, 3.3.1, 3.8, 4.1, 4.1.2, 4.2.1, 4.3.1, 8.2.2,
Appendix 1.1
Mar., 2008 SH(NA)-080485ENG-F Universal model QCPU model addition
Model addition
Q13UDHCPU, Q26UDHCPU
Partial correction
GENERIC TERMS AND ABBREVIATIONS, Section 1.1.1, 1.2, 1.3, 2.1.1, 2.1.2,
2.1.3, 2.3, 2.4, 3.1, 3.1.1, 3.1.2, 3.1.3, Chapter 4, Section 4.1.2, 4.1.3, 4.1.4,
4.1.5, 4.2.1, 4.3.1, 4.4, 4.5, 5.1, 5.2, 5.3, 6.1, 6.1.8, 7.1, 8.1, 8.2.1, 8.2.2, 8.3.1,
8.3.2
Addition
Section 4.3.3
Japanese manual version SH-080475-H
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mit-
subishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur
as a result of using the contents noted in this manual.
2008 MITSUBISHI ELECTRIC CORPORATION
A - 9
Print date Manual number Revision
May, 2008 SH(NA)-080485ENG-G Addition of Universal model QCPU and Process CPU models
Model addition
Q02PHCP, Q06PHCPU, Q03UDECPU, Q04UDEHCPU, Q06UDEHCPU,
Q13UDEHCPU, Q26UDEHCPU
Partial correction
A term "MELSECNET/G" has been revised to "CC-Link IE controller network"
through this manual,
GENERIC TERMS AND ABBREVIATIONS, Chapter 1, Section 1.1, 2.1.1,
2.1.2, 2.1.3, 2.2, 2.3, 2.4, 3.1, 3.8, 4.2, 4.3.1, 4.3.3, 5.1, 5.2, 6.1
Dec., 2008 SH(NA)-080485ENG-H Addition of Universal model QCPU and C Controller module
Model addition
Q00UCPU, Q01UCPU, Q10UDHCPU, Q20UDHCPU, Q10UDEHCPU,
Q20UDEHCPU, Q61P-D
Partial correction
ABOUT MANUALS, GENERIC TERMS AND ABBREVIATIONS, Chapter 1,
Section 1.1, 1.3, 2.1.1, 2.1.2, 2.1.3, 2.3, 2.4, 3.1, 3.1.2, 3.1.3, 3.2, 3.3.2, 3.7, 3.9,
4.1.1, 4.1.2, 4.1.3, 4.1.4, 4.1.5, 4.3.1, 4.3.3, 4.5, 5.1, 5.2, 7.1, 8.1, 8.2.2
A - 10
INTRODUCTION
This manual is designed for users to understand the multiple CPU system including information of the system
configuration, functions, and communication with external devices that are required when the MELSEC-Q
series programmable controller is used in the multiple CPU system.
This manual is composed of the following parts and explains:
1) Chapter 1 and 2 Overview and system configuration of the multiple CPU system
2) Chapter 3 Multiple CPU system concept
3) Chapter 4 Communications between CPU modules in the multiple CPU system
4) Chapter 5 Processing time in the multiple CPU system
5) Chapter 6 Parameters used in the multiple CPU system
6) Chapter 7 Precautions for use of the AnS series module in the multiple CPU system
7) Chapter 8 Startup of the multiple CPU system
Before using the equipment, please read this manual carefully to develop full familiarity with the functions and
performance of the Q series programmable controller you have purchased, so as to ensure correct use.
Relevant CPU module
CPU module Model
Basic model QCPU Q00CPU, Q01CPU
High Performance model QCPU Q02CPU, Q02HCPU, Q06HCPU, Q12HCPU, Q25HCPU
Process CPU Q02PHCPU, Q06PHCPU, Q12PHCPU, Q25PHCPU
Q00UCPU, Q01UCPU, Q02UCPU, Q03UDCPU, Q04UDHCPU,
Universal model QCPU
Q06UDHCPU, Q10UDHCPU, Q13UDHCPU, Q20UDHCPU,
Q26UDHCPU, Q03UDECPU, Q04UDEHCPU, Q06UDEHCPU,
Q10UDEHCPU, Q13UDEHCPU, Q20UDEHCPU, Q26UDEHCPU
Remark
This manual does not include the specifications of the power supply module, base unit, extension cables, memory cards
and batteries.
Refer to the following manual.
QCPU User's Manual (Hardware Design, Maintenance and Inspection)
This manual does not describe the functions of the CPU module.
For the functions, refer to the following.
Manuals for the CPU module used. (Function Explanation, Program Fundamentals)
A - 11
CONTENTS
CONTENTS
SAFETY PRECAUTIONS......................................................................................................................A - 1
REVISIONS ...........................................................................................................................................A - 9
INTRODUCTION ................................................................................................................................... A - 11
MANUALS ............................................................................................................................................. A - 15
MANUAL PAGE ORGANIZATION.........................................................................................................A - 18
GENERIC TERMS AND ABBREVIATIONS ..........................................................................................A - 20
CHAPTER1 OUTLINE 1-1 to 1-23
1.1 What is multiple CPU system?............................................................................................... 1 - 1
1.2 Features of multiple CPU system .......................................................................................... 1 - 5
1.3 Difference from Single CPU System ...................................................................................... 1 - 11
CHAPTER2 SYSTEM CONFIGURATION 2-1 to 2-57
2.1 System configuration ............................................................................................................. 2 - 1
2.1.1 System configuration using Basic model QCPU (Q00CPU, Q01CPU)............................. 2 - 1
2.1.2 System configuration using High Performance model QCPU or Process CPU as
CPU No.1 ........................................................................................................ 2 - 10
2.1.3 System configuration using Universal model QCPU as CPU No.1...................................2 - 24
2.2 Configuration of peripheral devices ....................................................................................... 2 - 38
2.3 Configurable device and available software .......................................................................... 2 - 42
2.4 Precautions for system configuration..................................................................................... 2 - 52
CHAPTER3 CONCEPT FOR MULTIPLE CPU SYSTEM 3-1 to 3-41
3.1 Mounting Position of CPU Module ......................................................................................... 3 - 1
3.1.1 When CPU No.1 is Basic model QCPU............................................................................3 - 2
3.1.2 When CPU No.1 is High Performance model QCPU or Process CPU ............................. 3 - 6
3.1.3 When CPU No.1 is Universal model QCPU...................................................................... 3 - 11
3.2 CPU No. of CPU module ....................................................................................................... 3 - 18
3.3 Concept of I/O number assignment ....................................................................................... 3 - 20
3.3.1 I/O number assignment of each module ...........................................................................3 - 20
3.3.2 I/O number of each CPU module......................................................................................3 - 22
3.4 Access Range of CPU Module and Other Modules...............................................................3 - 23
3.4.1 Access range with controlled module................................................................................3 - 23
3.4.2 Access range with non-controlled module ........................................................................3 - 23
3.5 Access target under GOT connection .................................................................................... 3 - 30
3.6 Access with instruction using link direct device ..................................................................... 3 - 30
3.7 Access range of GX Developer..............................................................................................3 - 31
3.8 Clock data used by CPU module and intelligent function module .........................................3 - 34
3.8.1 Clock data used by CPU module ......................................................................................3 - 34
3.8.2 Clock data used by intelligent function module .................................................................3 - 35
3.9 Resetting the multiple CPU system .......................................................................................3 - 36
3.10 Operation for CPU module stop error .................................................................................... 3 - 37
3.11 Host CPU number of multiple CPU system ........................................................................... 3 - 40
A - 12
CHAPTER4 COMMUNICATIONS BETWEEN CPU MODULES 4-1 to 4-56
4.1 Communications between CPU modules using CPU shared memory .................................. 4 - 3
4.1.1 CPU shared memory.........................................................................................................4 - 3
4.1.2 Communication by auto refresh using CPU shared memory............................................4 - 8
4.1.3 Communication by auto refresh using multiple CPU high speed transmission area.........4 - 23
4.1.4 Communication using CPU shared memory by program.................................................. 4 - 36
4.1.5 Communications between CPU modules when the error occurs...................................... 4 - 46
4.2 Communications with instructions dedicated to Motion CPU................................................. 4 - 47
4.2.1 Control instruction from QCPU to Motion CPU .................................................................4 - 47
4.3 Communication with Dedicated Instructions .......................................................................... 4 - 49
4.3.1 Writing/reading of device data from QCPU to Motion CPU...............................................4 - 49
4.3.2 Starting interrupt program from QCPU to C Controller module/PC CPU module.............. 4 - 51
4.3.3 Writing/reading of device data from QCPU to QCPU........................................................4 - 52
4.4 Multiple CPU Synchronous Interrupt...................................................................................... 4 - 53
4.5 Multiple CPU Synchronized Boot-up...................................................................................... 4 - 55
CHAPTER5 PROCESSING TIME OF QCPU IN MULTIPLE CPU SYSTEM 5-1 to 5-10
5.1 Concept of Scan Time ........................................................................................................... 5 - 1
5.2 Factors for prolonged Scan Time........................................................................................... 5 - 3
5.3 Reducing processing time...................................................................................................... 5 - 10
CHAPTER6 PARAMETER ADDED FOR MULTIPLE CPU SYSTEM 6-1 to 6-9
6.1 Parameter list ......................................................................................................................... 6 - 1
6.1.1 Number of CPUs setting ...................................................................................................6 - 6
6.1.2 Operating mode setting.....................................................................................................6 - 8
6.1.3 Online module change setting...........................................................................................6 - 8
6.1.4 I/O settings outside of the group .......................................................................................6 - 8
6.1.5 Communication area setting (Refresh setting).................................................................. 6 - 8
6.1.6 Control CPU settings.........................................................................................................6 - 9
6.1.7 Multiple CPU synchronized boot-up..................................................................................6 - 9
6.1.8 Multiple CPU high speed transmission area setting..........................................................6 - 9
CHAPTER7 PRECAUTIONS FOR USING AnS/A SERIES-COMPATIBLE MODULES
7-1 to 7-4
7.1 Precautions for use of AnS/A series compatible module.......................................................7 - 1
CHAPTER8 STARTING UP THE MULTIPLE CPU SYSTEM 8-1 to 8-39
8.1 Flow-chart for Starting Up the Multiple CPU System ............................................................. 8 - 1
8.2 Setting Up the Multiple CPU System Parameters.................................................................. 8 - 3
A - 13
8.2.1 Parameter setting for the Basic model QCPU,High Paformance model QCPU,
Process CPU.................................................................................................... 8 - 3
8.2.2 Parameter setting for the Universal model QCPU ............................................................8 - 15
8.2.3 Reusing preset multiple CPU parameters......................................................................... 8 - 23
8.3 Communication program examples using auto refresh ......................................................... 8 - 28
8.3.1 Program examples for the Basic model QCPU, High Performance model QCPU and
Process CPU.................................................................................................... 8 - 28
8.3.2 Program examples for the Universal model QCPU...........................................................8 - 34
INDEX Index-1 to Index-2
A - 14
MANUALS
To understand the main specifications, functions, and usage of the CPU module, refer to the basic manuals.
Read other manuals as well when using a different type of CPU module and its functions.
Order each manual as needed, referring to the following lists.
The numbers in the "CPU module" and the respective modules are as follows.
Number CPU module
1) Basic model QCPU
2) High Performance model QCPU
3) Process CPU
4) Universal model QCPU
Basic manual, : Other CPU module manuals
:
Manual name
< Manual number (model code) >
User's manual
QCPU User's Manual (Hardware Design, Maintenance and Inspection)
< SH-080483ENG (13JR73) >
QnUCPU Users Manual (Function Explanation,
Program Fundamentals)
< SH-080807ENG (13JZ27) >
Qn(H)/QnPH/QnPRHCPU User's Manual (Function Explanation, Program Fundamentals)
< SH-080808ENG (13JZ28) >
QCPU User's Manual (Multiple CPU System)
< SH-080485ENG (13JR75) >
QnUCPU User's Manual (Communication via
Built-in Ethernet Port)
< SH-080811ENG (13JZ29) >
Programming manual
QCPU Programming Manual (Common Instructions)
< SH-080809ENG (13JW10) >
QCPU (Q Mode)/QnACPU Programming
Manual (SFC)
< SH-080041 (13JF60) >
QCPU (Q Mode) Programming Manual
(MELSAP-L)
< SH-080076 (13JF61) >
Description
Specifications of the hardware (CPU
modules, power supply modules, base units,
extension cables, and memory cards), system maintenance and inspection, troubleshooting, and error codes
Functions, methods, and devices for
programming
Functions, methods, and devices for
programming
Information for configuring a multiple CPU
system (system configuration, I/O
numbers, communication between CPU
modules, and communication with the input/
output modules and intelligent function modules)
Functions for the communication via built-in
Ethernet port of the CPU module
How to use sequence instructions, basic
instructions, and application instructions
System configuration, performance
specifications, functions, programming,
debugging, and error codes for SFC
(MELSAP3) programs
Programming methods, specifications, and
functions for SFC (MELSAP-L) programs
CPU module
1) 2) 3) 4)
A - 15
Manual name
< Manual number (model code) >
QCPU (Q Mode) Programming Manual
(Structured Text)
< SH-080366E (13JF68) >
QCPU (Q Mode) / QnACPU Programming Manual (PID Control Instructions)
< SH-080040 (13JF59) >
QnPHCPU/QnPRHCPU Programming Manual
(Process Control Instructions)
< SH-080316E (13JF67) >
Description
Programming methods using structured languages
Dedicated instructions for PID control
Dedicated instructions for process control
CPU module
1) 2) 3) 4)
A - 16
Other relevant manuals
Manual name Description
CC-Link IE Controller Network Reference
Manual
< SH-080668ENG (13JV16) >
Q Corresponding MELSECNET/H Network
System Reference Manual (PLC to PLC
network)
< SH-080049 (13JF92) >
Q Corresponding MELSECNET/H Network
System Reference Manual (Remote I/O
network)
< SH-080124 (13JF96) >
Q Corresponding Ethernet Interface Module
User's Manual (Basic)
< SH-080009 (13JL88) >
Q Corresponding Ethernet Interface Module
User's Manual (Application)
< SH-080010 (13JL89) >
CC-Link System Master/Local Module User's
Manual
< SH-080394E (13JR64) >
Q Corresponding Serial Communication
Module User's Manual (Basic)
< SH-080006 (13JL86) >
Q Corresponding Serial Communication
Module User's Manual (Application)
< SH-080007 (13JL87) >
Q Corresponding MELSEC Communication
Protocol Reference Manual
< SH-080008 (13JF89) >
GX Developer Version 8 Operating Manual
< SH-080373E (13JU41) >
Specifications, procedures and settings before system operation, parameter
setting, programming, and troubleshooting of the CC-Link IE controller
network module
Specifications, procedures and settings before system operation, parameter
setting, programming, and troubleshooting of a MELSECNET/H network
system (PLC to PLC network)
Specifications, procedures and settings before system operation, parameter
setting, programming, and troubleshooting of a MELSECNET/H network
system (remote I/O network)
Specifications, procedures for data communication with external devices,
line connection (open/close), fixed buffer communication, random access
buffer communication, and troubleshooting of the Ethernet module
E-mail function, programmable controller CPU status monitoring function,
communication via MELSECNET/H or MELSECNET/10, communication
using the data link instructions, and file transfer function (FTP server) of the
Ethernet module
System configuration, performance specifications, functions, handling,
wiring, and troubleshooting of the QJ61BT11N
Overview, system configuration, specifications, procedures before
operation, basic data communication method with external devices,
maintenance and inspection, and troubleshooting for using the serial
communication module
Special functions (specifications, usage, and settings and data
communication method with external devices of the serial communication
module
Communication method using the MC protocol, which reads/writes data to/
from the CPU module via the serial communication module or Ethernet
module
Operating methods of GX Developer, such as programming and printout
A - 17
MANUAL PAGE ORGANIZATION
The detailed explanation of "Note." is
provided under the corresponding
"Note." at the bottom of the page.
ReferenceNote (icon)
The section in this manual or
another relevant manual that can
be referred to is shown with .
Chapter
The chapter of the current page can be
easily identified by this indication on the
right side.
Note (detailed explanation)
The detailed note corresponding to each icon
is described.
Basic model QCPU
Basic
Performance model
High
QCPU
High
performance
Icons
Process CPU
Process
Section title
The section number and title of the current
page can be easily identified.
Universal model
Description
QCPU
Icons indicate that
specifications
Universal
described on the page
contain some precautions.
A - 18
In addition, this manual uses the following types of explanations.
In addition to description of the page, notes or functions that require special attention are described here.
Remark
The reference related to the page or useful information are described here.
A - 19
GENERIC TERMS AND ABBREVIATIONS
Unless otherwise specified, this manual uses the following generic terms and abbreviations.
* indicates a part of the model or version.
(Example): Q33B, Q35B, Q38B, Q312B Q3 B
Generic term/abbreviation Description
Series
Q series Abbreviation for Mitsubishi MELSEC-Q series programmable controller
AnS series
A series
CPU module type
CPU module
Basic model QCPU Generic term for the Q00CPU, and Q01CPU
High Performance model QCPU Generic term for the Q02CPU, Q02HCPU, Q06HCPU, Q12HCPU, Q25HCPU
Process CPU Generic term for the Q02PHCPU, Q06PHCPU, Q12PHCPU, Q25PHCPU
Universal model QCPU
Built-in Ethernet port QCPU
Motion CPU
PC CPU module
C Controller module Generic term for the Q06CCPU-V, Q06CCPU-V-B C Controller modules
CPU module model
QnU(D)(H)CPU
Base unit type
Base unit
Main base unit
Extension base unit
Slim type main base unit
Redundant power main base unit
Redundant power extension base
unit
Generic term for compact types of Mitsubishi MELSEC-A Series Programmable
Controller
Generic term for large types of Mitsubishi MELSEC-A Series Programmable
Controller
Generic term for the Basic model QCPU, High Performance model QCPU,
Process CPU, Redundant CPU, Universal model QCPU
Generic term for the Q00UCPU, Q01UCPU, Q02UCPU, Q03UDCPU,
Q04UDHCPU, Q06UDHCPU, Q10UDHCPU, Q13UDHCPU, Q20UDHCPU,
Q26UDHCPU, Q03UDECPU, Q04UDEHCPU, Q06UDEHCPU, Q10UDEHCPU,
Q13UDEHCPU, Q20UDEHCPU, and Q26UDEHCPU
Generic term for the Q03UDECPU, Q04UDEHCPU, Q06UDEHCPU,
Q10UDEHCPU, Q13UDEHCPU, Q20UDEHCPU, and Q26UDEHCPU
Generic term for Mitsubishi motion controllers, Q172CPUN, Q173CPUN,
Q172HCPU, Q173HCPU, Q172CPUN-T, Q173CPUN-T, Q172HCPU-T,
Q173HCPU-T, Q172DCPU, and Q173DCPU
Generic term for MELSEC-Q series-compatible PC CPU module,
PPC-CPU686(MS)-64, PPC-CPU686(MS)-128, PPC-CPU852(MS)-512,
manufactured by CONTEC Co., Ltd.
Generic term for the Q00UCPU, Q01UCPU, Q02UCPU, Q03UDCPU,
Q04UDHCPU, Q06UDHCPU, Q10UDHCPU, Q13UDHCPU, Q20UDHCPU, and
Q26UDHCPU
Generic term for the main base unit, extension base unit, slim type main base
unit, redundant power main base unit, redundant type extension base unit, and
multiple CPU high speed main base unit
Generic term for the Q3 B, Q3 SB, Q3 RB, and Q3 DB
Generic term for the Q5 B, Q6 B, Q6 RB, Q6 WRB, QA1S6 B, QA6 B,
and QA6ADP+A5 B/A6 B
Another name for the Q3 SB
Another name for the Q3 RB
Another name for the Q6 RB
A - 20
Generic term/abbreviation Description
Multiple CPU high speed main
base unit
Base unit model
Q3 B
Q3 SB
Q3 RB
Q3 DB
Q5 B
Q6 B
Q6 RB
QA1S6 B
QA6 B
A5 B
A6 B
QA6ADP+A5 B/A6 B
Power supply module
Power supply module
Q series power supply module
Slim type power supply module Abbreviation for the Q61SP slim type power supply module
AnS series power supply module Generic term for the A1S61PN, A1S62PN, and A1S63 power supply modules
A series power supply module
Redundant power supply module Generic term for the Q63RP and Q64RP redundant power supply modules
Network
MELSECNET/H Abbreviation for the MELSECNET/H network system
Ethernet Abbreviation for the Ethernet network system
CC-Link Abbreviation for the Control & Communication Link
Memory card
Memory card Generic term for the SRAM card, Flash card, and ATA card
Another name for the Q3 DB
Generic term for the Q33B, Q35B, Q38B, and Q312B main base units
Generic term for the Q32SB, Q33SB, and Q35SB slim type main base units
Another name for the Q38RB redundant power main base unit
Generic term for the Q38DB and Q312DB multiple CPU high speed main base units
Generic term for the Q52B and Q55B extension base units
Generic term for the Q63B, Q65B, Q68B, and Q612B extension base units
Another name for the Q68RB redundant power extension base unit
Generic term for the QA1S65B and QA1S68B
Generic term for the QA65B and QA68B extension base units
Generic term for the A52B, A55B, and A58B extension base units
Generic term for the A62B, A65B, and A68B extension base units
Abbreviation for a large type extension base unit where the QA6ADP is mounted
Generic term for the Q series power supply module, slim type power supply module, and redundant power supply module
Generic term for the Q61P-A1, Q61P-A2, Q61P, Q61P-D, Q62P, Q63P, Q64P, and
Q64PN power supply modules
Generic term for the A61P, A61PN, A62P, A63P, A68P, A61PEU, and A62PEU
power supply modules
SRAM card
Flash card Generic term for the Q2MEM-2MBF and Q2MEM-4MBF Flash cards
ATA ca r d
Others
GX Developer
PX Developer
QA6ADP Abbreviation for the QA6ADP QA conversion adapter module
Generic term for the Q2MEM-1MBS, Q2MEM-2MBS, Q3MEM-4MBS, and
Q3MEM-8MBS SRAM cards
Generic term for the Q2MEM-8MBA, Q2MEM-16MBA, and Q2MEM-32MBA ATA
cards
Product name for SW D5C-GPPW-E GPP function software package compatible
with the Q series
Product name for SW D5C-FBDQ process control FBD software package
A - 21
Generic term/abbreviation Description
Extension cable
Tracking cable
Generic term for the QC05B, QC06B, QC12B, QC30B, QC50B, and QC100B
extension cables
Generic term for the QC10TR and QC30TR tracking cables for the Redundant
module
Battery
GOT
Generic term for the Q6BAT, Q7BAT, and Q8BAT CPU module batteries,
Q2MEM-BAT, SRAM card battery, and Q3MEM-BAT SRAM card battery
Generic term for Mitsubishi Graphic Operation Terminal, GOT-A*** series, GOT-F***
series, and GOT1000 series
A - 22
CHAPTER1 OUTLINE
CHAPTER1 OUTLINE
1.1 What is multiple CPU system?
(1) Configuration of multiple CPU system
A multiple CPU system is a system in which more than one CPU module are mounted on several a main base
unit in order to control the I/O modules and intelligent function modules.
QCPU
Figure 1.1 Configuration of multiple CPU
Motion CPU
PC CPU
module
1
2
3
4
5
6
7
8
1.1 What is multiple CPU system?
1 - 1
(2) Available CPU modules in multiple CPU system
Table1.1 shows the available CPU modules in multiple CPU system.
Refer to Section 2.3 for the compatible version of each module.
Table1.1 Applicable CPU modules
CPU module Model
Basic model QCPU Q00CPU, Q01CPU
High Performance model QCPU
Q
Process CPU Q02PHCPU,Q06PHCPU,Q12PHCPU,Q25PHCPU
C
P
U
Universal model QCPU
Motion CPU
C Controller module Q06CCPU-V,Q06CCPU-V-B
PC CPU module
*1
(manufactured by CONTEC CO., LTD.
)
Q02CPU,Q02HCPU,Q06HCPU,Q12HCPU,
Q25HCPU
Q00UCPU,Q01UCPU,Q02UCPU,Q03UDCPU,
Q04UDHCPU,Q06UDHCPU,Q10UDHCPU,
Q13UDHCPU,Q20UDHCPU,Q26UDHCPU,
Q03UDECPU,Q04UDEHCPU,Q06UDEHCPU,
Q10UDEHCPU,Q13UDEHCPU,Q20UDEHCPU,
Q26UDEHCPU
Q172CPUN,Q173CPUN,Q172HCPU,Q173HCPU,
Q172CPUN-T,Q173CPUN-T,Q172HCPU-T,
Q173HCPU-T
Q172DCPU,Q173DCPU
PPC-CPU686(MS)-64,
PPC-CPU686(MS)-128,
PPC-CPU852(MS)-512
Choose the CPU modules suitable for the system size and application to configure the system.
Some combinations of CPU modules in Table 1.1 cannot be used.
Refer to Section 3.1 for combinations of configurable CPU modules.
*1: For further information on PC CPU module, consult CONTEC Co.,Ltd.
Tel:+81-6-6472-7130
Remark
For details of the Motion CPU, C Controller module, and PC CPU module, refer to the manuals of each CPU module.
1 - 2
CHAPTER1 OUTLINE
1 1 1 1 1
(3) Method for controlling I/O module and intelligent function module
It is necessary to set (control CPU setup) which CPU modules are to control which I/O modules and intelligent
function modules with a multiple CPU system.
CPU 0
*2: Indicates the grouping configuration on the GX Developer.
"1" on the CPU module indicates "CPU No.1," and "1" on the I/O module and intelligent function module indicates that
their "Control CPU is the CPU No.1."
The CPU module that controls the I/O modules and intelligent function modules is called as a "Control CPU".
The I/O modules and intelligent function modules controlled by the control CPU are called "controlled modules".
Other modules not controlled by the control CPU are called as "non-controlled modules".
1234567
2 222
Control with CPU module 1.
Control with CPU module 2.
Figure 1.2 Setting of control CPU
Slot number
Control CPU setting
*2
1
2
3
4
5
6
7
8
1.1 What is multiple CPU system?
1 - 3
(4) Multiple CPU system setting
1 1 1 1 1
For control in the multiple CPU system, it is necessary to set up the "Number of mounted CPU modules" and the
"Control CPU" with PLC parameter for all CPU modules mounted on the main base unit.
User's Manual (Function Explanation, Program Fundamentals) for the CPU module used
(5) Access range of multiple CPU system
In the multiple CPU system, the access ranges are different between the controlled module and the non-con-
trolled module.
(a) Controlled module
The multiple CPU system's control CPU can refresh the I/O data of controlled modules and read/write the
buffer memory data of intelligent function modules in the same way as in a single CPU system.
(b) Non-controlled module
It is possible to access non-controlled modules in the following ways.
• Refreshing the input for I/O modules, I/O composite module and intelligent function modules
(the PLC parameter's multiple CPU setup is necessary.)
• Reading the intelligent function module's buffer memory.
• Downloading the output data from the output module, the I/O composite module and the intelligent func-
tion modules.
(the PLC parameter's multiple CPU setup is necessary.)
However, it is not possible to access non-controlled modules in the following ways.
• Outputting data to output modules, I/O composite module and intelligent function modules.
• Writing data into the intelligent function module's buffer memory.
CPU 0
12345 67
2 222
Readable with CPU module 2.
Readable with CPU module 1.
Figure 1.3 Access to non-controlled module
Slot number
Control CPU setting
(c) Range of access to other station's CPU module
To access to a CPU module on other station from GX Developer, access can be made through a network mod-
ule controlled by any CPU module in the multiple CPU system.
When other station has multiple CPUs, specifying the CPU No. allows access to the desired CPU.
User's manual for each network module
1 - 4
CHAPTER1 OUTLINE
1.2 Features of multiple CPU system
(1) Multi-control system
(a) Configuration optimum for system
Since each system uses not only one QCPU but any combinations of the QCPU, Motion CPU, and PC CPU
module according to the system, the development efficiency and ease of maintenance of the system can be
enhanced.
(b) Module control
Each CPU module in the multiple CPU system controls the I/O module and intelligent function module on the
base unit by each slot.
GX Developer groups the I/O modules and intelligent function modules controlled by each CPU module in the
multiple CPU system.
(2) Sequence control and motion control systems can be configured on the same
base.
In a Multiple CPU System consisting of the QCPU and Motion CPU, sequence control and motion control can be
implemented together to achieve a high-level motion system.
Sequence
control
Control
Motion control
Operation switch Operation status display
1
2
3
4
5
6
7
8
SSCNET
Figure 1.4 Motion system configuration
Servomotor
Servo
amplifier
Servomotor
Servo
amplifier
1.2 Features of multiple CPU system
1 - 5
Loading...